Download checkpoint_metadata.json from InternRobotics/InternW0-Libero: direct link, hf CLI and curl.
- Browser
- Download file 16 kB
-
https://huggingface.co/InternRobotics/InternW0-Libero/resolve/main/checkpoint_metadata.json
- Command line
-
hf download hf://InternRobotics/InternW0-Libero/checkpoint_metadata.json
-
curl -L -o checkpoint_metadata.json https://huggingface.co/InternRobotics/InternW0-Libero/resolve/main/checkpoint_metadata.json
16 kB
| { | |
| "file": "InternW0-Libero.pt", | |
| "source_checkpoint": "/data/shared/locomanip/caijisong/ckpt/libero_posttrain/release/libero/goal-long/r13/step_000600/step_000600.pt", | |
| "size_bytes": 14705454471, | |
| "sha256": "5f967259b1a8dfce90c871212630d3bc1945ce6ceb03dc96aae6c148891935c7", | |
| "model_only": true, | |
| "optimizer_state_included": false, | |
| "step": 600, | |
| "torch_dtype": "torch.bfloat16", | |
| "tensor_count": 1977, | |
| "parameter_elements": 7352528643, | |
| "tensor_bytes": 14705057286, | |
| "behavior_config": { | |
| "schema_version": 4, | |
| "num_soft_prompts": 8, | |
| "domain_configs": [ | |
| { | |
| "name": "libero/franka", | |
| "dataset": "libero", | |
| "embodiment": "franka", | |
| "action_dim": 37, | |
| "proprio_dim": 37, | |
| "action_valid_indices": [ | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16 | |
| ], | |
| "proprio_valid_indices": [ | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16 | |
| ], | |
| "raw_eef_names": [ | |
| "eef_x", | |
| "eef_y", | |
| "eef_z", | |
| "rot6d_col0_x", | |
| "rot6d_col0_y", | |
| "rot6d_col0_z", | |
| "rot6d_col1_x", | |
| "rot6d_col1_y", | |
| "rot6d_col1_z", | |
| "gripper_open_scale" | |
| ], | |
| "action_semantics": "native_delta_eef10_row_aligned" | |
| } | |
| ], | |
| "soft_prompt_domains": [ | |
| "libero/franka" | |
| ], | |
| "soft_prompt_layout": "per_chunk_prefix", | |
| "soft_prompt_position_mode": "identity_rope", | |
| "soft_prompt_timestep_mode": "follow_chunk", | |
| "observation_encoder": "dino", | |
| "dino_encoder": { | |
| "model_name": "dinov3-vitb16-hf", | |
| "weights_sha256": "1bde6e2cbdb2973afa32f8b000da32c7686c5be6d8e82399ac581f9bb35a1e50", | |
| "input_resolution": [ | |
| 384, | |
| 320 | |
| ], | |
| "feature_dim": 768, | |
| "patch_size": 16, | |
| "use_cls_token": false, | |
| "normalize_features": false, | |
| "preprocessing": "uint8_or_minus_one_one_to_imagenet_float32_no_resize", | |
| "weights_hash_format": "hf_config_and_safetensors_v1" | |
| }, | |
| "architecture": "ahawam_one_way_ovcr", | |
| "action_video_read_mode": "future", | |
| "video_cache_mode": "generated_future_last_denoise", | |
| "action_position_unit": "action_step", | |
| "video_rope_position_unit": "latent_frame", | |
| "action_horizon": 64, | |
| "action_chunk_size": 16, | |
| "num_history_frames": 0, | |
| "video_rope_frame_stride": null, | |
| "video_attention_mask_mode": "first_frame_causal", | |
| "video_action_conditioned": false, | |
| "autoregressive_teacher_forcing": true, | |
| "action_teacher_forcing_mask_mode": "stage1_chunkwise", | |
| "action_obs_downsample_factor": 1, | |
| "video_plan_horizon": 96, | |
| "video_action_stride": 8, | |
| "vae_temporal_downsample_factor": 4 | |
| }, | |
| "training_recipe": { | |
| "version": 2, | |
| "future_training_mode": "idm", | |
| "max_action_offset": 15, | |
| "data_offset_config": { | |
| "train": { | |
| "max_action_offset": 15, | |
| "action_horizon": 64, | |
| "action_chunk_size": 16, | |
| "action_video_freq_ratio": 8, | |
| "action_offset_enabled": true, | |
| "domains": { | |
| "version": 2, | |
| "source_fps": 20, | |
| "target_fps": 20, | |
| "stride": 1, | |
| "phases": [ | |
