Add task-specific checkpoints (UniVTAC 8)
Browse files
checkpoints/univtac8/lift_bottle/transformer/config.json
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{
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"patch_size": [
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1,
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2,
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2
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],
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"num_attention_heads": 24,
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"attention_head_dim": 128,
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"in_channels": 48,
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"out_channels": 48,
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"action_dim": 20,
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"text_dim": 4096,
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"freq_dim": 256,
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"ffn_dim": 14336,
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"num_layers": 30,
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"cross_attn_norm": true,
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"eps": 1e-06,
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"rope_max_seq_len": 1024,
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"pos_embed_seq_len": null,
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"attn_mode": "flex",
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"tactile_in_channels": 3,
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"tactile_num_tokens": 4,
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"tactile_encoder_dim": 256,
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"max_tactile_streams": 4,
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"use_local_tactile": true,
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"use_contact_gate": false,
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"contact_gate_layers": 2,
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"contact_gate_heads": 8,
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"contact_gate_stop_grad": false,
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"is_mot": true,
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"mot_expert_ffn_dim": {
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"action": 4096,
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"tactile": 4096
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},
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"mot_expert_hidden_dim": {
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"action": 1024,
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"tactile": 1024
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},
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"mot_cross_attn_experts": [
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"video",
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"action"
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]
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}
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checkpoints/univtac8/lift_bottle/transformer/diffusion_pytorch_model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:2026cbf5d57b13f025e2fbcab0b9c6d155d30c64598d9018c3bce3ab61a43b86
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size 14415018952
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checkpoints/univtac8/put_bottle_in_shelf/transformer/diffusion_pytorch_model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:8d2694407925f2397f18a4fa1b7b6f9920d0c58dbfc2e83f47eea337b13d293f
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size 14415018952
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