Hugging Face's logo

Datasets:
KelinLiER
/
benchmark

Dataset card Files
xet
Community
KelinLiER commited on
Commit
ce5181e
·
verified ·
1 Parent(s): 59a7b8e

Delete checkpoints/Isaac-GR00T

Browse files
Files changed (9) hide show
  1. checkpoints/Isaac-GR00T/PegInsertion/500/checkpoint-100000/config.json +0 -64
  2. checkpoints/Isaac-GR00T/PegInsertion/500/checkpoint-100000/experiment_cfg/metadata.json +0 -211
  3. checkpoints/Isaac-GR00T/PegInsertion/500/checkpoint-100000/model-00001-of-00002.safetensors +0 -3
  4. checkpoints/Isaac-GR00T/PegInsertion/500/checkpoint-100000/model-00002-of-00002.safetensors +0 -3
  5. checkpoints/Isaac-GR00T/PegInsertion/500/checkpoint-100000/model.safetensors.index.json +0 -0
  6. checkpoints/Isaac-GR00T/PegInsertion/500/checkpoint-100000/optimizer.pt +0 -3
  7. checkpoints/Isaac-GR00T/PegInsertion/500/checkpoint-100000/rng_state.pth +0 -3
  8. checkpoints/Isaac-GR00T/PegInsertion/500/checkpoint-100000/scheduler.pt +0 -3
  9. checkpoints/Isaac-GR00T/PegInsertion/500/checkpoint-100000/trainer_state.json +0 -0
checkpoints/Isaac-GR00T/PegInsertion/500/checkpoint-100000/config.json DELETED
@@ -1,64 +0,0 @@
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/Isaac-GR00T/PegInsertion/500/checkpoint-100000/experiment_cfg/metadata.json DELETED
@@ -1,211 +0,0 @@
1
- {
2
- "new_embodiment": {
3
- "statistics": {
4
- "state": {
5
- "single_arm": {
6
- "max": [
7
- 0.4728531241416931,
8
- 1.4967026710510254,
9
- 0.17114850878715515,
10
- -0.3953115940093994,
11
- 0.2679731249809265,
12
- 2.8790173530578613,
13
- 0.03270847722887993
14
- ],
15
- "min": [
16
- -0.5562708973884583,
17
- -0.013451993465423584,
18
- -0.2516641914844513,
19
- -2.6419124603271484,
20
- -0.15718697011470795,
21
- 1.873246192932129,
22
- -2.2423808574676514
23
- ],
24
- "mean": [
25
- 0.12816140055656433,
26
- 0.5623499155044556,
27
- -0.013568456284701824,
28
- -1.9094524383544922,
29
- -0.010263716802001,
30
- 2.457087278366089,
31
- -0.6322324275970459
32
- ],
33
- "std": [
34
- 0.20393334329128265,
35
- 0.16799837350845337,
36
- 0.05797773599624634,
37
- 0.25491493940353394,
38
- 0.05752585083246231,
39
- 0.1151914894580841,
40
- 0.3871995508670807
41
- ],
42
- "q01": [
43
- -0.4578780233860016,
44
- 0.20753619074821472,
45
- -0.1695788164436817,
46
- -2.4195945262908936,
47
- -0.12203957885503769,
48
- 2.185713529586792,
49
- -1.9466619491577148
50
- ],
51
- "q99": [
52
- 0.43608662486076355,
53
- 1.038142722845079,
54
- 0.10440772026777267,
55
- -1.1917167723178863,
56
- 0.1849326193332672,
57
- 2.7433393001556396,
58
- -0.04003881290555
59
- ]
60
- },
61
- "gripper": {
62
- "max": [
63
- 0.03999999910593033
64
- ],
65
- "min": [
66
- 0.013646434061229229
67
- ],
68
- "mean": [
69
- 0.02055959589779377
70
- ],
71
- "std": [
72
- 0.007831888273358345
73
- ],
74
- "q01": [
75
- 0.013794048689305782
76
- ],
77
- "q99": [
78
- 0.03999999910593033
79
- ]
80
- }
81
- },
82
- "action": {
83
- "single_arm": {
84
- "max": [
85
- 0.5166130661964417,
86
- 1.4984270334243774,
87
- 0.1840890794992447,
88
- -0.3915627598762512,
89
- 0.2717429995536804,
90
- 2.882380723953247,
91
- 0.05466869845986366
92
- ],
93
- "min": [
94
- -0.5565145015716553,
95
- -0.0185831431299448,
96
- -0.25197160243988037,
97
- -2.641247510910034,
98
- -0.15789692103862762,
99
- 1.8715343475341797,
100
- -2.245187997817993
101
- ],
102
- "mean": [
103
- 0.15806549787521362,
104
- 0.5666822791099548,
105
- 0.005828844849020243,
106
- -1.8986411094665527,
107
- -0.0019809764344245195,
108
- 2.463944435119629,
109
- -0.6096768379211426
110
- ],
111
- "std": [
112
- 0.21959537267684937,
113
- 0.16728392243385315,
114
- 0.060545820742845535,
115
- 0.252403199672699,
116
- 0.056139569729566574,
117
- 0.11613655835390091,
118
- 0.4003157913684845
119
- ],
120
- "q01": [
121
- -0.4580559298396111,
122
- 0.21485409140586853,
123
- -0.16978862881660461,
124
- -2.4196694135665893,
125
- -0.11482074856758118,
126
- 2.186081886291504,
127
- -1.9481121301651
128
- ],
129
- "q99": [
130
- 0.4749550223350525,
131
- 1.039012260437012,
132
- 0.1166868805885315,
133
- -1.1907207989692685,
134
- 0.185494527220726,
135
- 2.7446141171455385,
136
- 0.012241317890584469
137
- ]
138
- },
139
- "gripper": {
140
- "max": [
141
- 1.0
142
- ],
143
- "min": [
144
- -1.0
145
- ],
146
- "mean": [
147
- -0.7438865303993225
148
- ],
149
- "std": [
150
- 0.6679296493530273
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/Isaac-GR00T/PegInsertion/500/checkpoint-100000/model-00001-of-00002.safetensors DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:2a654b6e1717a09e8e9abd843508be26b13127ed587abe9e306651fbb97797dc
3
- size 4999367032
 
 
 
 
checkpoints/Isaac-GR00T/PegInsertion/500/checkpoint-100000/model-00002-of-00002.safetensors DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:50ae1e91e04a626340a51238ad715442522993604594e7495ad0c0fefc6a4ab4
3
- size 2586705312
 
 
 
 
checkpoints/Isaac-GR00T/PegInsertion/500/checkpoint-100000/model.safetensors.index.json DELETED
The diff for this file is too large to render. See raw diff
 
checkpoints/Isaac-GR00T/PegInsertion/500/checkpoint-100000/optimizer.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:9ccad022b8de86d62c192e0b39124bce3e6cfb92c19306b681d32a4fa19f53a5
3
- size 8550720062
 
 
 
 
checkpoints/Isaac-GR00T/PegInsertion/500/checkpoint-100000/rng_state.pth DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:d0232b2454ad0087c70a66a7ea12b19c60bcc29907f36f0d29fa5428c9a2f93c
3
- size 14244
 
 
 
 
checkpoints/Isaac-GR00T/PegInsertion/500/checkpoint-100000/scheduler.pt DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:3d6c5b93324fa72d02f994789c5634c26492fde161591c5c12fb60aea61a68f2
3
- size 1064
 
 
 
 
checkpoints/Isaac-GR00T/PegInsertion/500/checkpoint-100000/trainer_state.json DELETED
The diff for this file is too large to render. See raw diff