Hugging Face's logo

SinjaeKang
/
wp_franka_real

Safetensors
Model card Files
xet
Community
SinjaeKang commited on
Commit
2c52440
·
verified ·
1 Parent(s): bf9b1ed

Upload folder using huggingface_hub

Browse files
Files changed (17) hide show
  1. .gitattributes +5 -0
  2. ckpt_sc_AC1.0_seed1/checkpoint-20000/config.json +65 -0
  3. ckpt_sc_AC1.0_seed1/checkpoint-20000/experiment_cfg/metadata.json +323 -0
  4. ckpt_sc_AC1.0_seed1/checkpoint-20000/model-00001-of-00002.safetensors +3 -0
  5. ckpt_sc_AC1.0_seed1/checkpoint-20000/model-00002-of-00002.safetensors +3 -0
  6. ckpt_sc_AC1.0_seed1/checkpoint-20000/model.safetensors.index.json +0 -0
  7. ckpt_sc_AC1.0_seed1/checkpoint-20000/optimizer.pt +3 -0
  8. ckpt_sc_AC1.0_seed1/checkpoint-20000/rng_state.pth +0 -0
  9. ckpt_sc_AC1.0_seed1/checkpoint-20000/scheduler.pt +0 -0
  10. ckpt_sc_AC1.0_seed1/checkpoint-20000/trainer_state.json +0 -0
  11. ckpt_sc_AC1.0_seed1/config.json +65 -0
  12. ckpt_sc_AC1.0_seed1/experiment_cfg/metadata.json +323 -0
  13. ckpt_sc_AC1.0_seed1/model-00001-of-00002.safetensors +3 -0
  14. ckpt_sc_AC1.0_seed1/model-00002-of-00002.safetensors +3 -0
  15. ckpt_sc_AC1.0_seed1/model.safetensors.index.json +0 -0
  16. ckpt_sc_AC1.0_seed1/trainer_state.json +0 -0
  17. ckpt_sc_AC1.0_seed1/training_args.bin +0 -0
.gitattributes CHANGED
@@ -61,3 +61,8 @@ ckpt_pnpfs_normal_seed1/checkpoint-20000/model-00002-of-00002.safetensors filter
61
  ckpt_pnpfs_normal_seed1/checkpoint-20000/optimizer.pt filter=lfs diff=lfs merge=lfs -text
62
  ckpt_pnpfs_normal_seed1/model-00001-of-00002.safetensors filter=lfs diff=lfs merge=lfs -text
63
  ckpt_pnpfs_normal_seed1/model-00002-of-00002.safetensors filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
61
  ckpt_pnpfs_normal_seed1/checkpoint-20000/optimizer.pt filter=lfs diff=lfs merge=lfs -text
62
  ckpt_pnpfs_normal_seed1/model-00001-of-00002.safetensors filter=lfs diff=lfs merge=lfs -text
63
  ckpt_pnpfs_normal_seed1/model-00002-of-00002.safetensors filter=lfs diff=lfs merge=lfs -text
64
+ ckpt_sc_AC1.0_seed1/checkpoint-20000/model-00001-of-00002.safetensors filter=lfs diff=lfs merge=lfs -text
65
+ ckpt_sc_AC1.0_seed1/checkpoint-20000/model-00002-of-00002.safetensors filter=lfs diff=lfs merge=lfs -text
66
+ ckpt_sc_AC1.0_seed1/checkpoint-20000/optimizer.pt filter=lfs diff=lfs merge=lfs -text
67
+ ckpt_sc_AC1.0_seed1/model-00001-of-00002.safetensors filter=lfs diff=lfs merge=lfs -text
68
+ ckpt_sc_AC1.0_seed1/model-00002-of-00002.safetensors filter=lfs diff=lfs merge=lfs -text
ckpt_sc_AC1.0_seed1/checkpoint-20000/config.json ADDED
@@ -0,0 +1,65 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_dim": 32,
3
+ "action_head_cfg": {
4
+ "action_dim": 32,
5
+ "action_head_type": "flowmatching_warm_ac",
6
+ "action_horizon": 32,
7
+ "add_pos_embed": true,
8
+ "backbone_embedding_dim": 2048,
9
+ "diffusion_model_cfg": {
10
+ "attention_head_dim": 48,
