cyx66666 commited on
Commit
380133b
·
verified ·
1 Parent(s): f719562

Upload folder using huggingface_hub

Browse files
data_data_warehouse_all_data_0113_ee6d_v3-abs-a1_agibotworld_700k-finetune_new/060000/pretrained_model/config.json ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "qwena1",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 32
9
+ ]
10
+ }
11
+ },
12
+ "output_features": {
13
+ "action": {
14
+ "type": "ACTION",
15
+ "shape": [
16
+ 32
17
+ ]
18
+ }
19
+ },
20
+ "device": "cuda",
21
+ "use_amp": false,
22
+ "push_to_hub": false,
23
+ "repo_id": "lerobot_lab/qwena1",
24
+ "private": null,
25
+ "tags": null,
26
+ "license": null,
27
+ "pretrained_path": "outputs/qwena1/_data_data_warehouse_all_data_0113_ee6d_v3-abs-a1_agibotworld_700k-finetune/checkpoints/last/pretrained_model",
28
+ "qwen3_vl_variant": "qwen3_vl_28l",
29
+ "action_expert_variant": "qwen3_28l",
30
+ "dtype": "bfloat16",
31
+ "chunk_size": 50,
32
+ "n_action_steps": 50,
33
+ "max_state_dim": 32,
34
+ "max_action_dim": 32,
35
+ "num_inference_steps": 10,
36
+ "time_sampling_beta_alpha": 1.5,
37
+ "time_sampling_beta_beta": 1.0,
38
+ "time_sampling_scale": 0.999,
39
+ "time_sampling_offset": 0.001,
40
+ "min_period": 0.004,
41
+ "max_period": 4.0,
42
+ "image_resolution": [
43
+ 224,
44
+ 224
45
+ ],
46
+ "empty_cameras": 0,
47
+ "normalization_mapping": {
48
+ "VISUAL": "IDENTITY",
49
+ "STATE": "IDENTITY",
50
+ "ACTION": "IDENTITY"
51
+ },
52
+ "gradient_checkpointing": false,
53
+ "compile_model": false,
54
+ "compile_mode": "max-autotune",
55
+ "optimizer_lr": 5e-05,
56
+ "optimizer_betas": [
57
+ 0.9,
58
+ 0.95
59
+ ],
60
+ "optimizer_eps": 1e-08,
61
+ "optimizer_weight_decay": 0.01,
62
+ "optimizer_grad_clip_norm": 1.0,
63
+ "scheduler_warmup_steps": 2000,
64
+ "scheduler_decay_steps": 60000,
65
+ "scheduler_decay_lr": 5e-06,
66
+ "tokenizer_max_length": 48,
67
+ "freeze_vision_encoder": false,
68
+ "train_expert_only": false,
69
+ "train_vlm_only": false,
70
+ "scale_factor": 8,
71
+ "lambda_gen": 0.01
72
+ }
data_data_warehouse_all_data_0113_ee6d_v3-abs-a1_agibotworld_700k-finetune_new/060000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dcb8677ffa1b6751c94c1802371fdbeb750f9a33881d404f13037ddca2104c6b
3
+ size 6721209208
data_data_warehouse_all_data_0113_ee6d_v3-abs-a1_agibotworld_700k-finetune_new/060000/pretrained_model/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "aloha": {
3
+ "action": {
4
+ "min": [
5
+ -0.10788500308990479,
6
+ -0.5191159844398499,
7
+ 0.05315700173377991,
8
+ -0.9999999961922785,
9
+ -0.9427519979874366,
10
+ -0.9999376392579693,
11
+ -0.9999999999999961,
12
+ -0.9999999999999993,
13
+ -0.8969042478086995,
14
+ 0.00014000000373926014,
15
+ -0.02319999970495701,
16
+ -0.26581600308418274,
17
+ 0.06903599947690964,
18
+ -0.9999999999999961,
19
+ -0.9846714686388043,
20
+ -0.9854280709870091,
21
+ -0.9999999999999962,
22
+ -0.9999999999999992,
23
+ -0.6686916565422178,
24
+ 0.0
25
+ ],
26
+ "max": [
27
+ 0.521016001701355,
28
+ 0.48442599177360535,
29
+ 0.6967939734458923,
30
+ 0.831886322790034,
31
+ 0.9986396068276104,
32
+ 0.9985387381251091,
33
+ 1.0000000000000002,
34
+ 0.9991767886916751,
35
+ 0.9999210660044556,
36
+ 0.06384000182151794,
37
+ 0.5426539778709412,
38
+ 0.44545501470565796,
39
+ 0.6456500291824341,
40
+ 0.32048979981005365,
41
+ 0.9160724527175061,
42
+ 0.8732426426221994,
43
+ 1.0000000000000002,
44
+ 0.5894783715207605,
45
+ 0.7910665569650861,
46
+ 0.060270000249147415
47
+ ],
48
+ "mean": [
49
+ 0.24091958948658188,
50
+ -0.07513883878438206,
51
+ 0.2031262100961519,
52
+ -0.8566391393141635,
53
+ 0.10003767947790917,
54
+ 0.07966146030065918,
55
+ 0.9363915018201351,
56
+ -0.3084011082319774,
57
+ -0.11243496705439143,
58
+ 0.03797296885830524,
59
+ 0.2370804559427866,
60
+ 0.09969789701800996,
61
+ 0.20555037643351634,
62
+ -0.7917472530864864,
63
+ -0.27526013419400513,
64
+ -0.21322472153469738,
65
+ 0.9140759914282379,
66
+ -0.43859286800541525,
67
+ 0.08767835291447784,
68
+ 0.035501114855527705
69
+ ],
70
+ "std": [
71
+ 0.08997202003284388,
72
+ 0.11494654081682423,
73
+ 0.07298209012674664,
74
+ 0.20190365464922563,
75
+ 0.2231052507945237,
76
+ 0.22664760541133977,
77
+ 0.08739497208687329,
78
+ 0.2694029888099519,
79
+ 0.20762457009957236,
80
+ 0.026634803746432466,
81
+ 0.09148106101641806,
82
+ 0.07346489119836826,
83
+ 0.058313509825999935,
84
+ 0.20201983496833803,
85
+ 0.2263918836575695,
86
+ 0.21182656700728908,
87
+ 0.08856461437598924,
88
+ 0.22276735236679168,
89
+ 0.14802861528297223,
90
+ 0.02759558261140589
91
+ ],
92
+ "count": [
93
+ 984167
94
+ ]
95
+ },
96
+ "timestamp": {
97
+ "min": [
98
+ 0.0
99
+ ],
100
+ "max": [
101
+ 111.33333333333333
102
+ ],
103
+ "mean": [
104
+ 23.48422737198057
105
+ ],
106
+ "std": [
107
