archerlinn commited on
Commit
356e5b5
·
verified ·
1 Parent(s): d774ebe

Upload folder using huggingface_hub

Browse files
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
+ 31.584779739379883,
8
+ 64.39543151855469,
9
+ 99.81981658935547,
10
+ 95.37869262695312,
11
+ -39.73822021484375
12
+ ],
13
+ "min": [
14
+ -35.05725860595703,
15
+ -98.50334930419922,
16
+ -40.180179595947266,
17
+ -83.39752197265625,
18
+ -62.04188537597656
19
+ ],
20
+ "mean": [
21
+ 4.494622885749116,
22
+ -33.11278510021558,
23
+ 54.053459068093794,
24
+ 9.971121897814236,
25
+ -51.130326362547244
26
+ ],
27
+ "std": [
28
+ 14.62890989695628,
29
+ 46.22532107431792,
30
+ 38.11537768634503,
31
+ 25.971699239996713,
32
+ 2.9871892967456555
33
+ ],
34
+ "q01": [
35
+ -27.52567501068115,
36
+ -98.26703643798828,
37
+ -15.951351127624513,
38
+ -52.33205032348633,
39
+ -60.10785461425781
40
+ ],
41
+ "q99": [
42
+ 29.44218635559082,
43
+ 46.120521545410156,
44
+ 99.72972869873047,
45
+ 66.79503631591797,
46
+ -44.03141403198242
47
+ ]
48
+ },
49
+ "gripper": {
50
+ "max": [
51
+ 96.77843475341797
52
+ ],
53
+ "min": [
54
+ 5.325443744659424
55
+ ],
56
+ "mean": [
57
+ 20.958730219866307
58
+ ],
59
+ "std": [
60
+ 20.370553732594125
61
+ ],
62
+ "q01": [
63
+ 6.11439847946167
64
+ ],
65
+ "q99": [
66
+ 92.241943359375
67
+ ]
68
+ }
69
+ },
70
+ "action": {
71
+ "single_arm": {
72
+ "max": [
73
+ 31.858407974243164,
74
+ 63.25,
75
+ 100.0,
76
+ 95.79627990722656,
77
+ -39.62458038330078
78
+ ],
79
+ "min": [
80
+ -35.1769905090332,
81
+ -99.75,
82
+ -45.899410247802734,
83
+ -85.52951049804688,
84
+ -61.89251708984375
85
+ ],
86
+ "mean": [
87
+ 4.677408093202374,
88
+ -34.423687713136026,
89
+ 51.404233625911615,
90
+ 9.3098663254665,
91
+ -51.175407650680526
92
+ ],
93
+ "std": [
94
+ 14.698593977596747,
95
+ 45.825972077385906,
96
+ 39.75733884877867,
97
+ 26.183024943355996,
98
+ 2.997946260033453
99
+ ],
100
+ "q01": [
101
+ -27.507373809814453,
102
+ -99.25,
103
+ -20.797462463378906,
104
+ -53.597412109375,
105
+ -60.092567443847656
106
+ ],
107
+ "q99": [
108
+ 29.719764709472656,
109
+ 44.91666793823242,
110
+ 99.90937805175781,
111
+ 66.45108795166016,
112
+ -43.9444580078125
113
+ ]
114
+ },
115
+ "gripper": {
116
+ "max": [
117
+ 99.33184814453125
118
+ ],
119
+ "min": [
120
+ 0.0
121
+ ],
122
+ "mean": [
123
+ 19.20353216877487
124
+ ],
125
+ "std": [
126
+ 21.625022515997028
127
+ ],
128
+ "q01": [
129
+ 4.899777412414551
130
+ ],
131
+ "q99": [
132
+ 93.54120635986328
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-00001-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:327c3ebbdf8c2c44f1f1a05b8b144a149bcf3c216359f55bdc60dace3d09b733
3
+ size 4999367032
model-00002-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:931bbb872ebf4c8520d876392fb1e7abbaa7f016b2af327426e90330ac106107
3
+ size 2586705312
model.safetensors.index.json ADDED
The diff for this file is too large to render. See raw diff
 
optimizer.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:36f968b33f115ca5d88ee12d2445baa7f47cc733fdc0b878b4b15e736ba924ad
3
+ size 8550720062
rng_state.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3a1bec80edaf6b346bada1a0a2671c04943dfb28a1d57d026d10828314022843
3
+ size 14244
scheduler.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1c26823aa5685497db4fe82a648513d12cb6c26d9be110887b197c10fe3a44ac
3
+ size 1064
trainer_state.json ADDED
The diff for this file is too large to render. See raw diff