11
+ "cross_attention_dim": 2048,
12
+ "dropout": 0.2,
13
+ "final_dropout": true,
14
+ "interleave_self_attention": true,
15
+ "norm_type": "ada_norm",
16
+ "num_attention_heads": 32,
17
+ "num_layers": 16,
18
+ "output_dim": 1024,
19
+ "positional_embeddings": null
20
+ },
21
+ "hidden_size": 1024,
22
+ "input_embedding_dim": 1536,
23
+ "max_action_dim": 32,
24
+ "max_state_dim": 64,
25
+ "model_dtype": "float32",
26
+ "noise_beta_alpha": 1.5,
27
+ "noise_beta_beta": 1.0,
28
+ "noise_s": 0.999,
29
+ "num_inference_timesteps": 4,
30
+ "num_target_vision_tokens": 32,
31
+ "num_timestep_buckets": 1000,
32
+ "tune_diffusion_model": true,
33
+ "tune_projector": true,
34
+ "use_vlln": true,
35
+ "vl_self_attention_cfg": {
36
+ "attention_head_dim": 64,
37
+ "dropout": 0.2,
38
+ "final_dropout": true,
39
+ "num_attention_heads": 32,
40
+ "num_layers": 4,
41
+ "positional_embeddings": null
42
+ }
43
+ },
44
+ "action_horizon": 32,
45
+ "architectures": [
46
+ "GR00T_N1_5"
47
+ ],
48
+ "attn_implementation": null,
49
+ "backbone_cfg": {
50
+ "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
51
+ "load_bf16": false,
52
+ "project_to_dim": null,
53
+ "reproject_vision": false,
54
+ "select_layer": 12,
55
+ "tune_llm": false,
56
+ "tune_visual": true,
57
+ "use_flash_attention": true
58
+ },
59
+ "compute_dtype": "bfloat16",
60
+ "hidden_size": 2048,
61
+ "model_dtype": "float32",
62
+ "model_type": "gr00t_n1_5",
63
+ "torch_dtype": "bfloat16",
64
+ "transformers_version": "4.51.3"
65
+ }
ckpt_sc_AC1.0_seed1/checkpoint-20000/experiment_cfg/metadata.json ADDED
@@ -0,0 +1,323 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "new_embodiment": {
3
+ "statistics": {
4
+ "state": {
5
+ "eef_pos": {
6
+ "max": [
7
+ 0.5486347675323486,
8
+ 0.1725829392671585,
9
+ 0.6780019402503967
10
+ ],
11
+ "min": [
12
+ 0.365322083234787,
13
+ -0.2393893301486969,
14
+ 0.3834136128425598
15
+ ],
16
+ "mean": [
17
+ 0.4920823574066162,
18
+ -0.04587901756167412,
19
+ 0.5435612797737122
20
+ ],
21
+ "std": [
22
+ 0.04163936525583267,
23
+ 0.12836144864559174,
24
+ 0.05839318409562111
25
+ ],
26
+ "q01": [
27
+ 0.3670970416069031,
28
+ -0.2292987996339798,
29
+ 0.40423322200775147
30
+ ],
31
+ "q99": [
32
+ 0.5400056195259094,
33
+ 0.16424318194389345,
34
+ 0.655236337184906
35
+ ]
36
+ },
37
+ "eef_rot": {
38
+ "max": [
39
+ 3.141578197479248,
40
+ 0.10800091922283173,
41
+ 0.2557235062122345
42
+ ],
43
+ "min": [
44
+ -3.1415562629699707,
45
+ -0.4438842535018921,
46
+ -0.31205013394355774
47
+ ],
48
+ "mean": [
49
+ -2.338111162185669,
50
+ -0.18601255118846893,
51
+ -0.009532973170280457
52
+ ],
53
+ "std": [
54
+ 1.989179015159607,
55
+ 0.09324256330728531,
56
+ 0.10468410700559616
57
+ ],
58
+ "q01": [
59
+ -3.1393416118621826,
60
+ -0.3772639870643616,
61
+ -0.2731074357032776
62
+ ],
63
+ "q99": [
64
+ 3.138623094558716,
65
+ 0.01716801047325165,