+ 17.783220956026238
108
+ ],
109
+ "count": [
110
+ 984167
111
+ ]
112
+ },
113
+ "observation.state_eepose": {
114
+ "min": [
115
+ -0.10788500308990479,
116
+ -0.5191159844398499,
117
+ 0.05315700173377991,
118
+ -3.1410515308380127,
119
+ -1.5302174091339111,
120
+ -3.1410515308380127,
121
+ 0.00014000000373926014,
122
+ -0.02319999970495701,
123
+ -0.26581600308418274,
124
+ 0.06903599947690964,
125
+ -3.1410515308380127,
126
+ -0.6304129362106323,
127
+ -3.1410515308380127,
128
+ 0.0
129
+ ],
130
+ "max": [
131
+ 0.521016001701355,
132
+ 0.48442599177360535,
133
+ 0.6967939734458923,
134
+ 3.1415927410125732,
135
+ 1.5707963705062866,
136
+ 3.1415927410125732,
137
+ 0.06384000182151794,
138
+ 0.5426539778709412,
139
+ 0.44545501470565796,
140
+ 0.6456500291824341,
141
+ 3.1415927410125732,
142
+ 1.5707963705062866,
143
+ 3.1415927410125732,
144
+ 0.060270000249147415
145
+ ],
146
+ "mean": [
147
+ 0.240886793211477,
148
+ -0.07516182978386096,
149
+ 0.20312158754997897,
150
+ -1.6155601637150818,
151
+ 0.34084577135469546,
152
+ 0.7865180655788774,
153
+ 0.03797315112551141,
154
+ 0.23706745773681018,
155
+ 0.09970799626392728,
156
+ 0.20557879832244333,
157
+ 1.3501238390950847,
158
+ 0.4813918305834094,
159
+ -1.8932503784698795,
160
+ 0.03551587056351567
161
+ ],
162
+ "std": [
163
+ 0.09000387961000239,
164
+ 0.1149310212102414,
165
+ 0.0729582538766035,
166
+ 2.4298226192991526,
167
+ 0.3373674001673639,
168
+ 2.807005812631898,
169
+ 0.026634783208653024,
170
+ 0.09149210122304605,
171
+ 0.07346075682825828,
172
+ 0.05832798019149392,
173
+ 2.636751634051294,
174
+ 0.29654890449068444,
175
+ 2.086552841529325,
176
+ 0.027593878793602616
177
+ ],
178
+ "count": [
179
+ 984167
180
+ ]
181
+ },
182
+ "task_index": {
183
+ "min": [
184
+ 0
185
+ ],
186
+ "max": [
187
+ 1
188
+ ],
189
+ "mean": [
190
+ 0.08698117291069503
191
+ ],
192
+ "std": [
193
+ 0.28180746702274373
194
+ ],
195
+ "count": [
196
+ 984167
197
+ ]
198
+ },
199
+ "observation.state": {
200
+ "min": [
201
+ -0.10788500308990479,
202
+ -0.5191159844398499,
203
+ 0.05315700173377991,
204
+ -0.9999999961922785,
205
+ -0.9427519979874366,
206
+ -0.9999376392579693,
207
+ -0.9999999999999961,
208
+ -0.9999999999999993,
209
+ -0.8969042478086995,
210
+ 0.00014000000373926014,
211
+ -0.02319999970495701,
212
+ -0.26581600308418274,
213
+ 0.06903599947690964,
214
+ -0.9999999999999961,
215
+ -0.9846714686388043,
216
+ -0.9854280709870091,
217
+ -0.9999999999999962,
218
+ -0.9999999999999992,
219
+ -0.6686916565422178,
220
+ 0.0
221
+ ],
222
+ "max": [
223
+ 0.521016001701355,
224
+ 0.48442599177360535,
225
+ 0.6967939734458923,
226
+ 0.831886322790034,
227
+ 0.9986396068276104,
228
+ 0.9985387381251091,
229
+ 1.0000000000000002,
230
+ 0.9991767886916751,
231
+ 0.9999210660044556,
232
+ 0.06384000182151794,
233
+ 0.5426539778709412,
234
+ 0.44545501470565796,
235
+ 0.6456500291824341,
236
+ 0.32048979981005365,
237
+ 0.9160724527175061,
238
+ 0.8732426426221994,
239
+ 1.0000000000000002,
240
+ 0.5894783715207605,
241
+ 0.7910665569650861,
242
+ 0.060270000249147415
243
+ ],
244
+ "mean": [
245
+ 0.2408867948195317,
246
+ -0.07516182889276889,
247
+ 0.2031215948357586,
248
+ -0.856633678961317,
249
+ 0.10006024434456917,
250
+ 0.0796231747827338,
251
+ 0.9364133794791497,
252
+ -0.3083781779598957,
253
+ -0.11250013581796617,
254
+ 0.03797302981334525,
255
+ 0.23706748458618965,
256
+ 0.09970799464878197,
257
+ 0.20557882075265277,
258
+ -0.7917132788814353,
259
+ -0.2753023113696627,
260
+ -0.21326336609741675,
261
+ 0.9140710860661927,
262
+ -0.4385869099725548,
263
+ 0.0876604318327994,
264
+ 0.035515860015838834
265
+ ],
266
+ "std": [
267
+ 0.09000385827874767,
268
+ 0.11493102828488484,
269
+ 0.07295823929846944,
270
+ 0.20200924915552876,
271
+ 0.22310674486777138,
272
+ 0.22659606794324938,
273
+ 0.08732411456803964,
274
+ 0.269422112517014,
275
+ 0.20750790125799398,
276
+ 0.026634788387597627,
277
+ 0.09149203746918388,
278
+ 0.0734607639698663,
279
+ 0.05832791553958028,
280
+ 0.2020970977250015,
281
+ 0.22637636192190974,
282
+ 0.21179768145383776,
283
+ 0.08855279599129638,
284
+ 0.22282021529978527,
285
+ 0.1480218928007058,
286
+ 0.027593976757197422
287
+ ],
288
+ "count": [
289
+ 984167
290
+ ]
291
+ },
292
+ "frame_index": {
293
+ "min": [
294
+ 0
295
+ ],
296
+ "max": [
297
+ 3340
298
+ ],
299
+ "mean": [
300
+ 704.5268211594171
301
+ ],
302
+ "std": [
303
+ 533.4966286807871
304
+ ],
305
+ "count": [
306
+ 984167
307
+ ]
308
+ },
309
+ "observation.images.cam_left_wrist": {
310
+ "min": [
311
+ [
312
+ [
313
+ 0.0
314
+ ]
315
+ ],
316
+ [
317
+ [
318
+ 0.0
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.0
324
+ ]
325
+ ]
326
+ ],
327
+ "max": [
328
+ [
329
+ [
330
+ 1.0
331
+ ]
332
+ ],
333
+ [
334
+ [
335
+ 1.0
