Hugging Face's logo

archerlinn
/
pick_up_trash_50

Safetensors
gr00t_n1_5
Model card Files
xet
 Community
archerlinn commited on
Commit
8b43c8f
·
verified ·
1 Parent(s): d42f994

Upload folder using huggingface_hub

Browse files
Files changed (5) hide show
  1. .gitignore +1 -0
  2. config.json +64 -0
  3. experiment_cfg/metadata.json +195 -0
  4. model.safetensors.index.json +0 -0
  5. trainer_state.json +0 -0
.gitignore ADDED
@@ -0,0 +1 @@
 
 
1
+ checkpoint-*/
config.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_dim": 32,
3
+ "action_head_cfg": {
4
+ "action_dim": 32,
5
+ "action_horizon": 16,
6
+ "add_pos_embed": true,
7
+ "backbone_embedding_dim": 2048,
8
+ "diffusion_model_cfg": {
9
+ "attention_head_dim": 48,
10
+ "cross_attention_dim": 2048,
11
+ "dropout": 0.2,
12
+ "final_dropout": true,
13
+ "interleave_self_attention": true,
14
+ "norm_type": "ada_norm",
15
+ "num_attention_heads": 32,
16
+ "num_layers": 16,
17
+ "output_dim": 1024,
18
+ "positional_embeddings": null
19
+ },
20
+ "hidden_size": 1024,
21
+ "input_embedding_dim": 1536,
22
+ "max_action_dim": 32,
23
+ "max_state_dim": 64,
24
+ "model_dtype": "float32",
25
+ "noise_beta_alpha": 1.5,
26
+ "noise_beta_beta": 1.0,
27
+ "noise_s": 0.999,
28
+ "num_inference_timesteps": 4,
29
+ "num_target_vision_tokens": 32,
30
+ "num_timestep_buckets": 1000,
31
+ "tune_diffusion_model": true,
32
+ "tune_projector": true,
33
+ "use_vlln": true,
34
+ "vl_self_attention_cfg": {
35
+ "attention_head_dim": 64,
36
+ "dropout": 0.2,
37
+ "final_dropout": true,
38
+ "num_attention_heads": 32,
39
+ "num_layers": 4,
40
+ "positional_embeddings": null
41
+ }
42
+ },
43
+ "action_horizon": 16,
44
+ "architectures": [
45
+ "GR00T_N1_5"
46
+ ],
47
+ "attn_implementation": null,
48
+ "backbone_cfg": {
49
+ "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
50
+ "load_bf16": false,
51
+ "project_to_dim": null,
52
+ "reproject_vision": false,
53
+ "select_layer": 12,
54
+ "tune_llm": false,
55
+ "tune_visual": true,
56
+ "use_flash_attention": true
57
+ },
58
+ "compute_dtype": "bfloat16",
59
+ "hidden_size": 2048,
60
+ "model_dtype": "float32",
61
+ "model_type": "gr00t_n1_5",
62
+ "torch_dtype": "bfloat16",
63
+ "transformers_version": "4.51.3"
64
+ }
experiment_cfg/metadata.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "new_embodiment": {
3
+ "statistics": {
4
+ "state": {
5
+ "single_arm": {
6
+ "max": [
7
+ 42.625370025634766,
8
+ 59.423675537109375,
9
+ 100.0,
10
+ 100.0,
11
+ -26.07649040222168
12
+ ],
13
+ "min": [
14
+ -37.315635681152344,
15
+ -99.6884765625,
16
+ -66.803466796875,
17
+ -72.73954010009766,
18
+ -83.41802978515625
19
+ ],
20
+ "mean": [
21
+ 1.3366721868515015,
22
+ -50.05180358886719,
23
+ 62.658443450927734,
24
+ 19.83676528930664,
25
+ -58.53385925292969
26
+ ],
27
+ "std": [
28
+ 12.310745239257812,
29
+ 47.20203399658203,
30
+ 41.652976989746094,
31
+ 22.800580978393555,
