Upload h_rdt SIMPLE checkpoint for G1WholebodyHandoverSonic-v0

Local source: /hfm/zhenyu/psi_develop_runs/quickstart_finish_20260408/hrdt/G1WholebodyHandoverSonic-v0/checkpoint-final
Completed DR levels: L0=0%, L1=10%, L2=0%
Eval root: /hfm/zhenyu/psi_develop_runs/simple_hrdt_eval_20260409/G1WholebodyHandoverSonic-v0

h_rdt/simple/G1WholebodyHandoverSonic-v0/README.md

@@ -0,0 +1,9 @@
+---
+tags:
+- model_hub_mixin
+- pytorch_model_hub_mixin
+---
+
+This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
+- Library: https://huggingface.co/hongzhe2002/H-RDT/
+- Docs: [More Information Needed]

h_rdt/simple/G1WholebodyHandoverSonic-v0/config.json

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+{
+  "act_adaptor": "mlp3x_silu",
+  "act_pos_emb_config": [
+    [
+      "state",
+      1
+    ],
+    [
+      "action",
+      16
+    ]
+  ],
+  "action_dim": 36,
+  "ema": {
+    "inv_gamma": 1.0,
+    "max_value": 0.9999,
+    "min_value": 0.0,
+    "power": 0.75,
+    "update_after_step": 0
+  },
+  "hrdt": {
+    "depth": 16,
+    "ffn_dim_multiplier": null,
+    "hidden_size": 2176,
+    "multiple_of": 256,
+    "norm_eps": 1e-05,
+    "num_heads": 16,
+    "num_kv_heads": 8,
+    "output_size": 36,
+    "use_flash_attn": true
+  },
+  "img_adapter": "mlp2x_silu",
+  "img_pos_emb_config": [
+    [
+      "image",
+      [
+        1,
+        1,
+        -729
+      ]
+    ]
+  ],
+  "lang_adapter": "mlp2x_silu",
+  "lang_pos_emb_config": [
+    [
+      "language",
+      -1024
+    ]
+  ],
+  "max_img_len": 729,
+  "max_lang_len": 1024,
+  "mode": "finetune",
+  "noise_scheduler": {
+    "num_inference_timesteps": 5,
+    "sampler_type": "uniform",
+    "timestep_max": 0.999
+  },
+  "pred_horizon": 16,
+  "pretrained_backbone_path": "/hfm/zhenyu/psi_develop/src/h_rdt/checkpoints/pretrain-0618/checkpoint-500000/pytorch_model.bin",
+  "st_adaptor": "mlp3x_silu",
+  "state_dim": 36,
+  "text": {
+    "feature_dim": 4096
+  },
+  "time_noise": {
+    "a": 5,
+    "beta_m": 100
+  },
+  "training_mode": "lang",
+  "vision": {
+    "feature_dim": 2176
+  }
+}

h_rdt/simple/G1WholebodyHandoverSonic-v0/model.safetensors

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+size 4119124144

h_rdt/simple/G1WholebodyHandoverSonic-v0/optimizer.bin

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+size 7265252468

h_rdt/simple/G1WholebodyHandoverSonic-v0/pytorch_model.bin

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h_rdt/simple/G1WholebodyHandoverSonic-v0/random_states_0.pkl

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+size 14408

h_rdt/simple/G1WholebodyHandoverSonic-v0/scheduler.bin

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+size 1000