| 0 | |
| ], | |
| "action_horizon": 64, | |
| "action_chunk_size": 16, | |
| "max_action_offset": 15, | |
| "video_plan_horizon": 96, | |
| "num_history_frames": 0, | |
| "short_episodes": "pad_mask", | |
| "slots": [ | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16 | |
| ], | |
| "domain": { | |
| "name": "libero/franka", | |
| "dataset": "libero", | |
| "embodiment": "franka", | |
| "action_dim": 37, | |
| "proprio_dim": 37, | |
| "action_valid_indices": [ | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16 | |
| ], | |
| "proprio_valid_indices": [ | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16 | |
| ], | |
| "raw_eef_names": [ | |
| "eef_x", | |
| "eef_y", | |
| "eef_z", | |
| "rot6d_col0_x", | |
| "rot6d_col0_y", | |
| "rot6d_col0_z", | |
| "rot6d_col1_x", | |
| "rot6d_col1_y", | |
| "rot6d_col1_z", | |
| "gripper_open_scale" | |
| ], | |
| "action_semantics": "native_delta_eef10_row_aligned" | |
| }, | |
| "rot6d_identity_dims": [ | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7, | |
| 8 | |
| ], | |
| "gripper_convention": "minus1_closed_plus1_open", | |
| "gripper_source_osc7": "binary01_open", | |
| "output_representation": "native_delta_eef10", | |
| "normalization": "bounds_q99_minmax_degenerate_clip5_rot6d_identity", | |
| "sigma": 1e-08, | |
| "camera_layout": "disk_native_cover_center_crop_main_top_wrist_bottom_left_384x320", | |
| "text": "episode_first_instruction_default_prompt_128_wan22ti2v5b", | |
| "metadata_sha256": "70abc28c58cce7f9f616979b28d0beaabf92dd65b107392c206020873dd8bbe4", | |
| "split_seed": 42, | |
| "val_set_proportion": 0.01, | |
| "source_representation": "libero_osc7", | |
| "stats_sha256": "9f63fc9ad9208515358ae560b4b9eec192b7f99f5ce815bf049bad3b269b0301", | |
| "text_embedding_cache_dir": "/data/shared/caijisong/ckpt/libero_posttrain/assets/text_embeds_cache", | |
| "dataset_roots": [ | |
| "/data/shared/caijisong/data/LIBERO-fastwam/libero_10_no_noops_lerobot", | |
| "/data/shared/caijisong/data/LIBERO-fastwam/libero_goal_no_noops_lerobot", | |
| "/data/shared/caijisong/data/LIBERO-fastwam/libero_object_no_noops_lerobot", | |
| "/data/shared/caijisong/data/LIBERO-fastwam/libero_spatial_no_noops_lerobot" | |
| ], | |
| "include_suites": [ | |
| "libero_goal", | |
| "libero_10" | |
| ], | |
| "anchor_sampling": "random_frames_global_with_episode_end_padding_v1", | |
| "samples_per_epoch": 100000 | |
| } | |
| }, | |
| "val": { | |
| "max_action_offset": 15, | |
| "action_horizon": 64, | |
| "action_chunk_size": 16, | |
| "action_video_freq_ratio": 8, | |
| "action_offset_enabled": true, | |
| "domains": { | |
| "version": 2, | |
| "source_fps": 20, | |
| "target_fps": 20, | |
| "stride": 1, | |
| "phases": [ | |
| 0 | |
| ], | |
| "action_horizon": 64, | |
| "action_chunk_size": 16, | |
| "max_action_offset": 15, | |
| "video_plan_horizon": 96, | |
| "num_history_frames": 0, | |
| "short_episodes": "pad_mask", | |
| "slots": [ | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16 | |
| ], | |
| "domain": { | |
| "name": "libero/franka", | |
| "dataset": "libero", | |
| "embodiment": "franka", | |
| "action_dim": 37, | |
| "proprio_dim": 37, | |
| "action_valid_indices": [ | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16 | |
| ], | |
| "proprio_valid_indices": [ | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16 | |
| ], | |
| "raw_eef_names": [ | |
| "eef_x", | |
| "eef_y", | |
| "eef_z", | |
| "rot6d_col0_x", | |
| "rot6d_col0_y", | |
| "rot6d_col0_z", | |
| "rot6d_col1_x", | |
| "rot6d_col1_y", | |
| "rot6d_col1_z", | |
| "gripper_open_scale" | |
| ], | |
| "action_semantics": "native_delta_eef10_row_aligned" | |