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 1.0
341
+ ]
342
+ ]
343
+ ],
344
+ "mean": [
345
+ [
346
+ [
347
+ 0.48500001430511475
348
+ ]
349
+ ],
350
+ [
351
+ [
352
+ 0.4560000002384186
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.4059999883174896
358
+ ]
359
+ ]
360
+ ],
361
+ "std": [
362
+ [
363
+ [
364
+ 0.2290000021457672
365
+ ]
366
+ ],
367
+ [
368
+ [
369
+ 0.2240000069141388
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.22499999403953552
375
+ ]
376
+ ]
377
+ ],
378
+ "count": [
379
+ 169904
380
+ ]
381
+ },
382
+ "episode_index": {
383
+ "min": [
384
+ 0
385
+ ],
386
+ "max": [
387
+ 23
388
+ ],
389
+ "mean": [
390
+ 7.8659699014496525
391
+ ],
392
+ "std": [
393
+ 5.699221884650837
394
+ ],
395
+ "count": [
396
+ 984167
397
+ ]
398
+ },
399
+ "observation.images.cam_right_wrist": {
400
+ "min": [
401
+ [
402
+ [
403
+ 0.0
404
+ ]
405
+ ],
406
+ [
407
+ [
408
+ 0.0
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.0
414
+ ]
415
+ ]
416
+ ],
417
+ "max": [
418
+ [
419
+ [
420
+ 1.0
421
+ ]
422
+ ],
423
+ [
424
+ [
425
+ 1.0
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 1.0
431
+ ]
432
+ ]
433
+ ],
434
+ "mean": [
435
+ [
436
+ [
437
+ 0.48500001430511475
438
+ ]
439
+ ],
440
+ [
441
+ [
442
+ 0.4560000002384186
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.4059999883174896
448
+ ]
449
+ ]
450
+ ],
451
+ "std": [
452
+ [
453
+ [
454
+ 0.2290000021457672
455
+ ]
456
+ ],
457
+ [
458
+ [
459
+ 0.2240000069141388
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.22499999403953552
465
+ ]
466
+ ]
467
+ ],
468
+ "count": [
469
+ 169904
470
+ ]
471
+ },
472
+ "index": {
473
+ "min": [
474
+ 0
475
+ ],
476
+ "max": [
477
+ 36548
478
+ ],
479
+ "mean": [
480
+ 10755.445451838967
481
+ ],
482
+ "std": [
483
+ 8051.340678188054
484
+ ],
485
+ "count": [
486
+ 984167
487
+ ]
488
+ },
489
+ "observation.images.cam_high": {
490
+ "min": [
491
+ [
492
+ [
493
+ 0.0
494
+ ]
495
+ ],
496
+ [
497
+ [
498
+ 0.0
499
+ ]
500
+ ],
501
+ [
502
+ [
503
+ 0.0
504
+ ]
505
+ ]
506
+ ],
507
+ "max": [
508
+ [
509
+ [
510
+ 1.0
511
+ ]
512
+ ],
513
+ [
514
+ [
515
+ 1.0
516
+ ]
517
+ ],
518
+ [
519
+ [
520
+ 1.0
521
+ ]
522
+ ]
523
+ ],
524
+ "mean": [
525
+ [
526
+ [
527
+ 0.48500001430511475
528
+ ]
529
+ ],
530
+ [
531
+ [
532
+ 0.4560000002384186
533
+ ]
534
+ ],
535
+ [
536
+ [
537
+ 0.4059999883174896
538
+ ]
539
+ ]
540
+ ],
541
+ "std": [
542
+ [
543
+ [
544
+ 0.2290000021457672
545
+ ]
546
+ ],
547
+ [
548
+ [
549
+ 0.2240000069141388
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.22499999403953552
555
+ ]
556
+ ]
557
+ ],
558
+ "count": [
559
+ 169904
560
+ ]
561
+ },
562
+ "action_eepose": {
563
+ "min": [
564
+ -0.22113430500030518,
565
+ -0.5200218558311462,
566
+ 0.050602782517671585,
567
+ -180.0,
568
+ -20.672367095947266,
569
+ -179.99993896484375,
570
+ 0.0,
571
+ -0.0248020701110363,
572
+ -0.29858818650245667,
573
+ 0.06846695393323898,
574
+ -179.99998474121094,
575
+ -22.746219635009766,
576
+ -179.99990844726562,
577
+ 0.0
578
+ ],
579
+ "max": [
580
+ 0.5771363973617554,
581
+ 0.5499705076217651,
582
+ 1.1769417524337769,
583
+ 179.99998474121094,
584
+ 89.99284362792969,
585
+ 179.9999237060547,
586
+ 0.05999999865889549,
587
+ 0.5444840788841248,
588
+ 0.4741227328777313,
589
+ 0.6844663023948669,
590
+ 179.99998474121094,
591
+ 89.99470520019531,
592
+ 179.99996948242188,
593
+ 0.05999999865889549
594
+ ],
595
+ "mean": [
596
+ 0.23528071075447746,
597
+ -0.07601829077153854,
598
+ 0.20186934878991342,
599
+ -98.01028285043331,
600
+ 16.787385464604277,
601
+ 44.33611620748536,
602
+ 0.036663715427075944,
603
+ 0.23452751628025625,
604
+ 0.09906463033057882,
605
+ 0.20613847907595792,
606
+ 73.96521376046638,
607
+ 24.51460800893281,
608
+ -111.3111673787705,
609
+ 0.035293496041955086
610
+ ],
611
+ "std": [
612
+ 0.09461292004335413,
613
+ 0.11403693583754203,
614
+ 0.07164080218158841,
615
+ 131.67793758110608,
616
+ 16.19350175761153,
617
+ 157.93191921986937,
618
+ 0.02804631977324662,
619
+ 0.09420533678469589,
620
+ 0.0743640752974564,
621
+ 0.05861152433686042,
622
+ 149.88477089883608,
623
+ 14.531173569901718,
624
+ 113.0514177518758,
625
+ 0.027950241296242396
626
+ ],
627
+ "count": [
628
+ 984167
629
+ ]
630
+ }
631
+ }
632
+ }
data_data_warehouse_all_data_0113_ee6d_v3-abs-a1_agibotworld_700k-finetune_new/060000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,266 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "type": "qwena1",
4
+ "repo_id": "/data/data_warehouse/all_data_0113_ee6d_v3",
5
+ "root": null,
6
+ "episodes": null,
7
+ "image_transforms": {
8
+ "enable": false,
9
+ "max_num_transforms": 3,
10
+ "random_order": false,
11
+ "tfs": {
12
+ "brightness": {
13
+ "weight": 1.0,
14
+ "type": "ColorJitter",
15
+ "kwargs": {
16
+ "brightness": [
