Upload folder using huggingface_hub
Browse files- checkpoint-1000/config.json +64 -0
- checkpoint-1000/experiment_cfg/metadata.json +363 -0
- checkpoint-1000/model-00001-of-00002.safetensors +3 -0
- checkpoint-1000/model-00002-of-00002.safetensors +3 -0
- checkpoint-1000/model.safetensors.index.json +0 -0
- checkpoint-1000/optimizer.pt +3 -0
- checkpoint-1000/rng_state.pth +3 -0
- checkpoint-1000/scheduler.pt +3 -0
- checkpoint-1000/trainer_state.json +734 -0
- checkpoint-2000/config.json +64 -0
- checkpoint-2000/model-00001-of-00002.safetensors +3 -0
- checkpoint-2000/model-00002-of-00002.safetensors +3 -0
- checkpoint-2000/model.safetensors.index.json +0 -0
- checkpoint-2000/optimizer.pt +3 -0
- experiment_cfg/metadata.json +363 -0
checkpoint-1000/config.json
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"action_dim": 32,
|
| 5 |
+
"action_horizon": 16,
|
| 6 |
+
"add_pos_embed": true,
|
| 7 |
+
"backbone_embedding_dim": 2048,
|
| 8 |
+
"diffusion_model_cfg": {
|
| 9 |
+
"attention_head_dim": 48,
|
| 10 |
+
"cross_attention_dim": 2048,
|
| 11 |
+
"dropout": 0.2,
|
| 12 |
+
"final_dropout": true,
|
| 13 |
+
"interleave_self_attention": true,
|
| 14 |
+
"norm_type": "ada_norm",
|
| 15 |
+
"num_attention_heads": 32,
|
| 16 |
+
"num_layers": 16,
|
| 17 |
+
"output_dim": 1024,
|
| 18 |
+
"positional_embeddings": null
|
| 19 |
+
},
|
| 20 |
+
"hidden_size": 1024,
|
| 21 |
+
"input_embedding_dim": 1536,
|
| 22 |
+
"max_action_dim": 32,
|
| 23 |
+
"max_state_dim": 64,
|
| 24 |
+
"model_dtype": "float32",
|
| 25 |
+
"noise_beta_alpha": 1.5,
|
| 26 |
+
"noise_beta_beta": 1.0,
|
| 27 |
+
"noise_s": 0.999,
|
| 28 |
+
"num_inference_timesteps": 4,
|
| 29 |
+
"num_target_vision_tokens": 32,
|
| 30 |
+
"num_timestep_buckets": 1000,
|
| 31 |
+
"tune_diffusion_model": true,
|
| 32 |
+
"tune_projector": true,
|
| 33 |
+
"use_vlln": true,
|
| 34 |
+
"vl_self_attention_cfg": {
|
| 35 |
+
"attention_head_dim": 64,
|
| 36 |
+
"dropout": 0.2,
|
| 37 |
+
"final_dropout": true,
|
| 38 |
+
"num_attention_heads": 32,
|
| 39 |
+
"num_layers": 4,
|
| 40 |
+
"positional_embeddings": null
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"action_horizon": 16,
|
| 44 |
+
"architectures": [
|
| 45 |
+
"GR00T_N1_5"
|
| 46 |
+
],
|
| 47 |
+
"attn_implementation": null,
|
| 48 |
+
"backbone_cfg": {
|
| 49 |
+
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
| 50 |
+
"load_bf16": false,
|
| 51 |
+
"project_to_dim": null,
|
| 52 |
+
"reproject_vision": false,
|
| 53 |
+
"select_layer": 12,
|
| 54 |
+
"tune_llm": false,
|
| 55 |
+
"tune_visual": true,
|
| 56 |
+
"use_flash_attention": true
|
| 57 |
+
},
|
| 58 |
+
"compute_dtype": "bfloat16",
|
| 59 |
+
"hidden_size": 2048,
|
| 60 |
+
"model_dtype": "float32",
|
| 61 |
+
"model_type": "gr00t_n1_5",
|
| 62 |
+
"torch_dtype": "bfloat16",
|
| 63 |
+
"transformers_version": "4.51.3"
|
| 64 |
+
}
|
checkpoint-1000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,363 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"new_embodiment": {
|
| 3 |
+
"statistics": {
|
| 4 |
+
"state": {
|
| 5 |
+
"left_arm": {
|
| 6 |
+
"max": [
|
| 7 |
+
45.13888931274414,
|
| 8 |
+
63.993709564208984,
|
| 9 |
+
100.0,
|
| 10 |
+
74.18868255615234,
|
| 11 |
+
-37.14285659790039
|
| 12 |
+
],
|
| 13 |
+
"min": [
|
| 14 |
+
-23.78472137451172,
|
| 15 |
+
-99.05660247802734,
|
| 16 |
+
-43.33183670043945,
|
| 17 |
+
-91.54717254638672,
|
| 18 |
+
-69.47496795654297
|
| 19 |
+
],
|
| 20 |
+
"mean": [
|
| 21 |
+
17.064640045166016,
|
| 22 |
+
-47.222110748291016,
|
| 23 |
+
69.90921783447266,
|
| 24 |
+
13.385952949523926,
|
| 25 |
+
-54.960941314697266
|
| 26 |
+
],
|
| 27 |
+
"std": [
|
| 28 |
+
15.377699851989746,
|
| 29 |
+
56.96072769165039,
|
| 30 |
+
37.81911087036133,
|
| 31 |
+
44.87302780151367,
|
| 32 |
+
5.905885219573975
|
| 33 |
+
],
|
| 34 |
+
"q01": [
|
| 35 |
+
-13.45486068725586,
|
| 36 |
+
-99.05660247802734,
|
| 37 |
+
-18.275707244873047,
|
| 38 |
+
-63.64679290771484,
|
| 39 |
+
-69.42613220214844
|
| 40 |
+
],
|
| 41 |
+
"q99": [
|
| 42 |
+
43.22916793823242,
|
| 43 |
+
46.776729583740234,
|
| 44 |
+
100.0,
|
| 45 |
+
74.18868255615234,
|
| 46 |
+
-43.24786376953125
|
| 47 |
+
]
|
| 48 |
+
},
|
| 49 |
+
"gripper1": {
|
| 50 |
+
"max": [
|
| 51 |
+
98.3160629272461
|
| 52 |
+
],
|
| 53 |
+
"min": [
|
| 54 |
+
0.712435245513916
|
| 55 |
+
],
|
| 56 |
+
"mean": [
|
| 57 |
+
12.595588684082031
|
| 58 |
+
],
|
| 59 |
+
"std": [
|
| 60 |
+
20.200172424316406
|
| 61 |
+
],
|
| 62 |
+
"q01": [
|
| 63 |
+
0.712435245513916
|
| 64 |
+
],
|
| 65 |
+
"q99": [
|
| 66 |
+
82.7072525024414
|
| 67 |
+
]
|
| 68 |
+
},
|
| 69 |
+
"right_arm": {
|
| 70 |
+
"max": [
|
| 71 |
+
11.853211402893066,
|
| 72 |
+
74.88789367675781,
|
| 73 |
+
100.0,
|
| 74 |
+
82.73858642578125,
|
| 75 |
+
40.122100830078125
|
| 76 |
+
],
|
| 77 |
+
"min": [
|
| 78 |
+
-30.42201805114746,
|
| 79 |
+
-99.8369369506836,
|
| 80 |
+
-31.801801681518555,
|
| 81 |
+
-97.17842102050781,
|
| 82 |
+
-57.80219650268555
|
| 83 |
+
],
|
| 84 |
+
"mean": [
|
| 85 |
+
-6.382045745849609,
|
| 86 |
+
-50.369747161865234,
|
| 87 |
+
77.2231216430664,
|
| 88 |
+
15.49871826171875,
|
| 89 |
+
-44.52010726928711
|
| 90 |
+
],
|
| 91 |
+
"std": [
|
| 92 |
+
6.683584690093994,
|
| 93 |
+
61.28605651855469,
|
| 94 |
+
29.75149917602539,
|
| 95 |
+
60.71828842163086,
|
| 96 |
+
15.230957984924316
|
| 97 |
+
],
|
| 98 |
+
"q01": [
|
| 99 |
+
-26.165138244628906,
|
| 100 |
+
-98.61394500732422,
|
| 101 |
+
4.144144058227539,
|
| 102 |
+
-84.14937591552734,
|
| 103 |
+
-54.0415153503418
|
| 104 |
+
],
|
| 105 |
+
"q99": [
|
| 106 |
+
7.082568645477295,
|
| 107 |
+
59.8858528137207,
|
| 108 |
+
99.36936950683594,
|
| 109 |
+
76.01659393310547,
|
| 110 |
+
18.827838897705078
|
| 111 |
+
]
|
| 112 |
+
},
|
| 113 |
+
"gripper2": {
|
| 114 |
+
"max": [
|
| 115 |
+
93.74209594726562
|
| 116 |
+
],
|
| 117 |
+
"min": [
|
| 118 |
+
1.8963338136672974
|
| 119 |
