KelinLiER commited on
Commit
1f8246c
·
verified ·
1 Parent(s): 64f3610

Upload folder using huggingface_hub

Browse files
checkpoints/GR00T/PickCube/750/checkpoint-100000/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
+ }
checkpoints/GR00T/PickCube/750/checkpoint-100000/experiment_cfg/metadata.json ADDED
@@ -0,0 +1,211 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "new_embodiment": {
3
+ "statistics": {
4
+ "state": {
5
+ "single_arm": {
6
+ "max": [
7
+ 0.29162755608558655,
8
+ 0.9516910910606384,
9
+ 0.21511314809322357,
10
+ -1.388046383857727,
11
+ 0.1775398850440979,
12
+ 2.81721568107605,
13
+ 1.681467890739441
14
+ ],
15
+ "min": [
16
+ -0.31068921089172363,
17
+ -0.07993404567241669,
18
+ -0.2088254690170288,
19
+ -2.364821672439575,
20
+ -0.18066470324993134,
21
+ 1.8926105499267578,
22
+ -0.13037092983722687
23
+ ],
24
+ "mean": [
25
+ 0.002414351562038064,
26
+ 0.5264305472373962,
27
+ -0.0009363776771351695,
28
+ -1.9416980743408203,
29
+ 0.000817999942228198,
30
+ 2.4647443294525146,
31
+ 0.7930334806442261
32
+ ],
33
+ "std": [
34
+ 0.0948888435959816,
35
+ 0.18338125944137573,
36
+ 0.06843192130327225,
37
+ 0.21026793122291565,
38
+ 0.058856211602687836,
39
+ 0.16389869153499603,
40
+ 0.37548184394836426
41
+ ],
42
+ "q01": [
43
+ -0.22271676257252693,
44
+ 0.05258534848690033,
45
+ -0.14349323511123657,
46
+ -2.3162796807289125,
47
+ -0.13349219381809235,
48
+ 2.0355052947998047,
49
+ 0.026011322028934955
50
+ ],
51
+ "q99": [
52
+ 0.21431453004479337,
53
+ 0.9047212070226669,
54
+ 0.1501235243678087,
55
+ -1.481682893037796,
56
+ 0.13046681627631188,
57
+ 2.786327817440033,
58
+ 1.5457735061645508
59
+ ]
60
+ },
61
+ "gripper": {
62
+ "max": [
63
+ 0.03999999910593033
64
+ ],
65
+ "min": [
66
+ 0.018292900174856186
67
+ ],
68
+ "mean": [
69
+ 0.027490168809890747
70
+ ],
71
+ "std": [
72
+ 0.010692676529288292
73
+ ],
74
+ "q01": [
75
+ 0.01829575648531318
76
+ ],
77
+ "q99": [
78
+ 0.03999999910593033
79
+ ]
80
+ }
81
+ },
82
+ "action": {
83
+ "single_arm": {
84
+ "max": [
85
+ 0.29251915216445923,
86
+ 0.9538389444351196,
87
+ 0.21649086475372314,
88
+ -1.3772913217544556,
89
+ 0.17841792106628418,
90
+ 2.8199148178100586,
91
+ 1.686010479927063
92
+ ],
93
+ "min": [
94
+ -0.3116139769554138,
95
+ -0.08630277216434479,
96
+ -0.20903605222702026,
97
+ -2.368969678878784,
98
+ -0.18330387771129608,
99
+ 1.882381558418274,
100
+ -0.13324731588363647
101
+ ],
102
+ "mean": [
103
+ 0.0025602919049561024,
104
+ 0.5264573693275452,
105
+ -0.0010413320269435644,
106
+ -1.940258264541626,
107
+ 0.0007486154790967703,
108
+ 2.4632413387298584,
109
+ 0.7933939099311829
110
+ ],
111
+ "std": [
112
+ 0.09693550318479538,
113
+ 0.18736013770103455,
114
+ 0.06982187181711197,
115
+ 0.21519988775253296,
116
+ 0.059360772371292114,
117
+ 0.16895651817321777,
118
