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- full_training/checkpoint-25000/config.json +64 -0
- full_training/checkpoint-25000/experiment_cfg/metadata.json +481 -0
- full_training/checkpoint-25000/model-00001-of-00002.safetensors +3 -0
- full_training/checkpoint-25000/model-00002-of-00002.safetensors +3 -0
- full_training/checkpoint-25000/model.safetensors.index.json +0 -0
- full_training/checkpoint-25000/optimizer.pt +3 -0
- full_training/checkpoint-25000/rng_state.pth +3 -0
- full_training/checkpoint-25000/scheduler.pt +3 -0
- full_training/checkpoint-25000/trainer_state.json +0 -0
- full_training/checkpoint-30000/config.json +64 -0
- full_training/checkpoint-30000/experiment_cfg/metadata.json +481 -0
- full_training/checkpoint-30000/model-00001-of-00002.safetensors +3 -0
- full_training/checkpoint-30000/model-00002-of-00002.safetensors +3 -0
- full_training/checkpoint-30000/model.safetensors.index.json +0 -0
- full_training/checkpoint-30000/optimizer.pt +3 -0
- full_training/checkpoint-30000/rng_state.pth +3 -0
- full_training/checkpoint-30000/scheduler.pt +3 -0
- full_training/checkpoint-30000/trainer_state.json +0 -0
- full_training/checkpoint-40000/config.json +64 -0
- full_training/checkpoint-40000/experiment_cfg/metadata.json +481 -0
- full_training/checkpoint-40000/model-00001-of-00002.safetensors +3 -0
- full_training/checkpoint-40000/model-00002-of-00002.safetensors +3 -0
- full_training/checkpoint-40000/model.safetensors.index.json +0 -0
- full_training/checkpoint-40000/optimizer.pt +3 -0
- full_training/checkpoint-40000/rng_state.pth +3 -0
- full_training/checkpoint-40000/scheduler.pt +3 -0
- full_training/checkpoint-40000/trainer_state.json +0 -0
- full_training/checkpoint-50000/config.json +64 -0
- full_training/checkpoint-50000/experiment_cfg/metadata.json +481 -0
- full_training/checkpoint-50000/model-00001-of-00002.safetensors +3 -0
- full_training/checkpoint-50000/model-00002-of-00002.safetensors +3 -0
- full_training/checkpoint-50000/model.safetensors.index.json +0 -0
- full_training/checkpoint-50000/optimizer.pt +3 -0
- full_training/checkpoint-50000/rng_state.pth +3 -0
- full_training/checkpoint-50000/scheduler.pt +3 -0
- full_training/checkpoint-50000/trainer_state.json +0 -0
- full_training/checkpoint-60000/config.json +64 -0
- full_training/checkpoint-60000/experiment_cfg/metadata.json +481 -0
- full_training/checkpoint-60000/model-00001-of-00002.safetensors +3 -0
- full_training/checkpoint-60000/model-00002-of-00002.safetensors +3 -0
- full_training/checkpoint-60000/model.safetensors.index.json +0 -0
- full_training/checkpoint-60000/optimizer.pt +3 -0
- full_training/checkpoint-60000/rng_state.pth +3 -0
- full_training/checkpoint-60000/scheduler.pt +3 -0
- full_training/checkpoint-60000/trainer_state.json +0 -0
- full_training/config.json +64 -0
- full_training/experiment_cfg/metadata.json +481 -0
- full_training/model-00001-of-00002.safetensors +3 -0
- full_training/model-00002-of-00002.safetensors +3 -0
- full_training/model.safetensors.index.json +0 -0
full_training/checkpoint-25000/config.json
ADDED
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{
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"action_dim": 32,
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"action_head_cfg": {
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"action_dim": 32,
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"action_horizon": 16,
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"add_pos_embed": true,
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"backbone_embedding_dim": 2048,
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"diffusion_model_cfg": {
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"attention_head_dim": 48,
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| 10 |
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"cross_attention_dim": 2048,
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"dropout": 0.2,
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"final_dropout": true,
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"interleave_self_attention": true,
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"norm_type": "ada_norm",
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"num_attention_heads": 32,
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"num_layers": 16,
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"output_dim": 1024,
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"positional_embeddings": null
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},
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"hidden_size": 1024,
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"input_embedding_dim": 1536,
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"max_action_dim": 32,
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"max_state_dim": 64,
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"model_dtype": "float32",
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"noise_beta_alpha": 1.5,
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| 26 |
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"noise_beta_beta": 1.0,
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| 27 |
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"noise_s": 0.999,
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| 28 |
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"num_inference_timesteps": 4,
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| 29 |
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"num_target_vision_tokens": 32,
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"num_timestep_buckets": 1000,
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| 31 |
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"tune_diffusion_model": true,
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"tune_projector": true,
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"use_vlln": true,
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| 34 |
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"vl_self_attention_cfg": {
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"attention_head_dim": 64,
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| 36 |
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"dropout": 0.2,
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| 37 |
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"final_dropout": true,
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"num_attention_heads": 32,
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"num_layers": 4,
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"positional_embeddings": null
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}
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},
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"action_horizon": 16,
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"architectures": [
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"GR00T_N1_5"
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],
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"attn_implementation": null,
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"backbone_cfg": {
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"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