+
],
|
| 120 |
+
"mean": [
|
| 121 |
+
12.28014850616455
|
| 122 |
+
],
|
| 123 |
+
"std": [
|
| 124 |
+
17.24872398376465
|
| 125 |
+
],
|
| 126 |
+
"q01": [
|
| 127 |
+
2.0227560997009277
|
| 128 |
+
],
|
| 129 |
+
"q99": [
|
| 130 |
+
72.43994903564453
|
| 131 |
+
]
|
| 132 |
+
}
|
| 133 |
+
},
|
| 134 |
+
"action": {
|
| 135 |
+
"left_arm": {
|
| 136 |
+
"max": [
|
| 137 |
+
47.32577133178711,
|
| 138 |
+
63.96708679199219,
|
| 139 |
+
99.81710052490234,
|
| 140 |
+
75.43434143066406,
|
| 141 |
+
-36.9474983215332
|
| 142 |
+
],
|
| 143 |
+
"min": [
|
| 144 |
+
-24.068071365356445,
|
| 145 |
+
-99.3936767578125,
|
| 146 |
+
-45.95336151123047,
|
| 147 |
+
-92.88888549804688,
|
| 148 |
+
-69.42613220214844
|
| 149 |
+
],
|
| 150 |
+
"mean": [
|
| 151 |
+
17.108076095581055,
|
| 152 |
+
-47.98756790161133,
|
| 153 |
+
69.53516387939453,
|
| 154 |
+
13.386101722717285,
|
| 155 |
+
-54.9224853515625
|
| 156 |
+
],
|
| 157 |
+
"std": [
|
| 158 |
+
15.52619457244873,
|
| 159 |
+
56.31962966918945,
|
| 160 |
+
38.459007263183594,
|
| 161 |
+
45.456668853759766,
|
| 162 |
+
5.886935710906982
|
| 163 |
+
],
|
| 164 |
+
"q01": [
|
| 165 |
+
-13.533225059509277,
|
| 166 |
+
-99.3936767578125,
|
| 167 |
+
-19.433013916015625,
|
| 168 |
+
-64.60606384277344,
|
| 169 |
+
-69.32845306396484
|
| 170 |
+
],
|
| 171 |
+
"q99": [
|
| 172 |
+
43.84116744995117,
|
| 173 |
+
46.03724670410156,
|
| 174 |
+
99.81710052490234,
|
| 175 |
+
75.3535385131836,
|
| 176 |
+
-43.29670333862305
|
| 177 |
+
]
|
| 178 |
+
},
|
| 179 |
+
"gripper1": {
|
| 180 |
+
"max": [
|
| 181 |
+
99.64060974121094
|
| 182 |
+
],
|
| 183 |
+
"min": [
|
| 184 |
+
0.0
|
| 185 |
+
],
|
| 186 |
+
"mean": [
|
| 187 |
+
11.870786666870117
|
| 188 |
+
],
|
| 189 |
+
"std": [
|
| 190 |
+
20.910383224487305
|
| 191 |
+
],
|
| 192 |
+
"q01": [
|
| 193 |
+
0.0
|
| 194 |
+
],
|
| 195 |
+
"q99": [
|
| 196 |
+
83.55795288085938
|
| 197 |
+
]
|
| 198 |
+
},
|
| 199 |
+
"right_arm": {
|
| 200 |
+
"max": [
|
| 201 |
+
11.862955093383789,
|
| 202 |
+
74.82284545898438,
|
| 203 |
+
100.0,
|
| 204 |
+
83.64888000488281,
|
| 205 |
+
40.56035614013672
|
| 206 |
+
],
|
| 207 |
+
"min": [
|
| 208 |
+
-30.192720413208008,
|
| 209 |
+
-100.0,
|
| 210 |
+
-31.83047866821289,
|
| 211 |
+
-98.70912170410156,
|
| 212 |
+
-57.947105407714844
|
| 213 |
+
],
|
| 214 |
+
"mean": [
|
| 215 |
+
-6.322625160217285,
|
| 216 |
+
-50.841678619384766,
|
| 217 |
+
76.84017181396484,
|
| 218 |
+
15.477845191955566,
|
| 219 |
+
-44.4174690246582
|
| 220 |
+
],
|
| 221 |
+
"std": [
|
| 222 |
+
6.7100090980529785,
|
| 223 |
+
60.481021881103516,
|
| 224 |
+
30.444303512573242,
|
| 225 |
+
61.406349182128906,
|
| 226 |
+
15.194742202758789
|
| 227 |
+
],
|
| 228 |
+
"q01": [
|
| 229 |
+
-26.081371307373047,
|
| 230 |
+
-98.5827407836914,
|
| 231 |
+
3.155996322631836,
|
| 232 |
+
-85.02581787109375,
|
| 233 |
+
-54.019378662109375
|
| 234 |
+
],
|
| 235 |
+
"q99": [
|
| 236 |
+
7.32334041595459,
|
| 237 |
+
59.56648635864258,
|
| 238 |
+
99.54914093017578,
|
| 239 |
+
76.93631744384766,
|
| 240 |
+
18.984027862548828
|
| 241 |
+
]
|
| 242 |
+
},
|
| 243 |
+
"gripper2": {
|
| 244 |
+
"max": [
|
| 245 |
+
94.39393615722656
|
| 246 |
+
],
|
| 247 |
+
"min": [
|
| 248 |
+
0.3030303120613098
|
| 249 |
+
],
|
| 250 |
+
"mean": [
|
| 251 |
+
11.086502075195312
|
| 252 |
+
],
|
| 253 |
+
"std": [
|
| 254 |
+
17.79570770263672
|
| 255 |
+
],
|
| 256 |
+
"q01": [
|
| 257 |
+
1.1363636255264282
|
| 258 |
+
],
|
| 259 |
+
"q99": [
|
| 260 |
+
72.97878723144474
|
| 261 |
+
]
|
| 262 |
+
}
|
| 263 |
+
}
|
| 264 |
+
},
|
| 265 |
+
"modalities": {
|
| 266 |
+
"video": {
|
| 267 |
+
"right": {
|
| 268 |
+
"resolution": [
|
| 269 |
+
640,
|
| 270 |
+
480
|
| 271 |
+
],
|
| 272 |
+
"channels": 3,
|
| 273 |
+
"fps": 30.0
|
| 274 |
+
},
|
| 275 |
+
"left": {
|
| 276 |
+
"resolution": [
|
| 277 |
+
640,
|
| 278 |
+
480
|
| 279 |
+
],
|
| 280 |
+
"channels": 3,
|
| 281 |
+
"fps": 30.0
|
| 282 |
+
},
|
| 283 |
+
"top_rgb": {
|
| 284 |
+
"resolution": [
|
| 285 |
+
640,
|
| 286 |
+
480
|
| 287 |
+
],
|
| 288 |
+
"channels": 3,
|
| 289 |
+
"fps": 30.0
|
| 290 |
+
}
|
| 291 |
+
},
|
| 292 |
+
"state": {
|
| 293 |
+
"left_arm": {
|
| 294 |
+
"absolute": true,
|
| 295 |
+
"rotation_type": null,
|
| 296 |
+
"shape": [
|
| 297 |
+
5
|
| 298 |
+
],
|
| 299 |
+
"continuous": true
|
| 300 |
+
},
|
| 301 |
+
"gripper1": {
|
| 302 |
+
"absolute": true,
|
| 303 |
+
"rotation_type": null,
|
| 304 |
+
"shape": [
|
| 305 |
+
1
|
| 306 |
+
],
|
| 307 |
+
"continuous": true
|
| 308 |
+
},
|
| 309 |
+
"right_arm": {
|
| 310 |
+
"absolute": true,
|
| 311 |
+
"rotation_type": null,
|
| 312 |
+
"shape": [
|
| 313 |
+
5
|
| 314 |
+
],
|
| 315 |
+
"continuous": true
|
| 316 |
+
},
|
| 317 |
+
"gripper2": {
|
| 318 |
+
"absolute": true,
|
| 319 |
+
"rotation_type": null,
|
| 320 |
+
"shape": [
|
| 321 |
+
1
|
| 322 |
+
],
|
| 323 |
+
"continuous": true
|
| 324 |
+
}
|
| 325 |
+
},
|
| 326 |
+
"action": {
|
| 327 |
+
"left_arm": {
|
| 328 |
+
"absolute": true,
|
| 329 |
+
"rotation_type": null,
|
| 330 |
+
"shape": [
|
| 331 |
+
5
|
| 332 |
+
],
|
| 333 |
+
"continuous": true
|
| 334 |
+
},
|
| 335 |
+
"gripper1": {
|
| 336 |
+
"absolute": true,
|
| 337 |
+
"rotation_type": null,
|
| 338 |
+
"shape": [
|
| 339 |
+
1
|
| 340 |
+
],
|
| 341 |
+
"continuous": true
|
| 342 |
+
},
|
| 343 |
+
"right_arm": {
|
| 344 |
+
"absolute": true,
|
| 345 |
+
"rotation_type": null,
|
| 346 |
+
"shape": [
|
| 347 |
+
5
|
| 348 |
+
],
|
| 349 |
+
"continuous": true
|
| 350 |
+
},
|
| 351 |
+
"gripper2": {
|
| 352 |
+
"absolute": true,
|
| 353 |
+
"rotation_type": null,
|
| 354 |
+
"shape": [
|
| 355 |
+
1
|
| 356 |
+
],
|
| 357 |
+
"continuous": true
|
| 358 |
+
}
|
| 359 |
+
}
|
| 360 |
+
},
|
| 361 |
+
"embodiment_tag": "new_embodiment"
|
| 362 |
+
}
|
| 363 |
+
}
|
checkpoint-1000/model-00001-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:69e27a67c54b6a6177396633c418b23d03a4e0e1f48121d84da9e76fa37d3b96