66
+ 0.18722377479076388
67
+ ]
68
+ },
69
+ "joint_pos": {
70
+ "max": [
71
+ 0.14516282081604004,
72
+ 0.18745629489421844,
73
+ 0.19332627952098846,
74
+ -1.7681221961975098,
75
+ 0.3003024756908417,
76
+ 2.283507823944092,
77
+ 0.34975239634513855
78
+ ],
79
+ "min": [
80
+ -0.2004968523979187,
81
+ -0.6304718852043152,
82
+ -0.30512329936027527,
83
+ -2.506263494491577,
84
+ -0.06617363542318344,
85
+ 1.8228437900543213,
86
+ -0.6174494624137878
87
+ ],
88
+ "mean": [
89
+ -0.026884570717811584,
90
+ -0.20953424274921417,
91
+ -0.06315141916275024,
92
+ -2.0474557876586914,
93
+ 0.08072274923324585,
94
+ 2.0182223320007324,
95
+ -0.1159563958644867
96
+ ],
97
+ "std": [
98
+ 0.10673777759075165,
99
+ 0.1688430905342102,
100
+ 0.1338305026292801,
101
+ 0.1348520666360855,
102
+ 0.05434064567089081,
103
+ 0.08255183696746826,
104
+ 0.20877733826637268
105
+ ],
106
+ "q01": [
107
+ -0.190615935921669,
108
+ -0.6118371462821961,
109
+ -0.2617623662948608,
110
+ -2.496810865402222,
111
+ -0.025624318867921828,
112
+ 1.8737036657333375,
113
+ -0.5001294827461242
114
+ ],
115
+ "q99": [
116
+ 0.13923871695995332,
117
+ 0.11128658920526521,
118
+ 0.1678642797470093,
119
+ -1.8338181591033935,
120
+ 0.2188848757743837,
121
+ 2.2334933185577395,
122
+ 0.29265766620635986
123
+ ]
124
+ },
125
+ "gripper": {
126
+ "max": [
127
+ 0.9867841601371765
128
+ ],
129
+ "min": [
130
+ 0.0
131
+ ],
132
+ "mean": [
133
+ 0.5210259556770325
134
+ ],
135
+ "std": [
136
+ 0.4855959415435791
137
+ ],
138
+ "q01": [
139
+ 0.0
140
+ ],
141
+ "q99": [
142
+ 0.9867841601371765
143
+ ]
144
+ }
145
+ },
146
+ "action": {
147
+ "delta_pos": {
148
+ "max": [
149
+ 0.02858816273510456,
150
+ 0.021234281361103058,
151
+ 0.027984563261270523
152
+ ],
153
+ "min": [
154
+ -0.02097034454345703,
155
+ -0.030145032331347466,
156
+ -0.025273829698562622
157
+ ],
158
+ "mean": [
159
+ 0.000977587653324008,
160
+ -0.001874606590718031,
161
+ 0.003625099314376712
162
+ ],
163
+ "std": [
164
+ 0.007535288576036692,
165
+ 0.011499768123030663,
166
+ 0.010478721000254154
167
+ ],
168
+ "q01": [
169
+ -0.01369980126619339,
170
+ -0.02456935115158558,
171
+ -0.01789189666509628
172
+ ],
173
+ "q99": [
174
+ 0.02115463405847551,
175
+ 0.01685850717127324,
176
+ 0.022653178796172155
177
+ ]
178
+ },
179
+ "delta_rot": {
180
+ "max": [
181
+ 0.06992283463478088,
182
+ 0.049777593463659286,
183
+ 0.05881442874670029
184
+ ],
185
+ "min": [
186
+ -0.047995273023843765,
187
+ -0.059301432222127914,
188
+ -0.04731396213173866
189
+ ],
190
+ "mean": [
191
+ 0.002018790692090988,
192
+ -0.0061166719533503056,
193
+ 0.001703825080767274
194
+ ],
195
+ "std": [
196
+ 0.014601020142436028,
197
+ 0.014980592764914036,
198
+ 0.012887493707239628
199
+ ],
200
+ "q01": [
201
+ -0.029249769523739814,
202
+ -0.040813819468021394,
203
+ -0.026931232064962386
204
+ ],
205
+ "q99": [
206