| }, | |
| "rot6d_identity_dims": [ | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7, | |
| 8 | |
| ], | |
| "gripper_convention": "minus1_closed_plus1_open", | |
| "gripper_source_osc7": "binary01_open", | |
| "output_representation": "native_delta_eef10", | |
| "normalization": "bounds_q99_minmax_degenerate_clip5_rot6d_identity", | |
| "sigma": 1e-08, | |
| "camera_layout": "disk_native_cover_center_crop_main_top_wrist_bottom_left_384x320", | |
| "text": "episode_first_instruction_default_prompt_128_wan22ti2v5b", | |
| "metadata_sha256": "70abc28c58cce7f9f616979b28d0beaabf92dd65b107392c206020873dd8bbe4", | |
| "split_seed": 42, | |
| "val_set_proportion": 0.01, | |
| "source_representation": "libero_osc7", | |
| "stats_sha256": "9f63fc9ad9208515358ae560b4b9eec192b7f99f5ce815bf049bad3b269b0301", | |
| "text_embedding_cache_dir": "/data/shared/caijisong/ckpt/libero_posttrain/assets/text_embeds_cache", | |
| "dataset_roots": [ | |
| "/data/shared/caijisong/data/LIBERO-fastwam/libero_10_no_noops_lerobot", | |
| "/data/shared/caijisong/data/LIBERO-fastwam/libero_goal_no_noops_lerobot", | |
| "/data/shared/caijisong/data/LIBERO-fastwam/libero_object_no_noops_lerobot", | |
| "/data/shared/caijisong/data/LIBERO-fastwam/libero_spatial_no_noops_lerobot" | |
| ], | |
| "include_suites": [ | |
| "libero_goal", | |
| "libero_10" | |
| ], | |
| "anchor_sampling": "random_frames_global_with_episode_end_padding_v1", | |
| "samples_per_epoch": 128 | |
| } | |
| } | |
| }, | |
| "idm_video_cond_noise_prob": 0.5, | |
| "idm_checkpoint_full_layer": true, | |
| "idm_checkpoint_layer_stride": 1, | |
| "video_scheduler": { | |
| "type": "ahawam.models.wan22.schedulers.scheduler_continuous.WanContinuousFlowMatchScheduler", | |
| "shift": 5.0, | |
| "num_train_timesteps": 1000 | |
| }, | |
| "action_scheduler": { | |
| "type": "ahawam.models.wan22.schedulers.scheduler_continuous.WanContinuousFlowMatchScheduler", | |
| "shift": 5.0, | |
| "num_train_timesteps": 1000 | |
| }, | |
| "loss_lambda_video": 1.0, | |
| "loss_lambda_action_prior": 1.0, | |
| "action_timestep_mode": "per_chunk", | |
| "soft_prompt_training": { | |
| "lr_scale": 1.0, | |
| "schedule": "per_group_relative_v1", | |
| "init_std": 0.02 | |
| } | |
| }, | |
| "posttrain_statistics": { | |
| "recipe": { | |
| "version": 2, | |
| "source_fps": 20, | |
| "target_fps": 20, | |
| "stride": 1, | |
| "phases": [ | |
| 0 | |
| ], | |
| "action_horizon": 64, | |
| "action_chunk_size": 16, | |
| "max_action_offset": 15, | |
| "video_plan_horizon": 96, | |
| "num_history_frames": 0, | |
| "short_episodes": "pad_mask", | |
| "slots": [ | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16 | |
| ], | |
| "domain": { | |
| "name": "libero/franka", | |
| "dataset": "libero", | |
| "embodiment": "franka", | |
| "action_dim": 37, | |
| "proprio_dim": 37, | |
| "action_valid_indices": [ | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16 | |
| ], | |
| "proprio_valid_indices": [ | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16 | |
| ], | |
| "raw_eef_names": [ | |
| "eef_x", | |
| "eef_y", | |
| "eef_z", | |
| "rot6d_col0_x", | |
| "rot6d_col0_y", | |
| "rot6d_col0_z", | |
| "rot6d_col1_x", | |
| "rot6d_col1_y", | |
| "rot6d_col1_z", | |
| "gripper_open_scale" | |
| ], | |
| "action_semantics": "native_delta_eef10_row_aligned" | |
| }, | |
| "rot6d_identity_dims": [ | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7, | |
| 8 | |
| ], | |
| "gripper_convention": "minus1_closed_plus1_open", | |
| "gripper_source_osc7": "binary01_open", | |
| "output_representation": "native_delta_eef10", | |