|
| 3 |
+
size 4999367032
|
checkpoint-1000/model-00002-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:322bc7e9b81b0d5be042c8180cccfa687a446cf9525694a4362c317a65b42711
|
| 3 |
+
size 2586705312
|
checkpoint-1000/model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
checkpoint-1000/optimizer.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1b99c6f31f93b4ea54f02be264bde293a0c7e825e059df16c44cca1ac622e567
|
| 3 |
+
size 8550720062
|
checkpoint-1000/rng_state.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5eeda56d9416ca33d5908ad571f13d70385f3954c964ef9f1dd166f74cd39154
|
| 3 |
+
size 14244
|
checkpoint-1000/scheduler.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a12d2337297ff982ef3369a1a25b1613cbc75d84fae4fbea4cfd5d0933fdfb7a
|
| 3 |
+
size 1064
|
checkpoint-1000/trainer_state.json
ADDED
|
@@ -0,0 +1,734 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"best_global_step": null,
|
| 3 |
+
"best_metric": null,
|
| 4 |
+
"best_model_checkpoint": null,
|
| 5 |
+
"epoch": 2.4926905132192845,
|
| 6 |
+
"eval_steps": 500,
|
| 7 |
+
"global_step": 1000,
|
| 8 |
+
"is_hyper_param_search": false,
|
| 9 |
+
"is_local_process_zero": true,
|
| 10 |
+
"is_world_process_zero": true,
|
| 11 |
+
"log_history": [
|
| 12 |
+
{
|
| 13 |
+
"epoch": 0.024883359253499222,
|
| 14 |
+
"grad_norm": 6.788532733917236,
|
| 15 |
+
"learning_rate": 4.5e-06,
|
| 16 |
+
"loss": 1.2189,
|
| 17 |
+
"step": 10
|
| 18 |
+
},
|
| 19 |
+
{
|
| 20 |
+
"epoch": 0.049766718506998445,
|
| 21 |
+
"grad_norm": 1.3378803730010986,
|
| 22 |
+
"learning_rate": 9.5e-06,
|
| 23 |
+
"loss": 0.6193,
|
| 24 |
+
"step": 20
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"epoch": 0.07465007776049767,
|
| 28 |
+
"grad_norm": 0.7917852997779846,
|
| 29 |
+
"learning_rate": 1.45e-05,
|
| 30 |
+
"loss": 0.231,
|
| 31 |
+
"step": 30
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"epoch": 0.09953343701399689,
|
| 35 |
+
"grad_norm": 0.7099640965461731,
|
| 36 |
+
"learning_rate": 1.9500000000000003e-05,
|
| 37 |
+
"loss": 0.1463,
|
| 38 |
+
"step": 40
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"epoch": 0.12441679626749612,
|
| 42 |
+
"grad_norm": 0.686485230922699,
|
| 43 |
+
"learning_rate": 2.45e-05,
|
| 44 |
+
"loss": 0.108,
|
| 45 |
+
"step": 50
|
| 46 |
+
},
|
| 47 |
+
{
|
| 48 |
+
"epoch": 0.14930015552099535,
|
| 49 |
+
"grad_norm": 0.4254772961139679,
|
| 50 |
+
"learning_rate": 2.95e-05,
|
| 51 |
+
"loss": 0.0878,
|
| 52 |
+
"step": 60
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"epoch": 0.17418351477449456,
|
| 56 |
+
"grad_norm": 0.41301316022872925,
|
| 57 |
+
"learning_rate": 3.45e-05,
|
| 58 |
+
"loss": 0.0733,
|
| 59 |
+
"step": 70
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"epoch": 0.19906687402799378,
|
| 63 |
+
"grad_norm": 0.5910139679908752,
|
| 64 |
+
"learning_rate": 3.9500000000000005e-05,
|
| 65 |
+
"loss": 0.0654,
|
| 66 |
+
"step": 80
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"epoch": 0.223950233281493,
|
| 70 |
+
"grad_norm": 0.4281249940395355,
|
| 71 |
+
"learning_rate": 4.4500000000000004e-05,
|
| 72 |
+
"loss": 0.0621,
|
| 73 |
+
"step": 90
|
| 74 |
+
},
|
| 75 |
+
{
|
| 76 |
+
"epoch": 0.24883359253499224,
|
| 77 |
+
"grad_norm": 0.33288511633872986,
|
| 78 |
+
"learning_rate": 4.9500000000000004e-05,
|
| 79 |
+
"loss": 0.0528,
|
| 80 |
+
"step": 100
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"epoch": 0.2737169517884914,
|
| 84 |
+
"grad_norm": 0.3627478778362274,
|
| 85 |
+
"learning_rate": 5.45e-05,
|
| 86 |
+
"loss": 0.0511,
|
| 87 |
+
"step": 110
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"epoch": 0.2986003110419907,
|
| 91 |
+
"grad_norm": 0.3620380461215973,
|
| 92 |
+
"learning_rate": 5.95e-05,
|
| 93 |
+
"loss": 0.0467,
|
| 94 |
+
"step": 120
|
| 95 |
+
},
|
| 96 |
+
{
|
| 97 |
+
"epoch": 0.3234836702954899,
|
| 98 |
+
"grad_norm": 0.37019455432891846,
|
| 99 |
+
"learning_rate": 6.450000000000001e-05,
|
| 100 |
+
"loss": 0.0444,
|
| 101 |
+
"step": 130
|
| 102 |
+
},
|
| 103 |
+
{
|
| 104 |
+
"epoch": 0.3483670295489891,
|
| 105 |
+
"grad_norm": 0.44425082206726074,
|
| 106 |
+
"learning_rate": 6.95e-05,
|
| 107 |
+
"loss": 0.0413,
|
| 108 |
+
"step": 140
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"epoch": 0.37325038880248834,
|
| 112 |
+
"grad_norm": 0.3729994297027588,
|
| 113 |
+
"learning_rate": 7.450000000000001e-05,
|
| 114 |
+
"loss": 0.0395,
|
| 115 |
+
"step": 150
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"epoch": 0.39813374805598756,
|
| 119 |
+
"grad_norm": 0.25299033522605896,
|
| 120 |
+
"learning_rate": 7.950000000000001e-05,
|
| 121 |
+
"loss": 0.0375,
|
| 122 |
+
"step": 160
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"epoch": 0.4230171073094868,
|
| 126 |
+
"grad_norm": 0.24479390680789948,
|
| 127 |
+
"learning_rate": 8.450000000000001e-05,
|
| 128 |
+
"loss": 0.0336,
|
| 129 |
+
"step": 170
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"epoch": 0.447900466562986,
|
| 133 |
+
"grad_norm": 0.4071142375469208,
|
| 134 |
+
"learning_rate": 8.950000000000001e-05,
|
| 135 |
+
"loss": 0.0316,
|
| 136 |
+
"step": 180
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"epoch": 0.4727838258164852,
|
| 140 |
+
"grad_norm": 0.40290141105651855,
|
| 141 |
+
"learning_rate": 9.449999999999999e-05,
|
| 142 |
+
"loss": 0.0331,
|
| 143 |
+
"step": 190
|
| 144 |
+
},
|
| 145 |
+
{
|
| 146 |
+
"epoch": 0.4976671850699845,
|
| 147 |
+
"grad_norm": 0.38158151507377625,
|
| 148 |
+
"learning_rate": 9.95e-05,
|
| 149 |
+
"loss": 0.0311,
|
| 150 |
+
"step": 200
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"epoch": 0.5225505443234837,
|
| 154 |
+
"grad_norm": 0.29570913314819336,
|
| 155 |
+
"learning_rate": 9.999861593790126e-05,
|
| 156 |
+
"loss": 0.0291,
|
| 157 |
+
"step": 210
|
| 158 |
+
},
|
| 159 |
+
{
|
| 160 |
+