+ 0.03390778377652169,
207
+ 0.025655455812811853,
208
+ 0.03451083272695546
209
+ ]
210
+ },
211
+ "gripper": {
212
+ "max": [
213
+ 1.0
214
+ ],
215
+ "min": [
216
+ 0.0
217
+ ],
218
+ "mean": [
219
+ 0.5308812260627747
220
+ ],
221
+ "std": [
222
+ 0.49596303701400757
223
+ ],
224
+ "q01": [
225
+ 0.0
226
+ ],
227
+ "q99": [
228
+ 1.0
229
+ ]
230
+ }
231
+ }
232
+ },
233
+ "modalities": {
234
+ "video": {
235
+ "exterior_image_1_left": {
236
+ "resolution": [
237
+ 640,
238
+ 480
239
+ ],
240
+ "channels": 3,
241
+ "fps": 15.0
242
+ },
243
+ "exterior_image_2_left": {
244
+ "resolution": [
245
+ 640,
246
+ 480
247
+ ],
248
+ "channels": 3,
249
+ "fps": 15.0
250
+ },
251
+ "wrist_image_left": {
252
+ "resolution": [
253
+ 640,
254
+ 480
255
+ ],
256
+ "channels": 3,
257
+ "fps": 15.0
258
+ }
259
+ },
260
+ "state": {
261
+ "eef_pos": {
262
+ "absolute": true,
263
+ "rotation_type": null,
264
+ "shape": [
265
+ 3
266
+ ],
267
+ "continuous": true
268
+ },
269
+ "eef_rot": {
270
+ "absolute": true,
271
+ "rotation_type": null,
272
+ "shape": [
273
+ 3
274
+ ],
275
+ "continuous": true
276
+ },
277
+ "joint_pos": {
278
+ "absolute": true,
279
+ "rotation_type": null,
280
+ "shape": [
281
+ 7
282
+ ],
283
+ "continuous": true
284
+ },
285
+ "gripper": {
286
+ "absolute": true,
287
+ "rotation_type": null,
288
+ "shape": [
289
+ 1
290
+ ],
291
+ "continuous": true
292
+ }
293
+ },
294
+ "action": {
295
+ "delta_pos": {
296
+ "absolute": true,
297
+ "rotation_type": null,
298
+ "shape": [
299
+ 3
300
+ ],
301
+ "continuous": true
302
+ },
303
+ "delta_rot": {
304
+ "absolute": true,
305
+ "rotation_type": null,
306
+ "shape": [
307
+ 3
308
+ ],
309
+ "continuous": true
310
+ },
311
+ "gripper": {
312
+ "absolute": true,
313
+ "rotation_type": null,
314
+ "shape": [
315
+ 1
316
+ ],
317
+ "continuous": true
318
+ }
319
+ }
320
+ },
321
+ "embodiment_tag": "new_embodiment"
322
+ }
323
+ }
ckpt_sc_AC1.0_seed1/checkpoint-20000/model-00001-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6e2daacf8e92b0f3aa02c3ada5539026001ec6dc711e5ff1cc792125db8f1b37
3
+ size 4999367032
ckpt_sc_AC1.0_seed1/checkpoint-20000/model-00002-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d300046d98b2c0f6089a3d1ced0ed5ac7f4ac091c4e3bd42c5172f463acc0fb9
3
+ size 2586705312
ckpt_sc_AC1.0_seed1/checkpoint-20000/model.safetensors.index.json ADDED
The diff for this file is too large to render. See raw diff
 
ckpt_sc_AC1.0_seed1/checkpoint-20000/optimizer.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f94d9debb071ea65da6fb0627d64d94cd2babb5b915c8f0182d32a8cf0fc4bf8
3
+ size 8550720062
ckpt_sc_AC1.0_seed1/checkpoint-20000/rng_state.pth ADDED
Binary file (14.2 kB). View file
 
ckpt_sc_AC1.0_seed1/checkpoint-20000/scheduler.pt ADDED
Binary file (1.06 kB). View file
 
ckpt_sc_AC1.0_seed1/checkpoint-20000/trainer_state.json ADDED
The diff for this file is too large to render. See raw diff
 
