Hugging Face's logo

Datasets:
KelinLiER
/
benchmark

Dataset card Files
xet
Community
KelinLiER commited on
Commit
d3a94da
·
verified ·
1 Parent(s): ce5181e

Upload folder using huggingface_hub

Browse files
Files changed (9) hide show
  1. checkpoints/GR00T/PegInsertion/500/checkpoint-100000/config.json +64 -0
  2. checkpoints/GR00T/PegInsertion/500/checkpoint-100000/experiment_cfg/metadata.json +211 -0
  3. checkpoints/GR00T/PegInsertion/500/checkpoint-100000/model-00001-of-00002.safetensors +3 -0
  4. checkpoints/GR00T/PegInsertion/500/checkpoint-100000/model-00002-of-00002.safetensors +3 -0
  5. checkpoints/GR00T/PegInsertion/500/checkpoint-100000/model.safetensors.index.json +0 -0
  6. checkpoints/GR00T/PegInsertion/500/checkpoint-100000/optimizer.pt +3 -0
  7. checkpoints/GR00T/PegInsertion/500/checkpoint-100000/rng_state.pth +3 -0
  8. checkpoints/GR00T/PegInsertion/500/checkpoint-100000/scheduler.pt +3 -0
  9. checkpoints/GR00T/PegInsertion/500/checkpoint-100000/trainer_state.json +0 -0
checkpoints/GR00T/PegInsertion/500/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/PegInsertion/500/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
+ 0.4728531241416931,
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/GR00T/PegInsertion/500/checkpoint-100000/model-00001-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2a654b6e1717a09e8e9abd843508be26b13127ed587abe9e306651fbb97797dc
3
+ size 4999367032
checkpoints/GR00T/PegInsertion/500/checkpoint-100000/model-00002-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:50ae1e91e04a626340a51238ad715442522993604594e7495ad0c0fefc6a4ab4
3
+ size 2586705312
checkpoints/GR00T/PegInsertion/500/checkpoint-100000/model.safetensors.index.json ADDED
The diff for this file is too large to render. See raw diff
 
checkpoints/GR00T/PegInsertion/500/checkpoint-100000/optimizer.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9ccad022b8de86d62c192e0b39124bce3e6cfb92c19306b681d32a4fa19f53a5
3
+ size 8550720062
checkpoints/GR00T/PegInsertion/500/checkpoint-100000/rng_state.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d0232b2454ad0087c70a66a7ea12b19c60bcc29907f36f0d29fa5428c9a2f93c
3
+ size 14244
checkpoints/GR00T/PegInsertion/500/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/PegInsertion/500/checkpoint-100000/trainer_state.json ADDED
The diff for this file is too large to render. See raw diff