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Safetensors
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  1. checkpoint-42500/config.json +70 -0
  2. checkpoint-42500/global_step42500/bf16_zero_pp_rank_1_mp_rank_00_optim_states.pt +3 -0
  3. checkpoint-42500/global_step42500/bf16_zero_pp_rank_2_mp_rank_00_optim_states.pt +3 -0
  4. checkpoint-42500/global_step42500/bf16_zero_pp_rank_3_mp_rank_00_optim_states.pt +3 -0
  5. checkpoint-42500/global_step42500/bf16_zero_pp_rank_4_mp_rank_00_optim_states.pt +3 -0
  6. checkpoint-42500/global_step42500/bf16_zero_pp_rank_5_mp_rank_00_optim_states.pt +3 -0
  7. checkpoint-42500/global_step42500/bf16_zero_pp_rank_6_mp_rank_00_optim_states.pt +3 -0
  8. checkpoint-42500/global_step42500/bf16_zero_pp_rank_7_mp_rank_00_optim_states.pt +3 -0
  9. checkpoint-42500/global_step42500/mp_rank_00_model_states.pt +3 -0
  10. checkpoint-42500/model-00001-of-00002.safetensors +3 -0
  11. checkpoint-42500/model-00002-of-00002.safetensors +3 -0
  12. checkpoint-42500/model.safetensors.index.json +0 -0
  13. checkpoint-42500/training_args.bin +3 -0
checkpoint-42500/config.json ADDED
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+ {
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+ "action_horizon": 50,
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+ "add_pos_embed": true,
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+ "apply_sincos_state_encoding": true,
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+ "architectures": [
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+ "Gr00tN1d6"
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+ ],
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+ "attn_dropout": 0.2,
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+ "attn_implementation": null,
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+ "backbone_embedding_dim": 2048,
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+ "backbone_model_type": "eagle",
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+ "backbone_trainable_params_fp32": true,
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+ "collator_overwrite_image_inputs": false,
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+ "color_jitter_params": {
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+ "brightness": 0.1,
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+ },
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+ "diffusion_model_cfg": {
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+ "attention_head_dim": 48,
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+ "dropout": 0.2,
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+ "final_dropout": true,
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+ "interleave_self_attention": true,
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+ "norm_type": "ada_norm",
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+ "num_attention_heads": 32,
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+ "num_layers": 32,
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+ "output_dim": 1024,
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+ "positional_embeddings": null
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+ },
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+ "eagle_collator": true,
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+ "formalize_language": true,
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+ "gemma_collator": false,
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+ "hidden_size": 1024,
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+ "image_crop_size": null,
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+ "input_embedding_dim": 1536,
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+ "load_bf16": true,
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+ "max_action_dim": 128,
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+ "max_num_embodiments": 32,
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+ "max_seq_len": 1024,
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+ "max_state_dim": 128,
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+ "model_dtype": "bfloat16",
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+ "model_name": "nvidia/Eagle-Block2A-2B-v2",
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+ "model_type": "Gr00tN1d6",
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+ "noise_beta_alpha": 1.5,
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+ "noise_beta_beta": 1.0,
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+ "noise_s": 0.999,
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+ "num_inference_timesteps": 4,
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+ "num_timestep_buckets": 1000,
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+ "random_rotation_angle": null,
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+ "reproject_vision": false,
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+ "select_layer": 16,
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+ "shortest_image_edge": 256,
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+ "state_dropout_prob": 0.0,
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+ "torch_dtype": "bfloat16",
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+ "transformers_version": "4.51.3",
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+ "tune_diffusion_model": true,
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+ "tune_llm": false,
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+ "tune_projector": true,
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+ "tune_top_llm_layers": 4,
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+ "tune_visual": false,
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+ "tune_vlln": true,
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+ "use_albumentations_transforms": true,
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+ "use_alternate_vl_dit": true,
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+ "use_flash_attention": true,
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+ "use_relative_action": true,
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+ "use_vlln": true
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+ }
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