Upload folder using huggingface_hub

.gitattributes

@@ -33,3 +33,14 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+params/ocdbt.process_0/d/16265ffc6d98e672e9fa662a72863bae filter=lfs diff=lfs merge=lfs -text
+params/ocdbt.process_0/d/5dcc005c43c5ab157484a27618f93d07 filter=lfs diff=lfs merge=lfs -text
+params/ocdbt.process_0/d/701ebda577638db1de1332a51e758ef3 filter=lfs diff=lfs merge=lfs -text
+params/ocdbt.process_0/d/b22a7da20303c5a851ba535b6b82a6ba filter=lfs diff=lfs merge=lfs -text
+params/ocdbt.process_0/d/b42292b7d046199b2bc0d84218d3f45c filter=lfs diff=lfs merge=lfs -text
+params/ocdbt.process_0/d/bd283a0dd3e7ff9e6d23c0d1cfe13470 filter=lfs diff=lfs merge=lfs -text
+params/ocdbt.process_0/d/e13963792b7137b6cd1bb8bccc8c96ac filter=lfs diff=lfs merge=lfs -text
+params/ocdbt.process_0/d/e51a4b7dda745e2e65c0e8ef1bc95376 filter=lfs diff=lfs merge=lfs -text
+params/ocdbt.process_0/d/e7c2f4d34ab4d60f8251492fa1538dd7 filter=lfs diff=lfs merge=lfs -text
+params/ocdbt.process_0/d/e9c7dd74526c887b8d6ac6cd78ed4fc2 filter=lfs diff=lfs merge=lfs -text
+params/ocdbt.process_0/d/fb608205d58209a981b70df06b4af3a2 filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,69 @@
+---
+license: apache-2.0
+library_name: openpi
+tags:
+  - robotics
+  - manipulation
+  - pi0.5
+  - openpi
+  - jax
+  - orbax
+pipeline_tag: robotics
+---
+
+# openpi-pi05-droid-pretrained
+
+The official [Pi0.5](https://www.physicalintelligence.company/blog/pi0-5) DROID pretrained model from the [OpenPI](https://github.com/Physical-Intelligence/openpi) framework, converted to bfloat16 for efficient storage and inference.
+
+## Model Details
+
+| Property | Value |
+|---|---|
+| OpenPI config | `pi05_droid` |
+| Precision | bfloat16 |
+| Parameter size | ~6.7 GB |
+| Original source | `gs://openpi-assets/checkpoints/pi05_droid` |
+
+## Usage
+
+### Download and run inference
+
+```bash
+# Download checkpoint from HF Hub
+huggingface-cli download ankile/openpi-pi05-droid-pretrained --local-dir <local_path>
+
+# Run inference server
+cd deps/openpi
+uv run python scripts/serve_policy.py pi05_droid \
+  --checkpoint-dir <local_path>
+```
+
+### In-process inference (Python)
+
+```python
+from openpi.training import config as openpi_config
+from openpi.policies import policy_config as openpi_policy_config
+
+train_config = openpi_config.get_config("pi05_droid")
+policy = openpi_policy_config.create_trained_policy(
+    train_config, "<local_path>"
+)
+result = policy.infer(obs_dict)
+actions = result["actions"]
+```
+
+## Checkpoint Format
+
+[Orbax](https://github.com/google/orbax) format, all parameters in bfloat16.
+
+```
+├── _CHECKPOINT_METADATA
+├── assets/
+│   └── (normalization stats)
+└── params/
+    └── (orbax checkpoint files)
+```
+
+## License
+
+Apache 2.0