17
+ 0.8,
18
+ 1.2
19
+ ]
20
+ }
21
+ },
22
+ "contrast": {
23
+ "weight": 1.0,
24
+ "type": "ColorJitter",
25
+ "kwargs": {
26
+ "contrast": [
27
+ 0.8,
28
+ 1.2
29
+ ]
30
+ }
31
+ },
32
+ "saturation": {
33
+ "weight": 1.0,
34
+ "type": "ColorJitter",
35
+ "kwargs": {
36
+ "saturation": [
37
+ 0.5,
38
+ 1.5
39
+ ]
40
+ }
41
+ },
42
+ "hue": {
43
+ "weight": 1.0,
44
+ "type": "ColorJitter",
45
+ "kwargs": {
46
+ "hue": [
47
+ -0.05,
48
+ 0.05
49
+ ]
50
+ }
51
+ },
52
+ "sharpness": {
53
+ "weight": 1.0,
54
+ "type": "SharpnessJitter",
55
+ "kwargs": {
56
+ "sharpness": [
57
+ 0.5,
58
+ 1.5
59
+ ]
60
+ }
61
+ },
62
+ "affine": {
63
+ "weight": 1.0,
64
+ "type": "RandomAffine",
65
+ "kwargs": {
66
+ "degrees": [
67
+ -5.0,
68
+ 5.0
69
+ ],
70
+ "translate": [
71
+ 0.05,
72
+ 0.05
73
+ ]
74
+ }
75
+ }
76
+ }
77
+ },
78
+ "revision": null,
79
+ "use_imagenet_stats": true,
80
+ "use_external_stats": false,
81
+ "external_stats_path": "huggingface/lerobot/stats/abs//data/data_warehouse/all_data_0113_ee6d_v3/stats.json",
82
+ "video_backend": "torchcodec",
83
+ "streaming": false,
84
+ "dist_loading": false,
85
+ "buffer_size": 1024,
86
+ "action_mode": "abs",
87
+ "repack_transforms": {
88
+ "inputs": [],
89
+ "outputs": []
90
+ },
91
+ "data_transforms": {
92
+ "inputs": [
93
+ {
94
+ "type": "resize_with_pad",
95
+ "height": 224,
96
+ "width": 224,
97
+ "mode": "bilinear"
98
+ },
99
+ {
100
+ "type": "remap_image_key",
101
+ "mapping": {}
102
+ },
103
+ {
104
+ "type": "qwena1_processor",
105
+ "pretrained_model_name_or_path": "Qwen/Qwen3-VL-2B-Instruct",
106
+ "max_length": 48,
107
+ "task_key": "task",
108
+ "padding_side": "right",
109
+ "padding": "max_length",
110
+ "truncation": true,
111
+ "spatial_merge_size": 2,
112
+ "vision_start_token_id": 151652,
113
+ "vision_end_token_id": 151653,
114
+ "image_token_id": 151655,
115
+ "process": null
116
+ },
117
+ {
118
+ "type": "normalize",
119
+ "selected_keys": null,
120
+ "mode": "mean_std",
121
+ "norm_stats": {}
122
+ },
123
+ {
124
+ "type": "compose_fields",
125
+ "mapping": {}
126
+ },
127
+ {
128
+ "type": "pad_state_and_action",
129
+ "max_state_dim": 32,
130
+ "max_action_dim": 32
131
+ },
132
+ {
133
+ "type": "unify_qwena1_inputs"
134
+ }
135
+ ],
136
+ "outputs": []
137
+ },
138
+ "model_transforms": {
139
+ "inputs": [],
140
+ "outputs": []
141
+ },
142
+ "height": 224,
143
+ "width": 224,
144
+ "max_state_dim": 32,
145
+ "max_action_dim": 32
146
+ },
147
+ "env": null,
148
+ "policy": {
149
+ "type": "qwena1",
150
+ "n_obs_steps": 1,
151
+ "input_features": {
152
+ "observation.state": {
153
+ "type": "STATE",
154
+ "shape": [
155
+ 32
156
+ ]
157
+ }
158
+ },
159
+ "output_features": {
160
+ "action": {
161
+ "type": "ACTION",
162
+ "shape": [
163
+ 32
164
+ ]
165
+ }
166
+ },
167
+ "device": "cuda",
168
+ "use_amp": false,
169
+ "push_to_hub": false,
170
+ "repo_id": "lerobot_lab/qwena1",
171
+ "private": null,
172
+ "tags": null,
173
+ "license": null,
174
+ "pretrained_path": "outputs/qwena1/_data_data_warehouse_all_data_0113_ee6d_v3-abs-a1_agibotworld_700k-finetune/checkpoints/last/pretrained_model",
175
+ "qwen3_vl_variant": "qwen3_vl_28l",
176
+ "action_expert_variant": "qwen3_28l",
177
+ "dtype": "bfloat16",
178
+ "chunk_size": 50,
179
+ "n_action_steps": 50,
180
+ "max_state_dim": 32,
181
+ "max_action_dim": 32,
182
+ "num_inference_steps": 10,
183
+ "time_sampling_beta_alpha": 1.5,
184
+ "time_sampling_beta_beta": 1.0,
185
+ "time_sampling_scale": 0.999,
186
+ "time_sampling_offset": 0.001,
187
+ "min_period": 0.004,
188
+ "max_period": 4.0,
189
+ "image_resolution": [
190
+ 224,
191
+ 224
192
+ ],
193
+ "empty_cameras": 0,
194
+ "normalization_mapping": {
195
+ "VISUAL": "IDENTITY",
196
+ "STATE": "IDENTITY",
197
+ "ACTION": "IDENTITY"
198
+ },
199
+ "gradient_checkpointing": false,
200
+ "compile_model": false,
201
+ "compile_mode": "max-autotune",
202
+ "optimizer_lr": 5e-05,
203
+ "optimizer_betas": [
204
+ 0.9,
205
+ 0.95
206
+ ],
207
+ "optimizer_eps": 1e-08,
208
+ "optimizer_weight_decay": 0.01,
209
+ "optimizer_grad_clip_norm": 1.0,
210
+ "scheduler_warmup_steps": 2000,
211
+ "scheduler_decay_steps": 60000,
212
+ "scheduler_decay_lr": 5e-06,
213
+ "tokenizer_max_length": 48,
214
+ "freeze_vision_encoder": false,
215
+ "train_expert_only": false,
216
+ "train_vlm_only": false,
217
+ "scale_factor": 8,
218
+ "lambda_gen": 0.01
219
+ },
220
+ "output_dir": "outputs/qwena1/_data_data_warehouse_all_data_0113_ee6d_v3-abs-a1_agibotworld_700k-finetune_new",
221
+ "job_name": "_data_data_warehouse_all_data_0113_ee6d_v3-abs-a1_agibotworld_700k-finetune_new",
222
+ "resume": true,
223
+ "seed": 42,
224
+ "num_workers": 12,
225
+ "batch_size": 16,
226
+ "steps": 60000,
227
+ "eval_freq": 20000,
228
+ "log_freq": 50,
229