"epoch": 0.5474339035769828,
|
| 161 |
+
"grad_norm": 0.37690913677215576,
|
| 162 |
+
"learning_rate": 9.999383162408304e-05,
|
| 163 |
+
"loss": 0.0277,
|
| 164 |
+
"step": 220
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"epoch": 0.5723172628304821,
|
| 168 |
+
"grad_norm": 0.3893811106681824,
|
| 169 |
+
"learning_rate": 9.998563029828259e-05,
|
| 170 |
+
"loss": 0.028,
|
| 171 |
+
"step": 230
|
| 172 |
+
},
|
| 173 |
+
{
|
| 174 |
+
"epoch": 0.5972006220839814,
|
| 175 |
+
"grad_norm": 0.3241683542728424,
|
| 176 |
+
"learning_rate": 9.997401252104962e-05,
|
| 177 |
+
"loss": 0.0267,
|
| 178 |
+
"step": 240
|
| 179 |
+
},
|
| 180 |
+
{
|
| 181 |
+
"epoch": 0.6220839813374806,
|
| 182 |
+
"grad_norm": 0.31424349546432495,
|
| 183 |
+
"learning_rate": 9.995897908644378e-05,
|
| 184 |
+
"loss": 0.0268,
|
| 185 |
+
"step": 250
|
| 186 |
+
},
|
| 187 |
+
{
|
| 188 |
+
"epoch": 0.6469673405909798,
|
| 189 |
+
"grad_norm": 0.2265535593032837,
|
| 190 |
+
"learning_rate": 9.994053102198034e-05,
|
| 191 |
+
"loss": 0.0257,
|
| 192 |
+
"step": 260
|
| 193 |
+
},
|
| 194 |
+
{
|
| 195 |
+
"epoch": 0.671850699844479,
|
| 196 |
+
"grad_norm": 0.352764368057251,
|
| 197 |
+
"learning_rate": 9.991866958856003e-05,
|
| 198 |
+
"loss": 0.0244,
|
| 199 |
+
"step": 270
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"epoch": 0.6967340590979783,
|
| 203 |
+
"grad_norm": 0.29578715562820435,
|
| 204 |
+
"learning_rate": 9.989339628038276e-05,
|
| 205 |
+
"loss": 0.0224,
|
| 206 |
+
"step": 280
|
| 207 |
+
},
|
| 208 |
+
{
|
| 209 |
+
"epoch": 0.7216174183514774,
|
| 210 |
+
"grad_norm": 0.36025872826576233,
|
| 211 |
+
"learning_rate": 9.98647128248456e-05,
|
| 212 |
+
"loss": 0.0231,
|
| 213 |
+
"step": 290
|
| 214 |
+
},
|
| 215 |
+
{
|
| 216 |
+
"epoch": 0.7465007776049767,
|
| 217 |
+
"grad_norm": 0.31710195541381836,
|
| 218 |
+
"learning_rate": 9.98326211824246e-05,
|
| 219 |
+
"loss": 0.0247,
|
| 220 |
+
"step": 300
|
| 221 |
+
},
|
| 222 |
+
{
|
| 223 |
+
"epoch": 0.7713841368584758,
|
| 224 |
+
"grad_norm": 0.28732505440711975,
|
| 225 |
+
"learning_rate": 9.979712354654091e-05,
|
| 226 |
+
"loss": 0.0224,
|
| 227 |
+
"step": 310
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"epoch": 0.7962674961119751,
|
| 231 |
+
"grad_norm": 0.21972423791885376,
|
| 232 |
+
"learning_rate": 9.975822234341079e-05,
|
| 233 |
+
"loss": 0.0211,
|
| 234 |
+
"step": 320
|
| 235 |
+
},
|
| 236 |
+
{
|
| 237 |
+
"epoch": 0.8211508553654744,
|
| 238 |
+
"grad_norm": 0.22749976813793182,
|
| 239 |
+
"learning_rate": 9.97159202318798e-05,
|
| 240 |
+
"loss": 0.0201,
|
| 241 |
+
"step": 330
|
| 242 |
+
},
|
| 243 |
+
{
|
| 244 |
+
"epoch": 0.8460342146189735,
|
| 245 |
+
"grad_norm": 0.3257753551006317,
|
| 246 |
+
"learning_rate": 9.967022010324105e-05,
|
| 247 |
+
"loss": 0.0218,
|
| 248 |
+
"step": 340
|
| 249 |
+
},
|
| 250 |
+
{
|
| 251 |
+
"epoch": 0.8709175738724728,
|
| 252 |
+
"grad_norm": 0.2250833660364151,
|
| 253 |
+
"learning_rate": 9.962112508103765e-05,
|
| 254 |
+
"loss": 0.0192,
|
| 255 |
+
"step": 350
|
| 256 |
+
},
|
| 257 |
+
{
|
| 258 |
+
"epoch": 0.895800933125972,
|
| 259 |
+
"grad_norm": 0.3466697335243225,
|
| 260 |
+
"learning_rate": 9.956863852084914e-05,
|
| 261 |
+
"loss": 0.0194,
|
| 262 |
+
"step": 360
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"epoch": 0.9206842923794712,
|
| 266 |
+
"grad_norm": 0.3127228319644928,
|
| 267 |
+
"learning_rate": 9.951276401006221e-05,
|
| 268 |
+
"loss": 0.0207,
|
| 269 |
+
"step": 370
|
| 270 |
+
},
|
| 271 |
+
{
|
| 272 |
+
"epoch": 0.9455676516329704,
|
| 273 |
+
"grad_norm": 0.2664047181606293,
|
| 274 |
+
"learning_rate": 9.945350536762543e-05,
|
| 275 |
+
"loss": 0.0194,
|
| 276 |
+
"step": 380
|
| 277 |
+
},
|
| 278 |
+
{
|
| 279 |
+
"epoch": 0.9704510108864697,
|
| 280 |
+
"grad_norm": 0.2534600794315338,
|
| 281 |
+
"learning_rate": 9.939086664378829e-05,
|
| 282 |
+
"loss": 0.0203,
|
| 283 |
+
"step": 390
|
| 284 |
+
},
|
| 285 |
+
{
|
| 286 |
+
"epoch": 0.995334370139969,
|
| 287 |
+
"grad_norm": 0.2339852750301361,
|
| 288 |
+
"learning_rate": 9.932485211982437e-05,
|
| 289 |
+
"loss": 0.0193,
|
| 290 |
+
"step": 400
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"epoch": 1.0223950233281494,
|
| 294 |
+
"grad_norm": 0.2680792212486267,
|
| 295 |
+
"learning_rate": 9.92554663077387e-05,
|
| 296 |
+
"loss": 0.0188,
|
| 297 |
+
"step": 410
|
| 298 |
+
},
|
| 299 |
+
{
|
| 300 |
+
"epoch": 1.0472783825816485,
|
| 301 |
+
"grad_norm": 0.22340402007102966,
|
| 302 |
+
"learning_rate": 9.918271394995935e-05,
|
| 303 |
+
"loss": 0.0175,
|
| 304 |
+
"step": 420
|
| 305 |
+
},
|
| 306 |
+
{
|
| 307 |
+
"epoch": 1.0721617418351477,
|
| 308 |
+
"grad_norm": 0.22573307156562805,
|
| 309 |
+
"learning_rate": 9.910660001901335e-05,
|
| 310 |
+
"loss": 0.0191,
|
| 311 |
+
"step": 430
|
| 312 |
+
},
|
| 313 |
+
{
|
| 314 |
+
"epoch": 1.097045101088647,
|
| 315 |
+
"grad_norm": 0.16532698273658752,
|
| 316 |
+
"learning_rate": 9.902712971718675e-05,
|
| 317 |
+
"loss": 0.0189,
|
| 318 |
+
"step": 440
|
| 319 |
+
},
|
| 320 |
+
{
|
| 321 |
+
"epoch": 1.1219284603421462,
|
| 322 |
+
"grad_norm": 0.26129794120788574,
|
| 323 |
+
"learning_rate": 9.894430847616915e-05,
|
| 324 |
+
"loss": 0.0191,
|
| 325 |
+
"step": 450
|
| 326 |
+
},
|
| 327 |
+
{
|
| 328 |
+
"epoch": 1.1468118195956454,
|
| 329 |
+
"grad_norm": 0.2564263939857483,
|
| 330 |
+
"learning_rate": 9.885814195668232e-05,
|
| 331 |
+
"loss": 0.0184,
|
| 332 |
+
"step": 460
|
| 333 |
+
},
|
| 334 |
+
{
|
| 335 |
+
"epoch": 1.1716951788491445,
|
| 336 |
+
"grad_norm": 0.269545316696167,
|
| 337 |
+
"learning_rate": 9.876863604809344e-05,
|
| 338 |
+
"loss": 0.0202,
|
| 339 |
+
"step": 470
|
| 340 |
+
},
|
| 341 |
+
{
|
| 342 |
+
"epoch": 1.196578538102644,
|
| 343 |
+
"grad_norm": 0.25393763184547424,
|
| 344 |
+
"learning_rate": 9.867579686801245e-05,
|
| 345 |
+
"loss": 0.0193,
|
| 346 |
+
"step": 480