assets/droid/norm_stats.json

@@ -0,0 +1,280 @@
+{
+  "norm_stats": {
+    "actions": {
+      "mean": [
+        -0.00472901866709525,
+        0.011388235604800786,
+        0.001825141694746182,
+        0.028471763133568993,
+        0.001342906416782047,
+        -0.002978336488361622,
+        0.0028646739072654254,
+        0.45140399925478786,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "std": [
+        0.1555912402862041,
+        0.3074590841735031,
+        0.1514089017296873,
+        0.30116801315764397,
+        0.22751769153326873,
+        0.24581617376611345,
+        0.26948180190273524,
+        0.4413864921810166,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -0.45799999999999996,
+        -0.8076,
+        -0.44719999999999993,
+        -0.9268,
+        -0.6456,
+        -0.6459999999999999,
+        -0.7616,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        0.4476,
+        0.7652000000000001,
+        0.4480000000000002,
+        0.7944,
+        0.6484000000000001,
+        0.6628000000000001,
+        0.7344000000000002,
+        0.9998,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    },
+    "state": {
+      "mean": [
+        0.016237762316468146,
+        0.26715409834621,
+        -0.016710053356134087,
+        -2.0255712993077326,
+        -0.03266582860490208,
+        2.344549184149644,
+        0.08269685385513066,
+        0.3997888614549533,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "std": [
+        0.30769924638771073,
+        0.48216030004631877,
+        0.26944263961875825,
+        0.48189821046318276,
+        0.5374187843900121,
+        0.45384659499775365,
+        0.7474676080830999,
+        0.40705741517596306,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -0.8279732212066653,
+        -0.8398311847686768,
+        -0.8425482082366944,
+        -2.773015278291702,
+        -1.8426181347846986,
+        1.1716566389799117,
+        -2.047264838027954,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        0.8996522880554196,
+        1.385467470359802,
+        0.6920277433395388,
+        -0.4542043057203293,
+        1.732314240932464,
+        3.4672964780330657,
+        2.1984972072601314,
+        0.991,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    }
+  }
+}

params/_CHECKPOINT_METADATA

@@ -0,0 +1 @@
+{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1771635398345548732, "commit_timestamp_nsecs": 1771635405619916666, "custom_metadata": {}}

params/_METADATA

@@ -0,0 +1 @@
+{"tree_metadata": {"('params', 'PaliGemma', 'img', 'Transformer', 'encoder_norm', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoder_norm", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoder_norm', 'scale')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoder_norm", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'LayerNorm_0', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'LayerNorm_0', 'scale')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'LayerNorm_1', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'LayerNorm_1', 'scale')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MlpBlock_0', 'Dense_0', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MlpBlock_0", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MlpBlock_0', 'Dense_0', 'kernel')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MlpBlock_0", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MlpBlock_0', 'Dense_1', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MlpBlock_0", "key_type": 2}, {"key": "Dense_1", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MlpBlock_0', 'Dense_1', 'kernel')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MlpBlock_0", "key_type": 2}, {"key": "Dense_1", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'key', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "key", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'key', 'kernel')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "key", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'out', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "out", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'out', 'kernel')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "out", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'query', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "query", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'query', 'kernel')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "query", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'value', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "value", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'value', 'kernel')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "value", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'embedding', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "embedding", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'embedding', 'kernel')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "embedding", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'head', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "head", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'head', 'kernel')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "head", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'pos_embedding')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "pos_embedding", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'embedder', 'input_embedding')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "embedder", "key_type": 2}, {"key": "input_embedding", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'final_norm', 'scale')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "final_norm", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'final_norm_1', 'Dense_0', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "final_norm_1", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'final_norm_1', 'Dense_0', 'kernel')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "final_norm_1", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'attn_vec_einsum', 'w')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "attn_vec_einsum", "key_type": 2}, {"key": "w", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'attn_vec_einsum_1', 'w')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "attn_vec_einsum_1", "key_type": 2}, {"key": "w", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'kv_einsum', 'w')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "kv_einsum", "key_type": 2}, {"key": "w", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'kv_einsum_1', 'w')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "kv_einsum_1", "key_type": 2}, {"key": "w", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'q_einsum', 'w')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "q_einsum", "key_type": 2}, {"key": "w", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'q_einsum_1', 'w')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "q_einsum_1", "key_type": 2}, {"key": "w", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'layers', 'mlp', 'gating_einsum')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "mlp", "key_type": 2}, {"key": "gating_einsum", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'layers', 'mlp', 'linear')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "mlp", "key_type": 2}, {"key": "linear", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'layers', 'mlp_1', 'gating_einsum')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "mlp_1", "key_type": 2}, {"key": "gating_einsum", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'layers', 'mlp_1', 'linear')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "mlp_1", "key_type": 2}, {"key": "linear", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'layers', 'pre_attention_norm', 'scale')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "pre_attention_norm", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'layers', 'pre_attention_norm_1', 'Dense_0', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "pre_attention_norm_1", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'layers', 'pre_attention_norm_1', 'Dense_0', 'kernel')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "pre_attention_norm_1", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'layers', 'pre_ffw_norm', 'scale')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "pre_ffw_norm", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'layers', 'pre_ffw_norm_1', 'Dense_0', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "pre_ffw_norm_1", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'llm', 'layers', 'pre_ffw_norm_1', 'Dense_0', 'kernel')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "pre_ffw_norm_1", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'action_in_proj', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "action_in_proj", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'action_in_proj', 'kernel')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "action_in_proj", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'action_out_proj', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "action_out_proj", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'action_out_proj', 'kernel')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "action_out_proj", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'time_mlp_in', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "time_mlp_in", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'time_mlp_in', 'kernel')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "time_mlp_in", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'time_mlp_out', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "time_mlp_out", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'time_mlp_out', 'kernel')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "time_mlp_out", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}}, "use_zarr3": false, "store_array_data_equal_to_fill_value": true, "custom_metadata": null}