+ "save_checkpoint": true,
230
+ "save_freq": 10000,
231
+ "use_policy_training_preset": true,
232
+ "optimizer": {
233
+ "type": "adamw",
234
+ "lr": 5e-05,
235
+ "weight_decay": 0.01,
236
+ "grad_clip_norm": 1.0,
237
+ "betas": [
238
+ 0.9,
239
+ 0.95
240
+ ],
241
+ "eps": 1e-08
242
+ },
243
+ "scheduler": {
244
+ "type": "cosine_decay_with_warmup",
245
+ "num_warmup_steps": 2000,
246
+ "num_decay_steps": 60000,
247
+ "peak_lr": 5e-05,
248
+ "decay_lr": 5e-06
249
+ },
250
+ "eval": {
251
+ "n_episodes": 50,
252
+ "batch_size": 50,
253
+ "use_async_envs": false
254
+ },
255
+ "wandb": {
256
+ "enable": false,
257
+ "disable_artifact": false,
258
+ "project": "lerobot",
259
+ "entity": null,
260
+ "notes": null,
261
+ "run_id": null,
262
+ "mode": null
263
+ },
264
+ "checkpoint_path": "outputs/qwena1/_data_data_warehouse_all_data_0113_ee6d_v3-abs-a1_agibotworld_700k-finetune/checkpoints/last",
265
+ "rename_map": {}
266
+ }
data_data_warehouse_all_data_0113_ee6d_v3-abs-a1_agibotworld_700k-finetune_new/060000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,1482 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 5e-06,
4
+ "betas": [
5
+ 0.9,
6
+ 0.95
7
+ ],
8
+ "eps": 1e-08,
9
+ "weight_decay": 0.01,
10
+ "amsgrad": false,
11
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": true,
17
+ "initial_lr": 5e-05,
18
+ "params": [
19
+ 0,
20
+ 1,
21
+ 2,
22
+ 3,
23
+ 4,
24
+ 5,
25
+ 6,
26
+ 7,
27
+ 8,
28
+ 9,
29
+ 10,
30
+ 11,
31
+ 12,
32
+ 13,
33
+ 14,
34
+ 15,
35
+ 16,
36
+ 17,
37
+ 18,
38
+ 19,
39
+ 20,
40
+ 21,
41
+ 22,
42
+ 23,
43
+ 24,
44
+ 25,
45
+ 26,
46
+ 27,
47
+ 28,
48
+ 29,
49
+ 30,
50
+ 31,
51
+ 32,
52
+ 33,
53
+ 34,
54
+ 35,
55
+ 36,
56
+ 37,
57
+ 38,
58
+ 39,
59
+ 40,
60
+ 41,
61
+ 42,
62
+ 43,
63
+ 44,
64
+ 45,
65
+ 46,
66
+ 47,
67
+ 48,
68
+ 49,
69
+ 50,
70
+ 51,
71
+ 52,
72
+ 53,
73
+ 54,
74
+ 55,
75
+ 56,
76
+ 57,
77
+ 58,
78
+ 59,
79
+ 60,
80
+ 61,
81
+ 62,
82
+ 63,
83
+ 64,
84
+ 65,
85
+ 66,
86
+ 67,
87
+ 68,
88
+ 69,
89
+ 70,
90
+ 71,
91
+ 72,
92
+ 73,
93
+ 74,
94
+ 75,
95
+ 76,
96
+ 77,
97
+ 78,
98
+ 79,
99
+ 80,
100
+ 81,
101
+ 82,
102
+ 83,
103
+ 84,
104
+ 85,
105
+ 86,
106
+ 87,
107
+ 88,
108
+ 89,
109
+ 90,
110
+ 91,
111
+ 92,
112
+ 93,
113
+ 94,
114
+ 95,
115
+ 96,
116
+ 97,
117
+ 98,
118
+ 99,
119
+ 100,
120
+ 101,
121
+ 102,
122
+ 103,
123
+ 104,
124
+ 105,
125
+ 106,
126
+ 107,
127
+ 108,
128
+ 109,
129
+ 110,
130
+ 111,
131
+ 112,
132
+ 113,
133
+ 114,
134
+ 115,
135
+ 116,
136
+ 117,
137
+ 118,
138
+ 119,
139
+ 120,
140
+ 121,
141
+ 122,
142
+ 123,
143
+ 124,
144
+ 125,
145
+ 126,
146
+ 127,
147
+ 128,
148
+ 129,
149
+ 130,
150
+ 131,
151
+ 132,
152
+ 133,
153
+ 134,
154
+ 135,
155
+ 136,
156
+ 137,
157
+ 138,
158
+ 139,
159
+ 140,
160
+ 141,
161
+ 142,
162
+ 143,
163
+ 144,
164
+ 145,
165
+ 146,
166
+ 147,
167
+ 148,
168
+ 149,
169
+ 150,
170
+ 151,
171
+ 152,
172
+ 153,
173
+ 154,
174
+ 155,
175
+ 156,
176
+ 157,
177
+ 158,
178
+ 159,
179
+ 160,
180
+ 161,
181
+ 162,
182
+ 163,
183
+ 164,
184
+ 165,
185
+ 166,
186
+ 167,
187
+ 168,
188
+ 169,
189
+ 170,
190
+ 171,
191
+ 172,
192
+ 173,
193
+ 174,
194
+ 175,
195
+ 176,
196
+ 177,
197
+ 178,
198
+ 179,
199
+ 180,
200
+ 181,
201
+ 182,
202
+ 183,
203
+ 184,
204
+ 185,
205
+ 186,
206
+ 187,
207
+ 188,
208
+ 189,
209
+ 190,
210
+ 191,
211
+ 192,
212
+ 193,
213
+ 194,
214
+ 195,
215
+ 196,
216
+ 197,
217
+ 198,
218
+ 199,
219
+ 200,
220
+ 201,
221
+ 202,
222
+ 203,
223
+ 204,
224
+ 205,
225
+ 206,
226
+ 207,
227
+ 208,
228
+ 209,
229
+ 210,
230
+ 211,
231
+ 212,
232
+ 213,
233
+ 214,
234
+ 215,
235
+ 216,
236
+ 217,
237
+ 218,
238
+ 219,
239
+ 220,
240
+ 221,
241
+ 222,
242
+ 223,
243
+ 224,
244
+ 225,
245
+ 226,
246
+ 227,
247
+ 228,
248
+ 229,
249
+ 230,
250
+ 231,
251
+ 232,
252
+ 233,
253
+ 234,
254
+ 235,
255
+ 236,
256
+ 237,
257
+ 238,
258
+ 239,
259
+ 240,
260
+ 241,
261
+ 242,
262
+ 243,
263
+ 244,
264
+ 245,
265
+ 246,
266
+ 247,
267
+ 248,
268
+ 249,
269
+ 250,
270
+ 251,
271
+ 252,
272
+ 253,
273
+ 254,
274
+ 255,
275
+ 256,
276
+ 257,
277
+ 258,
278
+ 259,
279
+ 260,
280
+ 261,
281
+ 262,
282
+ 263,
283
+ 264,
284
+ 265,
285
+ 266,
286
+ 267,
287
+ 268,
288
+ 269,
289
+ 270,
290
+ 271,
291
+ 272,
292
+ 273,
293
+ 274,
294
+ 275,
295
+ 276,
296
+ 277,
297
+ 278,
298
+ 279,
299
+ 280,
300
+ 281,
301
+ 282,
302
+ 283,
303
+ 284,
304
+ 285,
305
+ 286,
306
+ 287,
307
+ 288,
308
+ 289,
309
+ 290,
310
+ 291,
311
+ 292,
312
+ 293,
313
+ 294,
314
+ 295,
315
+ 296,
316
+ 297,
317
+ 298,
318
+ 299,
319
+ 300,
320
+ 301,
321
+ 302,
322
+ 303,
323
+ 304,
324
+ 305,
325
+ 306,
326
+ 307,
327
+ 308,
328
+ 309,
329
+ 310,
330
+ 311,
331
+ 312,
332
+ 313,
333
+ 314,
334
+ 315,
335
+ 316,
336
+ 317,
337
+ 318,
338
+ 319,
339
+ 320,
340
+ 321,
341
+ 322,
342
+ 323,
343
+ 324,
344
+ 325,
345
+ 326,
346
+ 327,
347
+ 328,
348
+ 329,
349
+ 330,
350