|
| 347 |
+
},
|
| 348 |
+
{
|
| 349 |
+
"epoch": 1.221461897356143,
|
| 350 |
+
"grad_norm": 0.26436880230903625,
|
| 351 |
+
"learning_rate": 9.8579630761874e-05,
|
| 352 |
+
"loss": 0.0184,
|
| 353 |
+
"step": 490
|
| 354 |
+
},
|
| 355 |
+
{
|
| 356 |
+
"epoch": 1.2463452566096422,
|
| 357 |
+
"grad_norm": 0.1819346696138382,
|
| 358 |
+
"learning_rate": 9.848014430250367e-05,
|
| 359 |
+
"loss": 0.0182,
|
| 360 |
+
"step": 500
|
| 361 |
+
},
|
| 362 |
+
{
|
| 363 |
+
"epoch": 1.2712286158631416,
|
| 364 |
+
"grad_norm": 0.26912328600883484,
|
| 365 |
+
"learning_rate": 9.837734428966885e-05,
|
| 366 |
+
"loss": 0.0177,
|
| 367 |
+
"step": 510
|
| 368 |
+
},
|
| 369 |
+
{
|
| 370 |
+
"epoch": 1.2961119751166408,
|
| 371 |
+
"grad_norm": 0.32153385877609253,
|
| 372 |
+
"learning_rate": 9.827123774961383e-05,
|
| 373 |
+
"loss": 0.0181,
|
| 374 |
+
"step": 520
|
| 375 |
+
},
|
| 376 |
+
{
|
| 377 |
+
"epoch": 1.32099533437014,
|
| 378 |
+
"grad_norm": 0.32203471660614014,
|
| 379 |
+
"learning_rate": 9.816183193457968e-05,
|
| 380 |
+
"loss": 0.0182,
|
| 381 |
+
"step": 530
|
| 382 |
+
},
|
| 383 |
+
{
|
| 384 |
+
"epoch": 1.3458786936236393,
|
| 385 |
+
"grad_norm": 0.34882357716560364,
|
| 386 |
+
"learning_rate": 9.804913432230856e-05,
|
| 387 |
+
"loss": 0.0182,
|
| 388 |
+
"step": 540
|
| 389 |
+
},
|
| 390 |
+
{
|
| 391 |
+
"epoch": 1.3707620528771385,
|
| 392 |
+
"grad_norm": 0.3095707297325134,
|
| 393 |
+
"learning_rate": 9.793315261553252e-05,
|
| 394 |
+
"loss": 0.0178,
|
| 395 |
+
"step": 550
|
| 396 |
+
},
|
| 397 |
+
{
|
| 398 |
+
"epoch": 1.3956454121306376,
|
| 399 |
+
"grad_norm": 0.31017982959747314,
|
| 400 |
+
"learning_rate": 9.781389474144717e-05,
|
| 401 |
+
"loss": 0.0182,
|
| 402 |
+
"step": 560
|
| 403 |
+
},
|
| 404 |
+
{
|
| 405 |
+
"epoch": 1.4205287713841368,
|
| 406 |
+
"grad_norm": 0.24658547341823578,
|
| 407 |
+
"learning_rate": 9.76913688511698e-05,
|
| 408 |
+
"loss": 0.0174,
|
| 409 |
+
"step": 570
|
| 410 |
+
},
|
| 411 |
+
{
|
| 412 |
+
"epoch": 1.445412130637636,
|
| 413 |
+
"grad_norm": 0.23288820683956146,
|
| 414 |
+
"learning_rate": 9.756558331918227e-05,
|
| 415 |
+
"loss": 0.0172,
|
| 416 |
+
"step": 580
|
| 417 |
+
},
|
| 418 |
+
{
|
| 419 |
+
"epoch": 1.4702954898911353,
|
| 420 |
+
"grad_norm": 0.16752177476882935,
|
| 421 |
+
"learning_rate": 9.743654674275855e-05,
|
| 422 |
+
"loss": 0.0185,
|
| 423 |
+
"step": 590
|
| 424 |
+
},
|
| 425 |
+
{
|
| 426 |
+
"epoch": 1.4951788491446345,
|
| 427 |
+
"grad_norm": 0.19120067358016968,
|
| 428 |
+
"learning_rate": 9.730426794137727e-05,
|
| 429 |
+
"loss": 0.0163,
|
| 430 |
+
"step": 600
|
| 431 |
+
},
|
| 432 |
+
{
|
| 433 |
+
"epoch": 1.5200622083981337,
|
| 434 |
+
"grad_norm": 0.2136230617761612,
|
| 435 |
+
"learning_rate": 9.716875595611879e-05,
|
| 436 |
+
"loss": 0.0171,
|
| 437 |
+
"step": 610
|
| 438 |
+
},
|
| 439 |
+
{
|
| 440 |
+
"epoch": 1.544945567651633,
|
| 441 |
+
"grad_norm": 0.18993347883224487,
|
| 442 |
+
"learning_rate": 9.703002004904729e-05,
|
| 443 |
+
"loss": 0.0164,
|
| 444 |
+
"step": 620
|
| 445 |
+
},
|
| 446 |
+
{
|
| 447 |
+
"epoch": 1.5698289269051322,
|
| 448 |
+
"grad_norm": 0.22324898838996887,
|
| 449 |
+
"learning_rate": 9.688806970257773e-05,
|
| 450 |
+
"loss": 0.0169,
|
| 451 |
+
"step": 630
|
| 452 |
+
},
|
| 453 |
+
{
|
| 454 |
+
"epoch": 1.5947122861586314,
|
| 455 |
+
"grad_norm": 0.18617911636829376,
|
| 456 |
+
"learning_rate": 9.674291461882774e-05,
|
| 457 |
+
"loss": 0.0153,
|
| 458 |
+
"step": 640
|
| 459 |
+
},
|
| 460 |
+
{
|
| 461 |
+
"epoch": 1.6195956454121307,
|
| 462 |
+
"grad_norm": 0.1991218626499176,
|
| 463 |
+
"learning_rate": 9.659456471895445e-05,
|
| 464 |
+
"loss": 0.0158,
|
| 465 |
+
"step": 650
|
| 466 |
+
},
|
| 467 |
+
{
|
| 468 |
+
"epoch": 1.64447900466563,
|
| 469 |
+
"grad_norm": 0.27028852701187134,
|
| 470 |
+
"learning_rate": 9.644303014247648e-05,
|
| 471 |
+
"loss": 0.0164,
|
| 472 |
+
"step": 660
|
| 473 |
+
},
|
| 474 |
+
{
|
| 475 |
+
"epoch": 1.669362363919129,
|
| 476 |
+
"grad_norm": 0.21468698978424072,
|
| 477 |
+
"learning_rate": 9.628832124658085e-05,
|
| 478 |
+
"loss": 0.0159,
|
| 479 |
+
"step": 670
|
| 480 |
+
},
|
| 481 |
+
{
|
| 482 |
+
"epoch": 1.6942457231726284,
|
| 483 |
+
"grad_norm": 0.25870266556739807,
|
| 484 |
+
"learning_rate": 9.613044860541507e-05,
|
| 485 |
+
"loss": 0.0159,
|
| 486 |
+
"step": 680
|
| 487 |
+
},
|
| 488 |
+
{
|
| 489 |
+
"epoch": 1.7191290824261274,
|
| 490 |
+
"grad_norm": 0.2562198042869568,
|
| 491 |
+
"learning_rate": 9.596942300936445e-05,
|
| 492 |
+
"loss": 0.0149,
|
| 493 |
+
"step": 690
|
| 494 |
+
},
|
| 495 |
+
{
|
| 496 |
+
"epoch": 1.7440124416796268,
|
| 497 |
+
"grad_norm": 0.22703538835048676,
|
| 498 |
+
"learning_rate": 9.580525546431459e-05,
|
| 499 |
+
"loss": 0.0165,
|
| 500 |
+
"step": 700
|
| 501 |
+
},
|
| 502 |
+
{
|
| 503 |
+
"epoch": 1.768895800933126,
|
| 504 |
+
"grad_norm": 0.27203115820884705,
|
| 505 |
+
"learning_rate": 9.563795719089911e-05,
|
| 506 |
+
"loss": 0.0153,
|
| 507 |
+
"step": 710
|
| 508 |
+
},
|
| 509 |
+
{
|
| 510 |
+
"epoch": 1.793779160186625,
|
| 511 |
+
"grad_norm": 0.337146133184433,
|
| 512 |
+
"learning_rate": 9.546753962373281e-05,
|
| 513 |
+
"loss": 0.0175,
|
| 514 |
+
"step": 720
|
| 515 |
+
},
|
| 516 |
+
{
|
| 517 |
+
"epoch": 1.8186625194401245,
|
| 518 |
+
"grad_norm": 0.3714126944541931,
|
| 519 |
+
"learning_rate": 9.529401441062997e-05,
|
| 520 |
+
"loss": 0.0162,
|
| 521 |
+
"step": 730
|
| 522 |
+
},
|
| 523 |
+
{
|
| 524 |
+
"epoch": 1.8435458786936236,
|
| 525 |
+
"grad_norm": 0.23839302361011505,
|
| 526 |
+
"learning_rate": 9.511739341180842e-05,
|
| 527 |
+
"loss": 0.0169,
|
| 528 |
+
"step": 740
|
| 529 |
+
},
|
| 530 |
+
{
|
| 531 |
+
"epoch": 1.8684292379471228,
|
| 532 |
+
"grad_norm": 0.2162984013557434,
|
| 533 |
+
"learning_rate": 9.493768869907886e-05,
|
| 534 |
+
"loss": 0.0153,
|
| 535 |
+
"step": 750