ckpt_sc_AC1.0_seed1/config.json ADDED
@@ -0,0 +1,65 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_dim": 32,
3
+ "action_head_cfg": {
4
+ "action_dim": 32,
5
+ "action_head_type": "flowmatching_warm_ac",
6
+ "action_horizon": 32,
7
+ "add_pos_embed": true,
8
+ "backbone_embedding_dim": 2048,
9
+ "diffusion_model_cfg": {
10
+ "attention_head_dim": 48,
11
+ "cross_attention_dim": 2048,
12
+ "dropout": 0.2,
13
+ "final_dropout": true,
14
+ "interleave_self_attention": true,
15
+ "norm_type": "ada_norm",
16
+ "num_attention_heads": 32,
17
+ "num_layers": 16,
18
+ "output_dim": 1024,
19
+ "positional_embeddings": null
20
+ },
21
+ "hidden_size": 1024,
22
+ "input_embedding_dim": 1536,
23
+ "max_action_dim": 32,
24
+ "max_state_dim": 64,
25
+ "model_dtype": "float32",
26
+ "noise_beta_alpha": 1.5,
27
+ "noise_beta_beta": 1.0,
28
+ "noise_s": 0.999,
29
+ "num_inference_timesteps": 4,
30
+ "num_target_vision_tokens": 32,
31
+ "num_timestep_buckets": 1000,
32
+ "tune_diffusion_model": true,
33
+ "tune_projector": true,
34
+ "use_vlln": true,
35
+ "vl_self_attention_cfg": {
36
+ "attention_head_dim": 64,
37
+ "dropout": 0.2,
38
+ "final_dropout": true,
39
+ "num_attention_heads": 32,
40
+ "num_layers": 4,
41
+ "positional_embeddings": null
42
+ }
43
+ },
44
+ "action_horizon": 32,
45
+ "architectures": [
46
+ "GR00T_N1_5"
47
+ ],
48
+ "attn_implementation": null,
49
+ "backbone_cfg": {
50
+ "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
51
+ "load_bf16": false,
52
+ "project_to_dim": null,
53
+ "reproject_vision": false,
54
+ "select_layer": 12,
55
+ "tune_llm": false,
56
+ "tune_visual": true,
57
+ "use_flash_attention": true
58
+ },
59
+ "compute_dtype": "bfloat16",
60
+ "hidden_size": 2048,
61
+ "model_dtype": "float32",
62
+ "model_type": "gr00t_n1_5",
63
+ "torch_dtype": "bfloat16",
64
+ "transformers_version": "4.51.3"
65
+ }
ckpt_sc_AC1.0_seed1/experiment_cfg/metadata.json ADDED
@@ -0,0 +1,323 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "new_embodiment": {
3
+ "statistics": {
4
+ "state": {
5
+ "eef_pos": {
6
+ "max": [
7
+ 0.5486347675323486,
8
+ 0.1725829392671585,
9
+ 0.6780019402503967
10
+ ],
11
+ "min": [
12
+ 0.365322083234787,
13
+ -0.2393893301486969,
14
+ 0.3834136128425598
15
+ ],
16
+ "mean": [
17
+ 0.4920823574066162,
18
+ -0.04587901756167412,
19
+ 0.5435612797737122
20
+ ],
21
+ "std": [
22
+ 0.04163936525583267,
23
+ 0.12836144864559174,
24
+ 0.05839318409562111
25
+ ],
26
+ "q01": [
27
+ 0.3670970416069031,
28
+ -0.2292987996339798,
29
+ 0.40423322200775147
30
+ ],
31
+ "q99": [
32
+ 0.5400056195259094,
33
+ 0.16424318194389345,
34
+ 0.655236337184906
35
+ ]
36
+ },
37
+ "eef_rot": {
38
+ "max": [
39
+ 3.141578197479248,
40
+ 0.10800091922283173,
41
+ 0.2557235062122345
42
+ ],
43
+ "min": [
44
+ -3.1415562629699707,
45
+ -0.4438842535018921,
46
+ -0.31205013394355774
47
+ ],
48
+ "mean": [
