Add h_rdt real checkpoint for Rotate_to_pour_ham_into_plate_and_push_the_cart_forward
Browse files
h_rdt/real/Rotate_to_pour_ham_into_plate_and_push_the_cart_forward/README.md
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---
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tags:
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- model_hub_mixin
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- pytorch_model_hub_mixin
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---
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This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
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- Code: https://huggingface.co/hongzhe2002/H-RDT/
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- Paper: [More Information Needed]
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- Docs: [More Information Needed]
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h_rdt/real/Rotate_to_pour_ham_into_plate_and_push_the_cart_forward/config.json
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{
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"act_adaptor": "mlp3x_silu",
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"act_adaptor_width_multiplier": 1,
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"act_pos_emb_config": [
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[
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"state",
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1
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],
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[
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"action",
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16
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]
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],
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"action_dim": 36,
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"ema": {
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"inv_gamma": 1.0,
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"max_value": 0.9999,
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"min_value": 0.0,
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"power": 0.75,
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"update_after_step": 0
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},
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"hrdt": {
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"action_decoder_hidden_multiplier": 1,
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"depth": 16,
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"ffn_dim_multiplier": null,
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"hidden_size": 2176,
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"multiple_of": 256,
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"norm_eps": 1e-05,
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"num_heads": 16,
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"num_kv_heads": 8,
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"output_size": 36,
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"use_flash_attn": true
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},
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"img_adapter": "mlp2x_silu",
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"img_pos_emb_config": [
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[
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"image",
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[
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1,
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1,
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-729
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]
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]
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],
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"lang_adapter": "mlp2x_silu",
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"lang_pos_emb_config": [
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[
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"language",
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-1024
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]
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],
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"max_img_len": 729,
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"max_lang_len": 1024,
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"mode": "finetune",
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"noise_scheduler": {
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"num_inference_timesteps": 5,
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"sampler_type": "uniform",
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"timestep_max": 0.999
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},
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"pred_horizon": 16,
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"pretrained_backbone_path": "./checkpoints/pretrain-0618/checkpoint-500000/checkpoints/pretrain-0618/checkpoint-500000/pytorch_model.bin",
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"st_adaptor": "mlp3x_silu",
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"st_adaptor_width_multiplier": 1,
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"state_dim": 32,
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"text": {
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"feature_dim": 4096
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},
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"time_noise": {
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"a": 5,
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"beta_m": 100
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},
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"training_mode": "lang",
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"vision": {
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"feature_dim": 2176
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}
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}
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h_rdt/real/Rotate_to_pour_ham_into_plate_and_push_the_cart_forward/pytorch_model.bin
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version https://git-lfs.github.com/spec/v1
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oid sha256:6dba5aaac4d6e8d0d6d0a6c9caf133ce09c2441e54d4ed26f5a8315de371172b
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size 4119255599
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