params/ocdbt.process_0/d/16265ffc6d98e672e9fa662a72863bae

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbb304b640dafe7f9a3ca899da721756ef9f9bb65b197fa82302b4d421d446f8
+size 9029067

params/ocdbt.process_0/d/5dcc005c43c5ab157484a27618f93d07

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a721d3dcfd03fcedb599ab8d3ec494bff55cef7445a54b3dfd6823d90a093f99
+size 29565729

params/ocdbt.process_0/d/701ebda577638db1de1332a51e758ef3

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eed69a345d130287e7183c76d825f11647d12f139ce573c00afec2a52f87be8e
+size 1887159318

params/ocdbt.process_0/d/b22a7da20303c5a851ba535b6b82a6ba

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:847789340192062536af57af51070967ca160b4edbba148ce53e6c20a40ccd35
+size 1099691479

params/ocdbt.process_0/d/b42292b7d046199b2bc0d84218d3f45c

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac2672159326a9d3305fe7f433bc6b336275e05b71c40b039b54f75f307267e4
+size 56076105

params/ocdbt.process_0/d/bd283a0dd3e7ff9e6d23c0d1cfe13470

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9e422402ef00587c0ca3f400a3f461b24e19b6537f1ce243bdd1f6c175c3448
+size 319466404

params/ocdbt.process_0/d/e13963792b7137b6cd1bb8bccc8c96ac

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5feea5e620302ee5a3d0fac0515dd42cc701855fee98d19a721e0a9f542185cf
+size 3383653

params/ocdbt.process_0/d/e51a4b7dda745e2e65c0e8ef1bc95376

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caf2e084150b2a8d5b7dda190964fdf8870736b5e8c76f495af250880b9b58a8
+size 1770176626

params/ocdbt.process_0/d/e7c2f4d34ab4d60f8251492fa1538dd7

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8025ad008fa725592c71544d1b7dd3fda00d3c2049af8d19b0fd52b9cabe9269
+size 462325

params/ocdbt.process_0/d/e9c7dd74526c887b8d6ac6cd78ed4fc2

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70234879693942caba6cd7876df91d773599752b65c1498ea1e1e02050826a12
+size 14755302

params/ocdbt.process_0/d/fb608205d58209a981b70df06b4af3a2

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cdf76ec526221657e45c93984b61d9f60cd713bed2af2e5ebcad9d936e15be8
+size 56159559