49
+ -2.338111162185669,
50
+ -0.18601255118846893,
51
+ -0.009532973170280457
52
+ ],
53
+ "std": [
54
+ 1.989179015159607,
55
+ 0.09324256330728531,
56
+ 0.10468410700559616
57
+ ],
58
+ "q01": [
59
+ -3.1393416118621826,
60
+ -0.3772639870643616,
61
+ -0.2731074357032776
62
+ ],
63
+ "q99": [
64
+ 3.138623094558716,
65
+ 0.01716801047325165,
66
+ 0.18722377479076388
67
+ ]
68
+ },
69
+ "joint_pos": {
70
+ "max": [
71
+ 0.14516282081604004,
72
+ 0.18745629489421844,
73
+ 0.19332627952098846,
74
+ -1.7681221961975098,
75
+ 0.3003024756908417,
76
+ 2.283507823944092,
77
+ 0.34975239634513855
78
+ ],
79
+ "min": [
80
+ -0.2004968523979187,
81
+ -0.6304718852043152,
82
+ -0.30512329936027527,
83
+ -2.506263494491577,
84
+ -0.06617363542318344,
85
+ 1.8228437900543213,
86
+ -0.6174494624137878
87
+ ],
88
+ "mean": [
89
+ -0.026884570717811584,
90
+ -0.20953424274921417,
91
+ -0.06315141916275024,
92
+ -2.0474557876586914,
93
+ 0.08072274923324585,
94
+ 2.0182223320007324,
95
+ -0.1159563958644867
96
+ ],
97
+ "std": [
98
+ 0.10673777759075165,
99
+ 0.1688430905342102,
100
+ 0.1338305026292801,
101
+ 0.1348520666360855,
102
+ 0.05434064567089081,
103
+ 0.08255183696746826,
104
+ 0.20877733826637268
105
+ ],
106
+ "q01": [
107
+ -0.190615935921669,
108
+ -0.6118371462821961,
109
+ -0.2617623662948608,
110
+ -2.496810865402222,
111
+ -0.025624318867921828,
112
+ 1.8737036657333375,
113
+ -0.5001294827461242
114
+ ],
115
+ "q99": [
116
+ 0.13923871695995332,
117
+ 0.11128658920526521,
118
+ 0.1678642797470093,
119
+ -1.8338181591033935,
120
+ 0.2188848757743837,
121
+ 2.2334933185577395,
122
+ 0.29265766620635986
123
+ ]
124
+ },
125
+ "gripper": {
126
+ "max": [
127
+ 0.9867841601371765
128
+ ],
129
+ "min": [
130
+ 0.0
131
+ ],
132
+ "mean": [
133
+ 0.5210259556770325
134
+ ],
135
+ "std": [
136
+ 0.4855959415435791
137
+ ],
138
+ "q01": [
139
+ 0.0
140
+ ],
141
+ "q99": [
142
+ 0.9867841601371765
143
+ ]
144
+ }
145
+ },
146
+ "action": {
147
+ "delta_pos": {
148
+ "max": [
149
+ 0.02858816273510456,
150
+ 0.021234281361103058,
151
+ 0.027984563261270523
152
+ ],
153
+ "min": [
154
+ -0.02097034454345703,
155
+ -0.030145032331347466,
156
+ -0.025273829698562622
157
+ ],
158
+ "mean": [
159
+ 0.000977587653324008,
160
+ -0.001874606590718031,
161
+ 0.003625099314376712
162
+ ],
163
+ "std": [
164
+ 0.007535288576036692,
165
+ 0.011499768123030663,
166
+ 0.010478721000254154
167
+ ],
168
+ "q01": [
169
+ -0.01369980126619339,
170
+ -0.02456935115158558,
171
+ -0.01789189666509628
172
+ ],
173
+ "q99": [
174
+ 0.02115463405847551,
175
+ 0.01685850717127324,
176
+ 0.022653178796172155
177
+ ]
178
+ },
179
+ "delta_rot": {
180
+ "max": [
181
+ 0.06992283463478088,
182
+ 0.049777593463659286,
183
+ 0.05881442874670029
184
+ ],
185
+ "min": [
186
+ -0.047995273023843765,
187
+ -0.059301432222127914,
188
+ -0.04731396213173866
189
+ ],
190
+ "mean": [