+ 331,
351
+ 332,
352
+ 333,
353
+ 334,
354
+ 335,
355
+ 336,
356
+ 337,
357
+ 338,
358
+ 339,
359
+ 340,
360
+ 341,
361
+ 342,
362
+ 343,
363
+ 344,
364
+ 345,
365
+ 346,
366
+ 347,
367
+ 348,
368
+ 349,
369
+ 350,
370
+ 351,
371
+ 352,
372
+ 353,
373
+ 354,
374
+ 355,
375
+ 356,
376
+ 357,
377
+ 358,
378
+ 359,
379
+ 360,
380
+ 361,
381
+ 362,
382
+ 363,
383
+ 364,
384
+ 365,
385
+ 366,
386
+ 367,
387
+ 368,
388
+ 369,
389
+ 370,
390
+ 371,
391
+ 372,
392
+ 373,
393
+ 374,
394
+ 375,
395
+ 376,
396
+ 377,
397
+ 378,
398
+ 379,
399
+ 380,
400
+ 381,
401
+ 382,
402
+ 383,
403
+ 384,
404
+ 385,
405
+ 386,
406
+ 387,
407
+ 388,
408
+ 389,
409
+ 390,
410
+ 391,
411
+ 392,
412
+ 393,
413
+ 394,
414
+ 395,
415
+ 396,
416
+ 397,
417
+ 398,
418
+ 399,
419
+ 400,
420
+ 401,
421
+ 402,
422
+ 403,
423
+ 404,
424
+ 405,
425
+ 406,
426
+ 407,
427
+ 408,
428
+ 409,
429
+ 410,
430
+ 411,
431
+ 412,
432
+ 413,
433
+ 414,
434
+ 415,
435
+ 416,
436
+ 417,
437
+ 418,
438
+ 419,
439
+ 420,
440
+ 421,
441
+ 422,
442
+ 423,
443
+ 424,
444
+ 425,
445
+ 426,
446
+ 427,
447
+ 428,
448
+ 429,
449
+ 430,
450
+ 431,
451
+ 432,
452
+ 433,
453
+ 434,
454
+ 435,
455
+ 436,
456
+ 437,
457
+ 438,
458
+ 439,
459
+ 440,
460
+ 441,
461
+ 442,
462
+ 443,
463
+ 444,
464
+ 445,
465
+ 446,
466
+ 447,
467
+ 448,
468
+ 449,
469
+ 450,
470
+ 451,
471
+ 452,
472
+ 453,
473
+ 454,
474
+ 455,
475
+ 456,
476
+ 457,
477
+ 458,
478
+ 459,
479
+ 460,
480
+ 461,
481
+ 462,
482
+ 463,
483
+ 464,
484
+ 465,
485
+ 466,
486
+ 467,
487
+ 468,
488
+ 469,
489
+ 470,
490
+ 471,
491
+ 472,
492
+ 473,
493
+ 474,
494
+ 475,
495
+ 476,
496
+ 477,
497
+ 478,
498
+ 479,
499
+ 480,
500
+ 481,
501
+ 482,
502
+ 483,
503
+ 484,
504
+ 485,
505
+ 486,
506
+ 487,
507
+ 488,
508
+ 489,
509
+ 490,
510
+ 491,
511
+ 492,
512
+ 493,
513
+ 494,
514
+ 495,
515
+ 496,
516
+ 497,
517
+ 498,
518
+ 499,
519
+ 500,
520
+ 501,
521
+ 502,
522
+ 503,
523
+ 504,
524
+ 505,
525
+ 506,
526
+ 507,
527
+ 508,
528
+ 509,
529
+ 510,
530
+ 511,
531
+ 512,
532
+ 513,
533
+ 514,
534
+ 515,
535
+ 516,
536
+ 517,
537
+ 518,
538
+ 519,
539
+ 520,
540
+ 521,
541
+ 522,
542
+ 523,
543
+ 524,
544
+ 525,
545
+ 526,
546
+ 527,
547
+ 528,
548
+ 529,
549
+ 530,
550
+ 531,
551
+ 532,
552
+ 533,
553
+ 534,
554
+ 535,
555
+ 536,
556
+ 537,
557
+ 538,
558
+ 539,
559
+ 540,
560
+ 541,
561
+ 542,
562
+ 543,
563
+ 544,
564
+ 545,
565
+ 546,
566
+ 547,
567
+ 548,
568
+ 549,
569
+ 550,
570
+ 551,
571
+ 552,
572
+ 553,
573
+ 554,
574
+ 555,
575
+ 556,
576
+ 557,
577
+ 558,
578
+ 559,
579
+ 560,
580
+ 561,
581
+ 562,
582
+ 563,
583
+ 564,
584
+ 565,
585
+ 566,
586
+ 567,
587
+ 568,
588
+ 569,
589
+ 570,
590
+ 571,
591
+ 572,
592
+ 573,
593
+ 574,
594
+ 575,
595
+ 576,
596
+ 577,
597
+ 578,
598
+ 579,
599
+ 580,
600
+ 581,
601
+ 582,
602
+ 583,
603
+ 584,
604
+ 585,
605
+ 586,
606
+ 587,
607
+ 588,
608
+ 589,
609
+ 590,
610
+ 591,
611
+ 592,
612
+ 593,
613
+ 594,
614
+ 595,
615
+ 596,
616
+ 597,
617
+ 598,
618
+ 599,
619
+ 600,
620
+ 601,
621
+ 602,
622
+ 603,
623
+ 604,
624
+ 605,
625
+ 606,
626
+ 607,
627
+ 608,
628
+ 609,
629
+ 610,
630
+ 611,
631
+ 612,
632
+ 613,
633
+ 614,
634
+ 615,
635
+ 616,
636
+ 617,
637
+ 618,
638
+ 619,
639
+ 620,
640
+ 621,
641
+ 622,
642
+ 623,
643
+ 624,
644
+ 625,
645
+ 626,
646
+ 627,
647
+ 628,
648
+ 629,
649
+ 630,
650
+ 631,
651
+ 632,
652
+ 633,
653
+ 634,
654
+ 635,
655
+ 636,
656
+ 637,
657
+ 638,
658
+ 639,
659
+ 640,
660
+ 641,
661
+ 642,
662
+ 643,
663
+ 644,
664
+ 645,
665
+ 646,
666
+ 647,
667
+ 648,
668
+ 649,
669
+ 650,
670
+ 651,
671
+ 652,
672
+ 653,
673
+ 654,
674
+ 655,
675
+ 656,
676
+ 657,
677
+ 658,
678
+ 659,
679
+ 660,
680
+ 661,
681
+ 662,
682
+ 663,
683
+ 664,
684
+ 665,
685
+ 666,
686
+ 667,
687
+ 668,
688
+ 669,
689
+ 670,
690
+ 671,
691
+ 672,
692
+ 673,
693
+ 674,
694
+ 675,
695
+ 676,
696
+ 677,
697
+ 678,
698
+ 679,
699
+ 680,
700
+ 681,
701
+ 682,
702
+ 683,
703
+ 684,
704
+ 685,
705
+ 686,
706
+ 687,
707
+ 688,
708
+ 689,
709
+ 690,
710
+ 691,
711
+ 692,
712
+ 693,
713
+ 694,
714
+ 695,
715
+ 696,
716
+ 697,
717
+ 698,
718
+ 699,
719
+ 700,
720
+ 701,
721
+ 702,
722
+ 703,
723
+ 704,
724
+ 705,
725
+ 706,
726
+ 707,
727
+ 708,
728
+ 709,
729
+ 710,
730
+ 711,
731
+ 712,
732
+ 713,
733
+ 714,
734
+ 715,
735
+ 716,
736
+ 717,
737
+ 718,
738
+ 719,
739
+ 720,
740
+ 721,
741
+ 722,
742
+ 723,
743
+ 724,
744
+ 725,
745
+ 726,
746
+ 727,
747
+ 728,
748
+ 729,
749
+ 730,
750
+ 731,
751
+ 732,
752
+ 733,
753
+ 734,
754
+ 735,
755
+ 736,
756
+ 737,
757
+ 738,
758
+ 739,
759
+ 740,
760
+ 741,
761
+ 742,
762
+ 743,
763
+ 744,
764
+ 745,
765
+ 746,
766
+ 747,
767
+ 748,
768
+ 749,
769
+ 750,
770
+ 751,
771
+ 752,
772
+ 753,
773
+ 754,
774
+ 755,
775
+ 756,
776
+ 757,
777
+ 758,
778
+ 759,
779
+ 760,
780
+ 761,
781
+ 762,
782
+ 763,
783
+ 764,
784
+ 765,
785
+ 766,
786
+ 767,