|
| 536 |
+
},
|
| 537 |
+
{
|
| 538 |
+
"epoch": 1.8933125972006222,
|
| 539 |
+
"grad_norm": 0.25327548384666443,
|
| 540 |
+
"learning_rate": 9.475491255501968e-05,
|
| 541 |
+
"loss": 0.0149,
|
| 542 |
+
"step": 760
|
| 543 |
+
},
|
| 544 |
+
{
|
| 545 |
+
"epoch": 1.9181959564541213,
|
| 546 |
+
"grad_norm": 0.17730680108070374,
|
| 547 |
+
"learning_rate": 9.456907747213748e-05,
|
| 548 |
+
"loss": 0.0147,
|
| 549 |
+
"step": 770
|
| 550 |
+
},
|
| 551 |
+
{
|
| 552 |
+
"epoch": 1.9430793157076205,
|
| 553 |
+
"grad_norm": 0.2287522703409195,
|
| 554 |
+
"learning_rate": 9.438019615201336e-05,
|
| 555 |
+
"loss": 0.0154,
|
| 556 |
+
"step": 780
|
| 557 |
+
},
|
| 558 |
+
{
|
| 559 |
+
"epoch": 1.9679626749611199,
|
| 560 |
+
"grad_norm": 0.2877958118915558,
|
| 561 |
+
"learning_rate": 9.418828150443469e-05,
|
| 562 |
+
"loss": 0.0157,
|
| 563 |
+
"step": 790
|
| 564 |
+
},
|
| 565 |
+
{
|
| 566 |
+
"epoch": 1.9928460342146188,
|
| 567 |
+
"grad_norm": 0.272636741399765,
|
| 568 |
+
"learning_rate": 9.399334664651262e-05,
|
| 569 |
+
"loss": 0.0153,
|
| 570 |
+
"step": 800
|
| 571 |
+
},
|
| 572 |
+
{
|
| 573 |
+
"epoch": 2.0199066874027993,
|
| 574 |
+
"grad_norm": 0.3082719147205353,
|
| 575 |
+
"learning_rate": 9.379540490178581e-05,
|
| 576 |
+
"loss": 0.0151,
|
| 577 |
+
"step": 810
|
| 578 |
+
},
|
| 579 |
+
{
|
| 580 |
+
"epoch": 2.0447900466562987,
|
| 581 |
+
"grad_norm": 0.3081252872943878,
|
| 582 |
+
"learning_rate": 9.359446979930955e-05,
|
| 583 |
+
"loss": 0.0156,
|
| 584 |
+
"step": 820
|
| 585 |
+
},
|
| 586 |
+
{
|
| 587 |
+
"epoch": 2.0696734059097976,
|
| 588 |
+
"grad_norm": 0.25696584582328796,
|
| 589 |
+
"learning_rate": 9.33905550727312e-05,
|
| 590 |
+
"loss": 0.0157,
|
| 591 |
+
"step": 830
|
| 592 |
+
},
|
| 593 |
+
{
|
| 594 |
+
"epoch": 2.094556765163297,
|
| 595 |
+
"grad_norm": 0.2680334150791168,
|
| 596 |
+
"learning_rate": 9.318367465935142e-05,
|
| 597 |
+
"loss": 0.0151,
|
| 598 |
+
"step": 840
|
| 599 |
+
},
|
| 600 |
+
{
|
| 601 |
+
"epoch": 2.1194401244167964,
|
| 602 |
+
"grad_norm": 0.20804259181022644,
|
| 603 |
+
"learning_rate": 9.29738426991717e-05,
|
| 604 |
+
"loss": 0.0144,
|
| 605 |
+
"step": 850
|
| 606 |
+
},
|
| 607 |
+
{
|
| 608 |
+
"epoch": 2.1443234836702953,
|
| 609 |
+
"grad_norm": 0.2176770567893982,
|
| 610 |
+
"learning_rate": 9.276107353392774e-05,
|
| 611 |
+
"loss": 0.0144,
|
| 612 |
+
"step": 860
|
| 613 |
+
},
|
| 614 |
+
{
|
| 615 |
+
"epoch": 2.1692068429237947,
|
| 616 |
+
"grad_norm": 0.21425634622573853,
|
| 617 |
+
"learning_rate": 9.254538170610938e-05,
|
| 618 |
+
"loss": 0.0145,
|
| 619 |
+
"step": 870
|
| 620 |
+
},
|
| 621 |
+
{
|
| 622 |
+
"epoch": 2.194090202177294,
|
| 623 |
+
"grad_norm": 0.20511746406555176,
|
| 624 |
+
"learning_rate": 9.232678195796654e-05,
|
| 625 |
+
"loss": 0.0146,
|
| 626 |
+
"step": 880
|
| 627 |
+
},
|
| 628 |
+
{
|
| 629 |
+
"epoch": 2.218973561430793,
|
| 630 |
+
"grad_norm": 0.2533751130104065,
|
| 631 |
+
"learning_rate": 9.210528923050164e-05,
|
| 632 |
+
"loss": 0.0134,
|
| 633 |
+
"step": 890
|
| 634 |
+
},
|
| 635 |
+
{
|
| 636 |
+
"epoch": 2.2438569206842924,
|
| 637 |
+
"grad_norm": 0.2530650794506073,
|
| 638 |
+
"learning_rate": 9.188091866244834e-05,
|
| 639 |
+
"loss": 0.0143,
|
| 640 |
+
"step": 900
|
| 641 |
+
},
|
| 642 |
+
{
|
| 643 |
+
"epoch": 2.2687402799377914,
|
| 644 |
+
"grad_norm": 0.25711414217948914,
|
| 645 |
+
"learning_rate": 9.165368558923695e-05,
|
| 646 |
+
"loss": 0.0139,
|
| 647 |
+
"step": 910
|
| 648 |
+
},
|
| 649 |
+
{
|
| 650 |
+
"epoch": 2.2936236391912908,
|
| 651 |
+
"grad_norm": 0.226607546210289,
|
| 652 |
+
"learning_rate": 9.142360554194618e-05,
|
| 653 |
+
"loss": 0.0146,
|
| 654 |
+
"step": 920
|
| 655 |
+
},
|
| 656 |
+
{
|
| 657 |
+
"epoch": 2.31850699844479,
|
| 658 |
+
"grad_norm": 0.15505652129650116,
|
| 659 |
+
"learning_rate": 9.119069424624163e-05,
|
| 660 |
+
"loss": 0.014,
|
| 661 |
+
"step": 930
|
| 662 |
+
},
|
| 663 |
+
{
|
| 664 |
+
"epoch": 2.343390357698289,
|
| 665 |
+
"grad_norm": 0.20164167881011963,
|
| 666 |
+
"learning_rate": 9.0954967621301e-05,
|
| 667 |
+
"loss": 0.0142,
|
| 668 |
+
"step": 940
|
| 669 |
+
},
|
| 670 |
+
{
|
| 671 |
+
"epoch": 2.3682737169517885,
|
| 672 |
+
"grad_norm": 0.2123536318540573,
|
| 673 |
+
"learning_rate": 9.071644177872594e-05,
|
| 674 |
+
"loss": 0.0136,
|
| 675 |
+
"step": 950
|
| 676 |
+
},
|
| 677 |
+
{
|
| 678 |
+
"epoch": 2.393157076205288,
|
| 679 |
+
"grad_norm": 0.218880295753479,
|
| 680 |
+
"learning_rate": 9.047513302144095e-05,
|
| 681 |
+
"loss": 0.0133,
|
| 682 |
+
"step": 960
|
| 683 |
+
},
|
| 684 |
+
{
|
| 685 |
+
"epoch": 2.4180404354587868,
|
| 686 |
+
"grad_norm": 0.20033881068229675,
|
| 687 |
+
"learning_rate": 9.023105784257906e-05,
|
| 688 |
+
"loss": 0.013,
|
| 689 |
+
"step": 970
|
| 690 |
+
},
|
| 691 |
+
{
|
| 692 |
+
"epoch": 2.442923794712286,
|
| 693 |
+
"grad_norm": 0.20657172799110413,
|
| 694 |
+
"learning_rate": 8.998423292435454e-05,
|
| 695 |
+
"loss": 0.0146,
|
| 696 |
+
"step": 980
|
| 697 |
+
},
|
| 698 |
+
{
|
| 699 |
+
"epoch": 2.4678071539657855,
|
| 700 |
+
"grad_norm": 0.14253973960876465,
|
| 701 |
+
"learning_rate": 8.973467513692265e-05,
|
| 702 |
+
"loss": 0.0133,
|
| 703 |
+
"step": 990
|
| 704 |
+
},
|
| 705 |
+
{
|
| 706 |
+
"epoch": 2.4926905132192845,
|
| 707 |
+
"grad_norm": 0.20540325343608856,
|
| 708 |
+
"learning_rate": 8.94824015372267e-05,
|
| 709 |
+
"loss": 0.0155,
|
| 710 |
+
"step": 1000
|
| 711 |
+
}
|
| 712 |
+
],
|
| 713 |
+
"logging_steps": 10,
|
| 714 |
+
"max_steps": 4000,
|
| 715 |
+
"num_input_tokens_seen": 0,
|
| 716 |
+
"num_train_epochs": 10,
|
| 717 |
+
"save_steps": 1000,
|
| 718 |
+
"stateful_callbacks": {
|
| 719 |
+
"TrainerControl": {
|
| 720 |
+
"args": {
|
| 721 |
+
"should_epoch_stop": false,
|
| 722 |
+
"should_evaluate": false,
|
| 723 |
+
"should_log": false,
|
| 724 |
+
"should_save": true,
|
| 725 |
