Upload folder using huggingface_hub
Browse files- .gitattributes +1 -0
- norm_stats/bridge/norm_stats.json +408 -0
- pretrained_model/config.json +52 -0
- pretrained_model/model.safetensors +3 -0
.gitattributes
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pretrained_model/model.safetensors filter=lfs diff=lfs merge=lfs -text
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norm_stats/bridge/norm_stats.json
ADDED
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@@ -0,0 +1,408 @@
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| 1 |
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pretrained_model/config.json
ADDED
|
@@ -0,0 +1,52 @@
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
+
"n_obs_steps": 1,
|
| 3 |
+
"device": "cuda",
|
| 4 |
+
"use_amp": false,
|
| 5 |
+
"normalization_mode": "mean_std",
|
| 6 |
+
"n_action_steps": 10,
|
| 7 |
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"model_type": "greenvlapolicy",
|
| 8 |
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"num_steps": 10,
|
| 9 |
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"max_state_dim": 48,
|
| 10 |
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"max_action_dim": 48,
|
| 11 |
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"map_to_unified_space": false,
|
| 12 |
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"unified_space_dim": 64,
|
| 13 |
+
"add_action_space_factorization": true,
|
| 14 |
+
"image_keys": [
|
| 15 |
+
"base_0_rgb",
|
| 16 |
+
"left_wrist_0_rgb",
|
| 17 |
+
"right_wrist_0_rgb"
|
| 18 |
+
],
|
| 19 |
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"tokenizer_max_length": 356,
|
| 20 |
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"proj_width": 1280,
|
| 21 |
+
"expert_block_stride": 4,
|
| 22 |
+
"base_vlm_model": "SberRoboticsCenter/Qwen3-VL-4B-Instruct-action",
|
| 23 |
+
"precision": "bfloat16",
|
| 24 |
+
"suffix_attention_mask": "block",
|
| 25 |
+
"model_mode": "flow_matching",
|
| 26 |
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"inference_mode": "flow_matching",
|
| 27 |
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"image_shape": [
|
| 28 |
+
448,
|
| 29 |
+
448
|
| 30 |
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],
|
| 31 |
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"default_temperature": 0.7,
|
| 32 |
+
"discrete_state_input": false,
|
| 33 |
+
"continuous_state_input": false,
|
| 34 |
+
"add_state_proj_to_action_expert": true,
|
| 35 |
+
"apply_noise_to_state_for_flow_matching": true,
|
| 36 |
+
"state_noise_amplitude": 0.1,
|
| 37 |
+
"state_dropout_prob": 0.5,
|
| 38 |
+
"attention_implementation": "sdpa",
|
| 39 |
+
"mask_padded_actions": true,
|
| 40 |
+
"enable_learnable_layer_combination": true,
|
| 41 |
+
"layer_combination_init": "identity",
|
| 42 |
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"is_knowledge_insulation": false,
|
| 43 |
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"ce_loss_weight": 0.5,
|
| 44 |
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"state_special_token_id": 228,
|
| 45 |
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"clip_state": false,
|
| 46 |
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"freeze_vision_encoder": false,
|
| 47 |
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"use_cache": false,
|
| 48 |
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"add_control_mode": true,
|
| 49 |
+
"add_embodiment_name": true,
|
| 50 |
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"action_head_batch_multiplier": 4,
|
| 51 |
+
"type": "greenvlapolicy"
|
| 52 |
+
}
|
pretrained_model/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:d32ec58e43c36e16302487af79a9dffdf399944b1ec7b5ee39325c8fbe557313
|
| 3 |
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size 9384574440
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