787
+ 768,
788
+ 769,
789
+ 770,
790
+ 771,
791
+ 772,
792
+ 773,
793
+ 774,
794
+ 775,
795
+ 776,
796
+ 777,
797
+ 778,
798
+ 779,
799
+ 780,
800
+ 781,
801
+ 782,
802
+ 783,
803
+ 784,
804
+ 785,
805
+ 786,
806
+ 787,
807
+ 788,
808
+ 789,
809
+ 790,
810
+ 791,
811
+ 792,
812
+ 793,
813
+ 794,
814
+ 795,
815
+ 796,
816
+ 797,
817
+ 798,
818
+ 799,
819
+ 800,
820
+ 801,
821
+ 802,
822
+ 803,
823
+ 804,
824
+ 805,
825
+ 806,
826
+ 807,
827
+ 808,
828
+ 809,
829
+ 810,
830
+ 811,
831
+ 812,
832
+ 813,
833
+ 814,
834
+ 815,
835
+ 816,
836
+ 817,
837
+ 818,
838
+ 819,
839
+ 820,
840
+ 821,
841
+ 822,
842
+ 823,
843
+ 824,
844
+ 825,
845
+ 826,
846
+ 827,
847
+ 828,
848
+ 829,
849
+ 830,
850
+ 831,
851
+ 832,
852
+ 833,
853
+ 834,
854
+ 835,
855
+ 836,
856
+ 837,
857
+ 838,
858
+ 839,
859
+ 840,
860
+ 841,
861
+ 842,
862
+ 843,
863
+ 844,
864
+ 845,
865
+ 846,
866
+ 847,
867
+ 848,
868
+ 849,
869
+ 850,
870
+ 851,
871
+ 852,
872
+ 853,
873
+ 854,
874
+ 855,
875
+ 856,
876
+ 857,
877
+ 858,
878
+ 859,
879
+ 860,
880
+ 861,
881
+ 862,
882
+ 863,
883
+ 864,
884
+ 865,
885
+ 866,
886
+ 867,
887
+ 868,
888
+ 869,
889
+ 870,
890
+ 871,
891
+ 872,
892
+ 873,
893
+ 874,
894
+ 875,
895
+ 876,
896
+ 877,
897
+ 878,
898
+ 879,
899
+ 880,
900
+ 881,
901
+ 882,
902
+ 883,
903
+ 884,
904
+ 885,
905
+ 886,
906
+ 887,
907
+ 888,
908
+ 889,
909
+ 890,
910
+ 891,
911
+ 892,
912
+ 893,
913
+ 894,
914
+ 895,
915
+ 896,
916
+ 897,
917
+ 898,
918
+ 899,
919
+ 900,
920
+ 901,
921
+ 902,
922
+ 903,
923
+ 904,
924
+ 905,
925
+ 906,
926
+ 907,
927
+ 908,
928
+ 909,
929
+ 910,
930
+ 911,
931
+ 912,
932
+ 913,
933
+ 914,
934
+ 915,
935
+ 916,
936
+ 917,
937
+ 918,
938
+ 919,
939
+ 920,
940
+ 921,
941
+ 922,
942
+ 923,
943
+ 924,
944
+ 925,
945
+ 926,
946
+ 927,
947
+ 928,
948
+ 929,
949
+ 930,
950
+ 931,
951
+ 932,
952
+ 933,
953
+ 934,
954
+ 935,
955
+ 936,
956
+ 937,
957
+ 938,
958
+ 939,
959
+ 940,
960
+ 941,
961
+ 942,
962
+ 943,
963
+ 944,
964
+ 945,
965
+ 946,
966
+ 947,
967
+ 948,
968
+ 949,
969
+ 950,
970
+ 951,
971
+ 952,
972
+ 953,
973
+ 954,
974
+ 955,
975
+ 956,
976
+ 957,
977
+ 958,
978
+ 959,
979
+ 960,
980
+ 961,
981
+ 962,
982
+ 963,
983
+ 964,
984
+ 965,
985
+ 966,
986
+ 967,
987
+ 968,
988
+ 969,
989
+ 970,
990
+ 971,
991
+ 972,
992
+ 973,
993
+ 974,
994
+ 975,
995
+ 976,
996
+ 977,
997
+ 978,
998
+ 979,
999
+ 980,
1000
+ 981,
1001
+ 982,
1002
+ 983,
1003
+ 984,
1004
+ 985,
1005
+ 986,
1006
+ 987,
1007
+ 988,
1008
+ 989,
1009
+ 990,
1010
+ 991,
1011
+ 992,
1012
+ 993,
1013
+ 994,
1014
+ 995,
1015
+ 996,
1016
+ 997,
1017
+ 998,
1018
+ 999,
1019
+ 1000,
1020
+ 1001,
1021
+ 1002,
1022
+ 1003,
1023
+ 1004,
1024
+ 1005,
1025
+ 1006,
1026
+ 1007,
1027
+ 1008,
1028
+ 1009,
1029
+ 1010,
1030
+ 1011,
1031
+ 1012,
1032
+ 1013,
1033
+ 1014,
1034
+ 1015,
1035
+ 1016,
1036
+ 1017,
1037
+ 1018,
1038
+ 1019,
1039
+ 1020,
1040
+ 1021,
1041
+ 1022,
1042
+ 1023,
1043
+ 1024,
1044
+ 1025,
1045
+ 1026,
1046
+ 1027,
1047
+ 1028,
1048
+ 1029,
1049
+ 1030,
1050
+ 1031,
1051
+ 1032,
1052
+ 1033,
1053
+ 1034,
1054
+ 1035,
1055
+ 1036,
1056
+ 1037,
1057
+ 1038,
1058
+ 1039,
1059
+ 1040,
1060
+ 1041,
1061
+ 1042,
1062
+ 1043,
1063
+ 1044,
1064
+ 1045,
1065
+ 1046,
1066
+ 1047,
1067
+ 1048,
1068
+ 1049,
1069
+ 1050,
1070
+ 1051,
1071
+ 1052,
1072
+ 1053,
1073
+ 1054,
1074
+ 1055,
1075
+ 1056,
1076
+ 1057,
1077
+ 1058,
1078
+ 1059,
1079
+ 1060,
1080
+ 1061,
1081
+ 1062,
1082
+ 1063,
1083
+ 1064,
1084
+ 1065,
1085
+ 1066,
1086
+ 1067,
1087
+ 1068,
1088
+ 1069,
1089
+ 1070,
1090
+ 1071,
1091
+ 1072,
1092
+ 1073,
1093
+ 1074,
1094
+ 1075,
1095
+ 1076,
1096
+ 1077,
1097
+ 1078,
1098
+ 1079,
1099
+ 1080,
1100
+ 1081,
1101
+ 1082,
1102
+ 1083,
1103
+ 1084,
1104
+ 1085,
1105
+ 1086,
1106
+ 1087,
1107
+ 1088,
1108
+ 1089,
1109
+ 1090,
1110
+ 1091,
1111
+ 1092,
1112
+ 1093,
1113
+ 1094,
1114
+ 1095,
1115
+ 1096,
1116
+ 1097,
1117
+ 1098,
1118
+ 1099,
1119
+ 1100,
1120
+ 1101,
1121
+ 1102,
1122
+ 1103,
1123
+ 1104,
1124
+ 1105,
1125
+ 1106,
1126
+ 1107,
1127
+ 1108,
1128
+ 1109,
1129
+ 1110,
1130
+ 1111,
1131
+ 1112,
1132
+ 1113,
1133
+ 1114,
1134
+ 1115,
1135
+ 1116,
1136
+ 1117,
1137
+ 1118,
1138
+ 1119,
1139
+ 1120,
1140
+ 1121,
1141
+ 1122,
1142
+ 1123,
1143
+ 1124,
1144
+ 1125,
1145
+ 1126,
1146
+ 1127,
1147
+ 1128,
1148
+ 1129,
1149
+ 1130,
1150
+ 1131,
1151
+ 1132,
1152
+ 1133,
1153
+ 1134,
1154
+ 1135,
1155
+ 1136,
1156
+ 1137,
1157
+ 1138,
1158
+ 1139,
1159
+ 1140,
1160
+ 1141,
1161
+ 1142,
1162
+ 1143,
1163
+ 1144,
1164
+ 1145,
1165
+ 1146,
1166
+ 1147,
1167
+ 1148,
1168
+ 1149,
1169
+ 1150,
1170
+ 1151,
1171
+ 1152,
1172
+ 1153,
1173
+ 1154,
1174
+ 1155,
1175
+ 1156,
1176
+ 1157,
1177
+ 1158,
1178
+ 1159,
1179
+ 1160,
1180
+ 1161,
1181
+ 1162,
1182
+ 1163,
1183
+ 1164,
1184
+ 1165,
1185
+ 1166,
1186
+ 1167,
1187
+ 1168,
1188
+ 1169,
1189
+ 1170,
1190