+
"should_training_stop": false
|
| 726 |
+
},
|
| 727 |
+
"attributes": {}
|
| 728 |
+
}
|
| 729 |
+
},
|
| 730 |
+
"total_flos": 0.0,
|
| 731 |
+
"train_batch_size": 32,
|
| 732 |
+
"trial_name": null,
|
| 733 |
+
"trial_params": null
|
| 734 |
+
}
|
checkpoint-2000/config.json
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"action_dim": 32,
|
| 5 |
+
"action_horizon": 16,
|
| 6 |
+
"add_pos_embed": true,
|
| 7 |
+
"backbone_embedding_dim": 2048,
|
| 8 |
+
"diffusion_model_cfg": {
|
| 9 |
+
"attention_head_dim": 48,
|
| 10 |
+
"cross_attention_dim": 2048,
|
| 11 |
+
"dropout": 0.2,
|
| 12 |
+
"final_dropout": true,
|
| 13 |
+
"interleave_self_attention": true,
|
| 14 |
+
"norm_type": "ada_norm",
|
| 15 |
+
"num_attention_heads": 32,
|
| 16 |
+
"num_layers": 16,
|
| 17 |
+
"output_dim": 1024,
|
| 18 |
+
"positional_embeddings": null
|
| 19 |
+
},
|
| 20 |
+
"hidden_size": 1024,
|
| 21 |
+
"input_embedding_dim": 1536,
|
| 22 |
+
"max_action_dim": 32,
|
| 23 |
+
"max_state_dim": 64,
|
| 24 |
+
"model_dtype": "float32",
|
| 25 |
+
"noise_beta_alpha": 1.5,
|
| 26 |
+
"noise_beta_beta": 1.0,
|
| 27 |
+
"noise_s": 0.999,
|
| 28 |
+
"num_inference_timesteps": 4,
|
| 29 |
+
"num_target_vision_tokens": 32,
|
| 30 |
+
"num_timestep_buckets": 1000,
|
| 31 |
+
"tune_diffusion_model": true,
|
| 32 |
+
"tune_projector": true,
|
| 33 |
+
"use_vlln": true,
|
| 34 |
+
"vl_self_attention_cfg": {
|
| 35 |
+
"attention_head_dim": 64,
|
| 36 |
+
"dropout": 0.2,
|
| 37 |
+
"final_dropout": true,
|
| 38 |
+
"num_attention_heads": 32,
|
| 39 |
+
"num_layers": 4,
|
| 40 |
+
"positional_embeddings": null
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"action_horizon": 16,
|
| 44 |
+
"architectures": [
|
| 45 |
+
"GR00T_N1_5"
|
| 46 |
+
],
|
| 47 |
+
"attn_implementation": null,
|
| 48 |
+
"backbone_cfg": {
|
| 49 |
+
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
| 50 |
+
"load_bf16": false,
|
| 51 |
+
"project_to_dim": null,
|
| 52 |
+
"reproject_vision": false,
|
| 53 |
+
"select_layer": 12,
|
| 54 |
+
"tune_llm": false,
|
| 55 |
+
"tune_visual": true,
|
| 56 |
+
"use_flash_attention": true
|
| 57 |
+
},
|
| 58 |
+
"compute_dtype": "bfloat16",
|
| 59 |
+
"hidden_size": 2048,
|
| 60 |
+
"model_dtype": "float32",
|
| 61 |
+
"model_type": "gr00t_n1_5",
|
| 62 |
+
"torch_dtype": "bfloat16",
|
| 63 |
+
"transformers_version": "4.51.3"
|
| 64 |
+
}
|
checkpoint-2000/model-00001-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ce5b9087b9e75c399fc819728e2c36545b08ffc587472272ad1d6ec18b1131bc
|
| 3 |
+
size 4999367032
|
checkpoint-2000/model-00002-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:58a4eaa07d0b1aa42b10d47d48b847c126bf83b866babd8b41fa895372b3472e
|
| 3 |
+
size 2586705312
|
checkpoint-2000/model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
checkpoint-2000/optimizer.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:090b6bd03b4df08899e8bacad21248d0b11452b680d0f8a40d696464f415a321
|
| 3 |
+
size 2281701376
|
experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,363 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"new_embodiment": {
|
| 3 |
+
"statistics": {
|
| 4 |
+
"state": {
|
| 5 |
+
"left_arm": {
|
| 6 |
+
"max": [
|
| 7 |
+
45.13888931274414,
|
| 8 |
+
63.993709564208984,
|
| 9 |
+
100.0,
|
| 10 |
+
74.18868255615234,
|
| 11 |
+
-37.14285659790039
|
| 12 |
+
],
|
| 13 |
+
"min": [
|
| 14 |
+
-23.78472137451172,
|
| 15 |
+
-99.05660247802734,
|
| 16 |
+
-43.33183670043945,
|
| 17 |
+
-91.54717254638672,
|
| 18 |
+
-69.47496795654297
|
| 19 |
+
],
|
| 20 |
+
"mean": [
|
| 21 |
+
17.064640045166016,
|
| 22 |
+
-47.222110748291016,
|
| 23 |
+
69.90921783447266,
|
| 24 |
+
13.385952949523926,
|
| 25 |
+
-54.960941314697266
|
| 26 |
+
],
|
| 27 |
+
"std": [
|
| 28 |
+
15.377699851989746,
|
| 29 |
+
56.96072769165039,
|
| 30 |
+
37.81911087036133,
|
| 31 |
+
44.87302780151367,
|
| 32 |
+
5.905885219573975
|
| 33 |
+
],
|
| 34 |
+
"q01": [
|
| 35 |
+
-13.45486068725586,
|
| 36 |
+
-99.05660247802734,
|
| 37 |
+
-18.275707244873047,
|
| 38 |
+
-63.64679290771484,
|
| 39 |
+
-69.42613220214844
|
| 40 |
+
],
|
| 41 |
+
"q99": [
|
| 42 |
+
43.22916793823242,
|
| 43 |
+
46.776729583740234,
|
| 44 |
+
100.0,
|
| 45 |
+
74.18868255615234,
|
| 46 |
+
-43.24786376953125
|
| 47 |
+
]
|
| 48 |
+
},
|
| 49 |
+
"gripper1": {
|
| 50 |
+
"max": [
|
| 51 |
+
98.3160629272461
|
| 52 |
+
],
|
| 53 |
+
"min": [
|
| 54 |
+
0.712435245513916
|
| 55 |
+
],
|
| 56 |
+
"mean": [
|
| 57 |
+
12.595588684082031
|
| 58 |
+
],
|
| 59 |
+
"std": [
|
| 60 |
+
20.200172424316406
|
| 61 |
+
],
|
| 62 |
+
"q01": [
|
| 63 |
+
0.712435245513916
|
| 64 |
+
],
|
| 65 |
+
"q99": [
|
| 66 |
+
82.7072525024414
|
| 67 |
+
]
|
| 68 |
+
},
|
| 69 |
+
"right_arm": {
|
| 70 |
+
"max": [
|
| 71 |
+
11.853211402893066,
|
| 72 |
+
74.88789367675781,
|
| 73 |
+
100.0,
|
| 74 |
+
82.73858642578125,
|
| 75 |
+
40.122100830078125
|
| 76 |
+
],
|
| 77 |
+
"min": [
|
| 78 |
+
-30.42201805114746,
|
| 79 |
+
-99.8369369506836,
|
| 80 |
+
-31.801801681518555,
|
| 81 |
+
-97.17842102050781,
|
| 82 |
+
-57.80219650268555
|
| 83 |
+
],
|
| 84 |
+
"mean": [
|
| 85 |
+
-6.382045745849609,
|
| 86 |
+
-50.369747161865234,
|
| 87 |
+
77.2231216430664,
|
| 88 |
+
15.49871826171875,
|
| 89 |
+
-44.52010726928711
|
| 90 |
+
],
|
| 91 |
+
"std": [
|
| 92 |
+
6.683584690093994,
|
| 93 |
+
61.28605651855469,
|
| 94 |
+
29.75149917602539,
|
| 95 |
+
60.71828842163086,
|
| 96 |
+
15.230957984924316
|
| 97 |
+
],
|
| 98 |
+
"q01": [
|
| 99 |
+
-26.165138244628906,
|
| 100 |
+
-98.61394500732422,
|
| 101 |
+
4.144144058227539,
|
| 102 |
+
-84.14937591552734,
|
| 103 |
+
-54.0415153503418
|
| 104 |
+
],
|
| 105 |
+
"q99": [
|
| 106 |
+
7.082568645477295,
|
| 107 |
+
59.8858528137207,
|
| 108 |
+
99.36936950683594,
|
| 109 |
+
76.01659393310547,
|
| 110 |
+
18.827838897705078
|
| 111 |
+
]
|
| 112 |
+
},
|
| 113 |
+
"gripper2": {
|
| 114 |
+
"max": [
|
| 115 |