191
+ 0.002018790692090988,
192
+ -0.0061166719533503056,
193
+ 0.001703825080767274
194
+ ],
195
+ "std": [
196
+ 0.014601020142436028,
197
+ 0.014980592764914036,
198
+ 0.012887493707239628
199
+ ],
200
+ "q01": [
201
+ -0.029249769523739814,
202
+ -0.040813819468021394,
203
+ -0.026931232064962386
204
+ ],
205
+ "q99": [
206
+ 0.03390778377652169,
207
+ 0.025655455812811853,
208
+ 0.03451083272695546
209
+ ]
210
+ },
211
+ "gripper": {
212
+ "max": [
213
+ 1.0
214
+ ],
215
+ "min": [
216
+ 0.0
217
+ ],
218
+ "mean": [
219
+ 0.5308812260627747
220
+ ],
221
+ "std": [
222
+ 0.49596303701400757
223
+ ],
224
+ "q01": [
225
+ 0.0
226
+ ],
227
+ "q99": [
228
+ 1.0
229
+ ]
230
+ }
231
+ }
232
+ },
233
+ "modalities": {
234
+ "video": {
235
+ "exterior_image_1_left": {
236
+ "resolution": [
237
+ 640,
238
+ 480
239
+ ],
240
+ "channels": 3,
241
+ "fps": 15.0
242
+ },
243
+ "exterior_image_2_left": {
244
+ "resolution": [
245
+ 640,
246
+ 480
247
+ ],
248
+ "channels": 3,
249
+ "fps": 15.0
250
+ },
251
+ "wrist_image_left": {
252
+ "resolution": [
253
+ 640,
254
+ 480
255
+ ],
256
+ "channels": 3,
257
+ "fps": 15.0
258
+ }
259
+ },
260
+ "state": {
261
+ "eef_pos": {
262
+ "absolute": true,
263
+ "rotation_type": null,
264
+ "shape": [
265
+ 3
266
+ ],
267
+ "continuous": true
268
+ },
269
+ "eef_rot": {
270
+ "absolute": true,
271
+ "rotation_type": null,
272
+ "shape": [
273
+ 3
274
+ ],
275
+ "continuous": true
276
+ },
277
+ "joint_pos": {
278
+ "absolute": true,
279
+ "rotation_type": null,
280
+ "shape": [
281
+ 7
282
+ ],
283
+ "continuous": true
284
+ },
285
+ "gripper": {
286
+ "absolute": true,
287
+ "rotation_type": null,
288
+ "shape": [
289
+ 1
290
+ ],
291
+ "continuous": true
292
+ }
293
+ },
294
+ "action": {
295
+ "delta_pos": {
296
+ "absolute": true,
297
+ "rotation_type": null,
298
+ "shape": [
299
+ 3
300
+ ],
301
+ "continuous": true
302
+ },
303
+ "delta_rot": {
304
+ "absolute": true,
305
+ "rotation_type": null,
306
+ "shape": [
307
+ 3
308
+ ],
309
+ "continuous": true
310
+ },
311
+ "gripper": {
312
+ "absolute": true,
313
+ "rotation_type": null,
314
+ "shape": [
315
+ 1
316
+ ],
317
+ "continuous": true
318
+ }
319
+ }
320
+ },
321
+ "embodiment_tag": "new_embodiment"
322
+ }
323
+ }
ckpt_sc_AC1.0_seed1/model-00001-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6e2daacf8e92b0f3aa02c3ada5539026001ec6dc711e5ff1cc792125db8f1b37
3
+ size 4999367032
ckpt_sc_AC1.0_seed1/model-00002-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d300046d98b2c0f6089a3d1ced0ed5ac7f4ac091c4e3bd42c5172f463acc0fb9
3
+ size 2586705312
ckpt_sc_AC1.0_seed1/model.safetensors.index.json ADDED
The diff for this file is too large to render. See raw diff
 
ckpt_sc_AC1.0_seed1/trainer_state.json ADDED
The diff for this file is too large to render. See raw diff
 
ckpt_sc_AC1.0_seed1/training_args.bin ADDED
Binary file (5.43 kB). View file