+ 1171,
1191
+ 1172,
1192
+ 1173,
1193
+ 1174,
1194
+ 1175,
1195
+ 1176,
1196
+ 1177,
1197
+ 1178,
1198
+ 1179,
1199
+ 1180,
1200
+ 1181,
1201
+ 1182,
1202
+ 1183,
1203
+ 1184,
1204
+ 1185,
1205
+ 1186,
1206
+ 1187,
1207
+ 1188,
1208
+ 1189,
1209
+ 1190,
1210
+ 1191,
1211
+ 1192,
1212
+ 1193,
1213
+ 1194,
1214
+ 1195,
1215
+ 1196,
1216
+ 1197,
1217
+ 1198,
1218
+ 1199,
1219
+ 1200,
1220
+ 1201,
1221
+ 1202,
1222
+ 1203,
1223
+ 1204,
1224
+ 1205,
1225
+ 1206,
1226
+ 1207,
1227
+ 1208,
1228
+ 1209,
1229
+ 1210,
1230
+ 1211,
1231
+ 1212,
1232
+ 1213,
1233
+ 1214,
1234
+ 1215,
1235
+ 1216,
1236
+ 1217,
1237
+ 1218,
1238
+ 1219,
1239
+ 1220,
1240
+ 1221,
1241
+ 1222,
1242
+ 1223,
1243
+ 1224,
1244
+ 1225,
1245
+ 1226,
1246
+ 1227,
1247
+ 1228,
1248
+ 1229,
1249
+ 1230,
1250
+ 1231,
1251
+ 1232,
1252
+ 1233,
1253
+ 1234,
1254
+ 1235,
1255
+ 1236,
1256
+ 1237,
1257
+ 1238,
1258
+ 1239,
1259
+ 1240,
1260
+ 1241,
1261
+ 1242,
1262
+ 1243,
1263
+ 1244,
1264
+ 1245,
1265
+ 1246,
1266
+ 1247,
1267
+ 1248,
1268
+ 1249,
1269
+ 1250,
1270
+ 1251,
1271
+ 1252,
1272
+ 1253,
1273
+ 1254,
1274
+ 1255,
1275
+ 1256,
1276
+ 1257,
1277
+ 1258,
1278
+ 1259,
1279
+ 1260,
1280
+ 1261,
1281
+ 1262,
1282
+ 1263,
1283
+ 1264,
1284
+ 1265,
1285
+ 1266,
1286
+ 1267,
1287
+ 1268,
1288
+ 1269,
1289
+ 1270,
1290
+ 1271,
1291
+ 1272,
1292
+ 1273,
1293
+ 1274,
1294
+ 1275,
1295
+ 1276,
1296
+ 1277,
1297
+ 1278,
1298
+ 1279,
1299
+ 1280,
1300
+ 1281,
1301
+ 1282,
1302
+ 1283,
1303
+ 1284,
1304
+ 1285,
1305
+ 1286,
1306
+ 1287,
1307
+ 1288,
1308
+ 1289,
1309
+ 1290,
1310
+ 1291,
1311
+ 1292,
1312
+ 1293,
1313
+ 1294,
1314
+ 1295,
1315
+ 1296,
1316
+ 1297,
1317
+ 1298,
1318
+ 1299,
1319
+ 1300,
1320
+ 1301,
1321
+ 1302,
1322
+ 1303,
1323
+ 1304,
1324
+ 1305,
1325
+ 1306,
1326
+ 1307,
1327
+ 1308,
1328
+ 1309,
1329
+ 1310,
1330
+ 1311,
1331
+ 1312,
1332
+ 1313,
1333
+ 1314,
1334
+ 1315,
1335
+ 1316,
1336
+ 1317,
1337
+ 1318,
1338
+ 1319,
1339
+ 1320,
1340
+ 1321,
1341
+ 1322,
1342
+ 1323,
1343
+ 1324,
1344
+ 1325,
1345
+ 1326,
1346
+ 1327,
1347
+ 1328,
1348
+ 1329,
1349
+ 1330,
1350
+ 1331,
1351
+ 1332,
1352
+ 1333,
1353
+ 1334,
1354
+ 1335,
1355
+ 1336,
1356
+ 1337,
1357
+ 1338,
1358
+ 1339,
1359
+ 1340,
1360
+ 1341,
1361
+ 1342,
1362
+ 1343,
1363
+ 1344,
1364
+ 1345,
1365
+ 1346,
1366
+ 1347,
1367
+ 1348,
1368
+ 1349,
1369
+ 1350,
1370
+ 1351,
1371
+ 1352,
1372
+ 1353,
1373
+ 1354,
1374
+ 1355,
1375
+ 1356,
1376
+ 1357,
1377
+ 1358,
1378
+ 1359,
1379
+ 1360,
1380
+ 1361,
1381
+ 1362,
1382
+ 1363,
1383
+ 1364,
1384
+ 1365,
1385
+ 1366,
1386
+ 1367,
1387
+ 1368,
1388
+ 1369,
1389
+ 1370,
1390
+ 1371,
1391
+ 1372,
1392
+ 1373,
1393
+ 1374,
1394
+ 1375,
1395
+ 1376,
1396
+ 1377,
1397
+ 1378,
1398
+ 1379,
1399
+ 1380,
1400
+ 1381,
1401
+ 1382,
1402
+ 1383,
1403
+ 1384,
1404
+ 1385,
1405
+ 1386,
1406
+ 1387,
1407
+ 1388,
1408
+ 1389,
1409
+ 1390,
1410
+ 1391,
1411
+ 1392,
1412
+ 1393,
1413
+ 1394,
1414
+ 1395,
1415
+ 1396,
1416
+ 1397,
1417
+ 1398,
1418
+ 1399,
1419
+ 1400,
1420
+ 1401,
1421
+ 1402,
1422
+ 1403,
1423
+ 1404,
1424
+ 1405,
1425
+ 1406,
1426
+ 1407,
1427
+ 1408,
1428
+ 1409,
1429
+ 1410,
1430
+ 1411,
1431
+ 1412,
1432
+ 1413,
1433
+ 1414,
1434
+ 1415,
1435
+ 1416,
1436
+ 1417,
1437
+ 1418,
1438
+ 1419,
1439
+ 1420,
1440
+ 1421,
1441
+ 1422,
1442
+ 1423,
1443
+ 1424,
1444
+ 1425,
1445
+ 1426,
1446
+ 1427,
1447
+ 1428,
1448
+ 1429,
1449
+ 1430,
1450
+ 1431,
1451
+ 1432,
1452
+ 1433,
1453
+ 1434,
1454
+ 1435,
1455
+ 1436,
1456
+ 1437,
1457
+ 1438,
1458
+ 1439,
1459
+ 1440,
1460
+ 1441,
1461
+ 1442,
1462
+ 1443,
1463
+ 1444,
1464
+ 1445,
1465
+ 1446,
1466
+ 1447,
1467
+ 1448,
1468
+ 1449,
1469
+ 1450,
1470
+ 1451,
1471
+ 1452,
1472
+ 1453,
1473
+ 1454,
1474
+ 1455,
1475
+ 1456,
1476
+ 1457,
1477
+ 1458,
1478
+ 1459,
1479
+ 1460
1480
+ ]
1481
+ }
1482
+ ]
data_data_warehouse_all_data_0113_ee6d_v3-abs-a1_agibotworld_700k-finetune_new/060000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7d2ea21787f06d4e004978d7cc9b70c569e6ae63b10fe65d1c01a9c92cdc8b1d
3
+ size 12665198700
data_data_warehouse_all_data_0113_ee6d_v3-abs-a1_agibotworld_700k-finetune_new/060000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:91fa0913bc4ea4cb74b7b59294b42f1c957c3a600abf61a5b62609a12db6a9a0
3
+ size 15708
data_data_warehouse_all_data_0113_ee6d_v3-abs-a1_agibotworld_700k-finetune_new/060000/training_state/scheduler_state.json ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "base_lrs": [
3
+ 5e-05
4
+ ],
5
+ "last_epoch": 60000,
6
+ "_step_count": 60001,
7
+ "_get_lr_called_within_step": false,
8
+ "_last_lr": [
9
+ 5e-06
10
+ ],
11
+ "lr_lambdas": [
12
+ null
13
+ ]
14
+ }
data_data_warehouse_all_data_0113_ee6d_v3-abs-a1_agibotworld_700k-finetune_new/060000/training_state/training_step.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "step": 60000
3
+ }