Upload folder using huggingface_hub
Browse files- checkpoints/GR00T/PickCube/750/checkpoint-100000/config.json +64 -0
- checkpoints/GR00T/PickCube/750/checkpoint-100000/experiment_cfg/metadata.json +211 -0
- checkpoints/GR00T/PickCube/750/checkpoint-100000/model-00001-of-00002.safetensors +3 -0
- checkpoints/GR00T/PickCube/750/checkpoint-100000/model-00002-of-00002.safetensors +3 -0
- checkpoints/GR00T/PickCube/750/checkpoint-100000/model.safetensors.index.json +0 -0
- checkpoints/GR00T/PickCube/750/checkpoint-100000/optimizer.pt +3 -0
- checkpoints/GR00T/PickCube/750/checkpoint-100000/rng_state.pth +3 -0
- checkpoints/GR00T/PickCube/750/checkpoint-100000/scheduler.pt +3 -0
- checkpoints/GR00T/PickCube/750/checkpoint-100000/trainer_state.json +0 -0
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
|
|
|