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"load_bf16": false,
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"project_to_dim": null,
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| 52 |
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"reproject_vision": false,
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"select_layer": 12,
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"tune_llm": false,
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"tune_visual": true,
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"use_flash_attention": true
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},
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"compute_dtype": "bfloat16",
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"hidden_size": 2048,
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"model_dtype": "float32",
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"model_type": "gr00t_n1_5",
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"torch_dtype": "bfloat16",
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"transformers_version": "4.51.3"
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}
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full_training/checkpoint-25000/experiment_cfg/metadata.json
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| 1 |
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{
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full_training/checkpoint-25000/rng_state.pth
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size 14244
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full_training/checkpoint-25000/scheduler.pt
ADDED
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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full_training/checkpoint-25000/trainer_state.json
ADDED
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The diff for this file is too large to render.
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|
|
full_training/checkpoint-30000/config.json
ADDED
|
@@ -0,0 +1,64 @@
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{
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| 4 |
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|
| 11 |
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|
| 12 |
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| 13 |
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|
| 14 |
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|
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| 16 |
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|
| 17 |
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| 21 |
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|
| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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| 41 |
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|
| 42 |
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| 43 |
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|
| 44 |
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|
| 45 |
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"GR00T_N1_5"
|
| 46 |
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|
| 47 |
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| 48 |
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|
| 49 |
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| 50 |
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| 52 |
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| 54 |
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| 57 |
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| 58 |
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| 61 |
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| 62 |
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| 64 |
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full_training/checkpoint-30000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,481 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
}
|
full_training/checkpoint-40000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,481 @@
|
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|
| 1 |
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| 2 |
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"num_attention_heads": 32,
|
| 16 |
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"num_layers": 16,
|
| 17 |
+
"output_dim": 1024,
|
| 18 |
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"positional_embeddings": null
|
| 19 |
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},
|
| 20 |
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"hidden_size": 1024,
|
| 21 |
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"input_embedding_dim": 1536,
|
| 22 |
+
"max_action_dim": 32,
|
| 23 |
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"max_state_dim": 64,
|
| 24 |
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"model_dtype": "float32",
|
| 25 |
+
"noise_beta_alpha": 1.5,
|
| 26 |
+
"noise_beta_beta": 1.0,
|
| 27 |
+
"noise_s": 0.999,
|
| 28 |
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"num_inference_timesteps": 4,
|
| 29 |
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"num_target_vision_tokens": 32,
|
| 30 |
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"num_timestep_buckets": 1000,
|
| 31 |
+
"tune_diffusion_model": true,
|
| 32 |
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"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 |
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"num_attention_heads": 32,
|
| 39 |
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"num_layers": 4,
|
| 40 |
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"positional_embeddings": null
|
| 41 |
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}
|
| 42 |
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},
|
| 43 |
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"action_horizon": 16,
|
| 44 |
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"architectures": [
|
| 45 |
+
"GR00T_N1_5"
|
| 46 |
+
],
|
| 47 |
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"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 |
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"select_layer": 12,
|
| 54 |
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"tune_llm": false,
|
| 55 |
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"tune_visual": true,
|
| 56 |
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"use_flash_attention": true
|
| 57 |
+
},
|
| 58 |
+
"compute_dtype": "bfloat16",
|
| 59 |
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"hidden_size": 2048,
|
| 60 |
+
"model_dtype": "float32",
|
| 61 |
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"model_type": "gr00t_n1_5",
|
| 62 |
+
"torch_dtype": "bfloat16",
|
| 63 |
+
"transformers_version": "4.51.3"
|
| 64 |
+
}
|
full_training/checkpoint-50000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,481 @@
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| 1 |
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"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 |
+
}
|
full_training/checkpoint-60000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,481 @@
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|
| 1 |
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