+ 0.3822808861732483
119
+ ],
120
+ "q01": [
121
+ -0.22536019027233123,
122
+ 0.042757296301424504,
123
+ -0.14430531859397888,
124
+ -2.3194327354431152,
125
+ -0.13413240969181062,
126
+ 2.024833786487579,
127
+ 0.02235259622335434
128
+ ],
129
+ "q99": [
130
+ 0.2156524956226349,
131
+ 0.9056046748161314,
132
+ 0.15238742530345917,
133
+ -1.4774531126022339,
134
+ 0.13094802409410464,
135
+ 2.7886116695404053,
136
+ 1.5517933368682861
137
+ ]
138
+ },
139
+ "gripper": {
140
+ "max": [
141
+ 1.0
142
+ ],
143
+ "min": [
144
+ -1.0
145
+ ],
146
+ "mean": [
147
+ -0.175559863448143
148
+ ],
149
+ "std": [
150
+ 0.9846031069755554
151
+ ],
152
+ "q01": [
153
+ -1.0
154
+ ],
155
+ "q99": [
156
+ 1.0
157
+ ]
158
+ }
159
+ }
160
+ },
161
+ "modalities": {
162
+ "video": {
163
+ "front": {
164
+ "resolution": [
165
+ 512,
166
+ 512
167
+ ],
168
+ "channels": 3,
169
+ "fps": 10.0
170
+ }
171
+ },
172
+ "state": {
173
+ "single_arm": {
174
+ "absolute": true,
175
+ "rotation_type": null,
176
+ "shape": [
177
+ 7
178
+ ],
179
+ "continuous": true
180
+ },
181
+ "gripper": {
182
+ "absolute": true,
183
+ "rotation_type": null,
184
+ "shape": [
185
+ 1
186
+ ],
187
+ "continuous": true
188
+ }
189
+ },
190
+ "action": {
191
+ "single_arm": {
192
+ "absolute": true,
193
+ "rotation_type": null,
194
+ "shape": [
195
+ 7
196
+ ],
197
+ "continuous": true
198
+ },
199
+ "gripper": {
200
+ "absolute": true,
201
+ "rotation_type": null,
202
+ "shape": [
203
+ 1
204
+ ],
205
+ "continuous": true
206
+ }
207
+ }
208
+ },
209
+ "embodiment_tag": "new_embodiment"
210
+ }
211
+ }
checkpoints/GR00T/PickCube/750/checkpoint-100000/model-00001-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9fefca788cfdbf94c2fc73e875391e2762f9c11763163f0f8321de7cf52507e3
3
+ size 4999367032
checkpoints/GR00T/PickCube/750/checkpoint-100000/model-00002-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2f2e760c1ca65f1931909187ca23bc86ef43104867de6216e0a8b81c6f39614c
3
+ size 2586705312
checkpoints/GR00T/PickCube/750/checkpoint-100000/model.safetensors.index.json ADDED
The diff for this file is too large to render. See raw diff
 
checkpoints/GR00T/PickCube/750/checkpoint-100000/optimizer.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:57cc6247d1acb363c977ab810bb12f51f8fa96fab6dd9f46adae57d16341fc24
3
+ size 8550720062
checkpoints/GR00T/PickCube/750/checkpoint-100000/rng_state.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:776944f935b7c607ae29574fcac618aa7786df49badfe3a39b341743b06ee8ad
3
+ size 14244
checkpoints/GR00T/PickCube/750/checkpoint-100000/scheduler.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3d6c5b93324fa72d02f994789c5634c26492fde161591c5c12fb60aea61a68f2
3
+ size 1064
checkpoints/GR00T/PickCube/750/checkpoint-100000/trainer_state.json ADDED
The diff for this file is too large to render. See raw diff