| "normalization": "bounds_q99_minmax_degenerate_clip5_rot6d_identity", | |
| "sigma": 1e-08, | |
| "camera_layout": "disk_native_cover_center_crop_main_top_wrist_bottom_left_384x320", | |
| "text": "episode_first_instruction_default_prompt_128_wan22ti2v5b" | |
| }, | |
| "metadata_sha256": "70abc28c58cce7f9f616979b28d0beaabf92dd65b107392c206020873dd8bbe4", | |
| "split_seed": 42, | |
| "val_set_proportion": 0.01, | |
| "train_episodes": 1698, | |
| "validation_episodes": 14, | |
| "position_selection": "union_all_native_ticks_no_padding", | |
| "quantile_method": "exact_numpy_linear", | |
| "rot6d_identity_dims": [ | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7, | |
| 8 | |
| ], | |
| "dataset_roots": [ | |
| "/home/wameai/caijisong/data/LIBERO-fastwam/libero_10_no_noops_lerobot", | |
| "/home/wameai/caijisong/data/LIBERO-fastwam/libero_goal_no_noops_lerobot", | |
| "/home/wameai/caijisong/data/LIBERO-fastwam/libero_object_no_noops_lerobot", | |
| "/home/wameai/caijisong/data/LIBERO-fastwam/libero_spatial_no_noops_lerobot" | |
| ], | |
| "action": { | |
| "q01": [ | |
| -0.7071428298950195, | |
| -0.7982142567634583, | |
| -0.9375, | |
| -1.0, | |
| -1.0, | |
| -1.0, | |
| -1.0, | |
| -1.0, | |
| -1.0, | |
| -1.0 | |
| ], | |
| "q99": [ | |
| 0.9375, | |
| 0.8732143044471741, | |
| 0.9375, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0 | |
| ], | |
| "minmax_bounds": {}, | |
| "valid_count": [ | |
| 276004, | |
| 276004, | |
| 276004, | |
| 276004, | |
| 276004, | |
| 276004, | |
| 276004, | |
| 276004, | |
| 276004, | |
| 276004 | |
| ] | |
| }, | |
| "proprio": { | |
| "q01": [ | |
| -0.3985055512189865, | |
| -0.2699440824985504, | |
| 0.03972413107752801, | |
| -1.0, | |
| -1.0, | |
| -1.0, | |
| -1.0, | |
| -1.0, | |
| -1.0, | |
| -0.9041875767707824 | |
| ], | |
| "q99": [ | |
| 0.13515015527606003, | |
| 0.3329678702354428, | |
| 1.2700117683410643, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0, | |
| 1.0 | |
| ], | |
| "minmax_bounds": {}, | |
| "valid_count": [ | |
| 276004, | |
| 276004, | |
| 276004, | |
| 276004, | |
| 276004, | |
| 276004, | |
| 276004, | |
| 276004, | |
| 276004, | |
| 276004 | |
| ] | |
| } | |
| }, | |
| "posttrain_provenance": { | |
| "source": "/home/wameai/caijisong/ckpt/robotwin_posttrain/assets/rlh_step30000", | |
| "global_step": 30000, | |
| "domain_names": [ | |
| "interndata/franka_panda", | |
| "interndata/franka_robotiq85", | |
| "interndata/genie1", | |
| "interndata/lift2", | |
| "interndata/split_aloha", | |
| "interndata/acone", | |
| "agibotworld/g1_gripper", | |
| "galaxea/r1lite", | |
| "ebench/lift2_long_horizon", | |
| "robodojo/dual_arx_x5", | |
| "robomind/agilex", | |
| "robomind/franka", | |
| "robomind/franka_fr3_dual", | |
| "robomind/ur", | |
| "robocoin/agibot_g1_profile5", | |
| "robocoin/agibot_g1_profile6", | |
| "robocoin/cobot_magic_profile7", | |
| "robocoin/galbot_g1", | |
| "robocoin/r1lite", | |
| "robocoin/rmc_aida_l", | |
| "robocoin/split_aloha_profile20", | |
| "robocoin/tianqin_a2", | |
| "agibotworld/g1_tactile", | |
| "ebench/lift2_simple_pnp", | |
| "ebench/lift2_teleop_tasks", | |
| "robocoin/cobot_magic_profile8", | |
| "robocoin/cobot_magic_profile9", | |
| "robocoin/cobot_magic_profile10", | |
| "robocoin/cobot_magic_profile11", | |
| "robocoin/split_aloha_profile21" | |
| ], | |
| "source_format": "rlh-fastwam-canonical-2", | |
| "source_checkpoint": "/nvme/datahub/tmp/caozhe/aha-wam-pretrain/w0-37d-sixsrc-b16-s43-384gpu-bf16-a40-20260917-r5-proprio-sharded/checkpoints/dcp/30000", | |
| "strategy": "new_domain", | |
| "seed": 42, | |
| "proprio_init": "new_domain", | |
| "proprio_source_domain": null | |
| } | |
| } | |