32
+ 7.441578388214111
33
+ ],
34
+ "q01": [
35
+ -34.02359970092773,
36
+ -99.45482635498047,
37
+ -47.63337829589844,
38
+ -29.946918182373047,
39
+ -75.55496215820312
40
+ ],
41
+ "q99": [
42
+ 23.18289070129392,
43
+ 49.06542205810547,
44
+ 100.0,
45
+ 83.53575897216797,
46
+ -36.36159439086918
47
+ ]
48
+ },
49
+ "gripper": {
50
+ "max": [
51
+ 99.06852722167969
52
+ ],
53
+ "min": [
54
+ 1.4637391567230225
55
+ ],
56
+ "mean": [
57
+ 22.766124725341797
58
+ ],
59
+ "std": [
60
+ 31.40079116821289
61
+ ],
62
+ "q01": [
63
+ 1.5302728414535522
64
+ ],
65
+ "q99": [
66
+ 97.07252502441406
67
+ ]
68
+ }
69
+ },
70
+ "action": {
71
+ "single_arm": {
72
+ "max": [
73
+ 43.19880294799805,
74
+ 58.56842041015625,
75
+ 100.0,
76
+ 100.0,
77
+ -25.854921340942383
78
+ ],
79
+ "min": [
80
+ -37.51868438720703,
81
+ -100.0,
82
+ -71.11517333984375,
83
+ -73.90946197509766,
84
+ -84.92227935791016
85
+ ],
86
+ "mean": [
87
+ 1.4406607151031494,
88
+ -51.057865142822266,
89
+ 60.688201904296875,
90
+ 19.249435424804688,
91
+ -58.50544738769531
92
+ ],
93
+ "std": [
94
+ 12.446574211120605,
95
+ 46.5860481262207,
96
+ 42.87942886352539,
97
+ 22.993209838867188,
98
+ 7.494980812072754
99
+ ],
100
+ "q01": [
101
+ -34.230194091796875,
102
+ -100.0,
103
+ -52.10237503051758,
104
+ -31.1703702545166,
105
+ -75.66631896972656
106
+ ],
107
+ "q99": [
108
+ 23.943198394775365,
109
+ 46.61052703857422,
110
+ 100.0,
111
+ 83.68065917968745,
112
+ -36.21761703491211
113
+ ]
114
+ },
115
+ "gripper": {
116
+ "max": [
117
+ 100.0
118
+ ],
119
+ "min": [
120
+ 0.0
121
+ ],
122
+ "mean": [
123
+ 22.644290924072266
124
+ ],
125
+ "std": [
126
+ 37.26095199584961
127
+ ],
128
+ "q01": [
129
+ 0.0
130
+ ],
131
+ "q99": [
132
+ 100.0
133
+ ]
134
+ }
135
+ }
136
+ },
137
+ "modalities": {
138
+ "video": {
139
+ "front": {
140
+ "resolution": [
141
+ 640,
142
+ 480
143
+ ],
144
+ "channels": 3,
145
+ "fps": 30.0
146
+ },
147
+ "wrist": {
148
+ "resolution": [
149
+ 640,
150
+ 480
151
+ ],
152
+ "channels": 3,
153
+ "fps": 30.0
154
+ }
155
+ },
156
+ "state": {
157
+ "single_arm": {
158
+ "absolute": true,
159
+ "rotation_type": null,
160
+ "shape": [
161
+ 5
162
+ ],
163
+ "continuous": true
164
+ },
165
+ "gripper": {
166
+ "absolute": true,
167
+ "rotation_type": null,
168
+ "shape": [
169
+ 1
170
+ ],
171
+ "continuous": true
172
+ }
173
+ },
174
+ "action": {
175
+ "single_arm": {
176
+ "absolute": true,
177
+ "rotation_type": null,
178
+ "shape": [
179
+ 5
180
+ ],
181
+ "continuous": true
182
+ },
183
+ "gripper": {
184
+ "absolute": true,
185
+ "rotation_type": null,
186
+ "shape": [
187
+ 1
188
+ ],
189
+ "continuous": true
190
+ }
191
+ }
192
+ },
193
+ "embodiment_tag": "new_embodiment"
194
+ }
195
+ }
model.safetensors.index.json ADDED
The diff for this file is too large to render. See raw diff
 
trainer_state.json ADDED
The diff for this file is too large to render. See raw diff