+
93.74209594726562
|
| 116 |
+
],
|
| 117 |
+
"min": [
|
| 118 |
+
1.8963338136672974
|
| 119 |
+
],
|
| 120 |
+
"mean": [
|
| 121 |
+
12.28014850616455
|
| 122 |
+
],
|
| 123 |
+
"std": [
|
| 124 |
+
17.24872398376465
|
| 125 |
+
],
|
| 126 |
+
"q01": [
|
| 127 |
+
2.0227560997009277
|
| 128 |
+
],
|
| 129 |
+
"q99": [
|
| 130 |
+
72.43994903564453
|
| 131 |
+
]
|
| 132 |
+
}
|
| 133 |
+
},
|
| 134 |
+
"action": {
|
| 135 |
+
"left_arm": {
|
| 136 |
+
"max": [
|
| 137 |
+
47.32577133178711,
|
| 138 |
+
63.96708679199219,
|
| 139 |
+
99.81710052490234,
|
| 140 |
+
75.43434143066406,
|
| 141 |
+
-36.9474983215332
|
| 142 |
+
],
|
| 143 |
+
"min": [
|
| 144 |
+
-24.068071365356445,
|
| 145 |
+
-99.3936767578125,
|
| 146 |
+
-45.95336151123047,
|
| 147 |
+
-92.88888549804688,
|
| 148 |
+
-69.42613220214844
|
| 149 |
+
],
|
| 150 |
+
"mean": [
|
| 151 |
+
17.108076095581055,
|
| 152 |
+
-47.98756790161133,
|
| 153 |
+
69.53516387939453,
|
| 154 |
+
13.386101722717285,
|
| 155 |
+
-54.9224853515625
|
| 156 |
+
],
|
| 157 |
+
"std": [
|
| 158 |
+
15.52619457244873,
|
| 159 |
+
56.31962966918945,
|
| 160 |
+
38.459007263183594,
|
| 161 |
+
45.456668853759766,
|
| 162 |
+
5.886935710906982
|
| 163 |
+
],
|
| 164 |
+
"q01": [
|
| 165 |
+
-13.533225059509277,
|
| 166 |
+
-99.3936767578125,
|
| 167 |
+
-19.433013916015625,
|
| 168 |
+
-64.60606384277344,
|
| 169 |
+
-69.32845306396484
|
| 170 |
+
],
|
| 171 |
+
"q99": [
|
| 172 |
+
43.84116744995117,
|
| 173 |
+
46.03724670410156,
|
| 174 |
+
99.81710052490234,
|
| 175 |
+
75.3535385131836,
|
| 176 |
+
-43.29670333862305
|
| 177 |
+
]
|
| 178 |
+
},
|
| 179 |
+
"gripper1": {
|
| 180 |
+
"max": [
|
| 181 |
+
99.64060974121094
|
| 182 |
+
],
|
| 183 |
+
"min": [
|
| 184 |
+
0.0
|
| 185 |
+
],
|
| 186 |
+
"mean": [
|
| 187 |
+
11.870786666870117
|
| 188 |
+
],
|
| 189 |
+
"std": [
|
| 190 |
+
20.910383224487305
|
| 191 |
+
],
|
| 192 |
+
"q01": [
|
| 193 |
+
0.0
|
| 194 |
+
],
|
| 195 |
+
"q99": [
|
| 196 |
+
83.55795288085938
|
| 197 |
+
]
|
| 198 |
+
},
|
| 199 |
+
"right_arm": {
|
| 200 |
+
"max": [
|
| 201 |
+
11.862955093383789,
|
| 202 |
+
74.82284545898438,
|
| 203 |
+
100.0,
|
| 204 |
+
83.64888000488281,
|
| 205 |
+
40.56035614013672
|
| 206 |
+
],
|
| 207 |
+
"min": [
|
| 208 |
+
-30.192720413208008,
|
| 209 |
+
-100.0,
|
| 210 |
+
-31.83047866821289,
|
| 211 |
+
-98.70912170410156,
|
| 212 |
+
-57.947105407714844
|
| 213 |
+
],
|
| 214 |
+
"mean": [
|
| 215 |
+
-6.322625160217285,
|
| 216 |
+
-50.841678619384766,
|
| 217 |
+
76.84017181396484,
|
| 218 |
+
15.477845191955566,
|
| 219 |
+
-44.4174690246582
|
| 220 |
+
],
|
| 221 |
+
"std": [
|
| 222 |
+
6.7100090980529785,
|
| 223 |
+
60.481021881103516,
|
| 224 |
+
30.444303512573242,
|
| 225 |
+
61.406349182128906,
|
| 226 |
+
15.194742202758789
|
| 227 |
+
],
|
| 228 |
+
"q01": [
|
| 229 |
+
-26.081371307373047,
|
| 230 |
+
-98.5827407836914,
|
| 231 |
+
3.155996322631836,
|
| 232 |
+
-85.02581787109375,
|
| 233 |
+
-54.019378662109375
|
| 234 |
+
],
|
| 235 |
+
"q99": [
|
| 236 |
+
7.32334041595459,
|
| 237 |
+
59.56648635864258,
|
| 238 |
+
99.54914093017578,
|
| 239 |
+
76.93631744384766,
|
| 240 |
+
18.984027862548828
|
| 241 |
+
]
|
| 242 |
+
},
|
| 243 |
+
"gripper2": {
|
| 244 |
+
"max": [
|
| 245 |
+
94.39393615722656
|
| 246 |
+
],
|
| 247 |
+
"min": [
|
| 248 |
+
0.3030303120613098
|
| 249 |
+
],
|
| 250 |
+
"mean": [
|
| 251 |
+
11.086502075195312
|
| 252 |
+
],
|
| 253 |
+
"std": [
|
| 254 |
+
17.79570770263672
|
| 255 |
+
],
|
| 256 |
+
"q01": [
|
| 257 |
+
1.1363636255264282
|
| 258 |
+
],
|
| 259 |
+
"q99": [
|
| 260 |
+
72.97878723144474
|
| 261 |
+
]
|
| 262 |
+
}
|
| 263 |
+
}
|
| 264 |
+
},
|
| 265 |
+
"modalities": {
|
| 266 |
+
"video": {
|
| 267 |
+
"right": {
|
| 268 |
+
"resolution": [
|
| 269 |
+
640,
|
| 270 |
+
480
|
| 271 |
+
],
|
| 272 |
+
"channels": 3,
|
| 273 |
+
"fps": 30.0
|
| 274 |
+
},
|
| 275 |
+
"left": {
|
| 276 |
+
"resolution": [
|
| 277 |
+
640,
|
| 278 |
+
480
|
| 279 |
+
],
|
| 280 |
+
"channels": 3,
|
| 281 |
+
"fps": 30.0
|
| 282 |
+
},
|
| 283 |
+
"top_rgb": {
|
| 284 |
+
"resolution": [
|
| 285 |
+
640,
|
| 286 |
+
480
|
| 287 |
+
],
|
| 288 |
+
"channels": 3,
|
| 289 |
+
"fps": 30.0
|
| 290 |
+
}
|
| 291 |
+
},
|
| 292 |
+
"state": {
|
| 293 |
+
"left_arm": {
|
| 294 |
+
"absolute": true,
|
| 295 |
+
"rotation_type": null,
|
| 296 |
+
"shape": [
|
| 297 |
+
5
|
| 298 |
+
],
|
| 299 |
+
"continuous": true
|
| 300 |
+
},
|
| 301 |
+
"gripper1": {
|
| 302 |
+
"absolute": true,
|
| 303 |
+
"rotation_type": null,
|
| 304 |
+
"shape": [
|
| 305 |
+
1
|
| 306 |
+
],
|
| 307 |
+
"continuous": true
|
| 308 |
+
},
|
| 309 |
+
"right_arm": {
|
| 310 |
+
"absolute": true,
|
| 311 |
+
"rotation_type": null,
|
| 312 |
+
"shape": [
|
| 313 |
+
5
|
| 314 |
+
],
|
| 315 |
+
"continuous": true
|
| 316 |
+
},
|
| 317 |
+
"gripper2": {
|
| 318 |
+
"absolute": true,
|
| 319 |
+
"rotation_type": null,
|
| 320 |
+
"shape": [
|
| 321 |
+
1
|
| 322 |
+
],
|
| 323 |
+
"continuous": true
|
| 324 |
+
}
|
| 325 |
+
},
|
| 326 |
+
"action": {
|
| 327 |
+
"left_arm": {
|
| 328 |
+
"absolute": true,
|
| 329 |
+
"rotation_type": null,
|
| 330 |
+
"shape": [
|
| 331 |
+
5
|
| 332 |
+
],
|
| 333 |
+
"continuous": true
|
| 334 |
+
},
|
| 335 |
+
"gripper1": {
|
| 336 |
+
"absolute": true,
|
| 337 |
+
"rotation_type": null,
|
| 338 |
+
"shape": [
|
| 339 |
+
1
|
| 340 |
+
],
|
| 341 |
+
"continuous": true
|
| 342 |
+
},
|
| 343 |
+
"right_arm": {
|
| 344 |
+
"absolute": true,
|
| 345 |
+
"rotation_type": null,
|
| 346 |
+
"shape": [
|
| 347 |
+
5
|
| 348 |
+
],
|
| 349 |
+
"continuous": true
|
| 350 |
+
},
|
| 351 |
+
"gripper2": {
|
| 352 |
+
"absolute": true,
|
| 353 |
+
"rotation_type": null,
|
| 354 |
+
"shape": [
|
| 355 |
+
1
|
| 356 |
+
],
|
| 357 |
+
"continuous": true
|
| 358 |
+
}
|
| 359 |
+
}
|
| 360 |
+
},
|
| 361 |
+
"embodiment_tag": "new_embodiment"
|
| 362 |
+
}
|
| 363 |
+
}
|