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  1. config.json +149 -0
  2. pytorch_model.bin +3 -0
config.json ADDED
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+ "config": {
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+ "num_train_timesteps": 1000,
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+ "prediction_type": "sample",
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+ "type": "ddpm"
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+ "state_adaptor": "mlp3x_gelu",
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+ "state_token_dim": 128
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+ "enc_type": "dinov2-vit-b",
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+ "learnable_tokens": 256,
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+ "name": "dinov2_expert"
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+ {
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+ "checkpoint_path": "/data/user/wsong890/user68/project/RoboTwin/policy/RDT_repa/checkpoints/RDT_theia_half21_stack_bowls_two-clean-5032-0.05/checkpoint-15000",
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+ "config": {
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+ "img_adaptor": "mlp2x_gelu",
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+ "img_token_dim": 1152,
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+ "num_train_timesteps": 1000,
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+ "prediction_type": "sample",
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+ "type": "ddpm"
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+ },
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+ "rdt": {
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+ "cond_pos_embed_type": "multimodal",
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+ "depth": 28,
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+ "num_heads": 32
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+ },
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+ "state_adaptor": "mlp3x_gelu",
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+ "state_token_dim": 128
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+ },
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+ "learnable_tokens": 256,
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+ "name": "clip_expert"
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+ },
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+ "checkpoint_path": "/data/user/wsong890/user68/project/RoboTwin/policy/RDT_repa/checkpoints/RDT_theia_half21_stack_bowls_two-clean-5032-0.05/checkpoint-15000",
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+ "config": {
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+ "lora_config": {
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+ "q",
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+ "fc2"
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+ "use_lora": true
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+ }
pytorch_model.bin ADDED
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+ size 7550830629