Add files using upload-large-folder tool
Browse files- checkpoint-10000/config.json +64 -0
- checkpoint-10000/experiment_cfg/metadata.json +195 -0
- checkpoint-10000/model-00001-of-00002.safetensors +3 -0
- checkpoint-10000/model-00002-of-00002.safetensors +3 -0
- checkpoint-10000/model.safetensors.index.json +0 -0
- checkpoint-10000/optimizer.pt +3 -0
- checkpoint-10000/rng_state.pth +3 -0
- checkpoint-10000/scheduler.pt +3 -0
- checkpoint-10000/trainer_state.json +0 -0
- checkpoint-6000/config.json +64 -0
- checkpoint-6000/experiment_cfg/metadata.json +195 -0
- checkpoint-6000/model-00001-of-00002.safetensors +3 -0
- checkpoint-6000/model-00002-of-00002.safetensors +3 -0
- checkpoint-6000/model.safetensors.index.json +0 -0
- checkpoint-6000/optimizer.pt +3 -0
- checkpoint-6000/rng_state.pth +3 -0
- checkpoint-6000/scheduler.pt +3 -0
- checkpoint-6000/trainer_state.json +0 -0
- checkpoint-7000/config.json +64 -0
- checkpoint-7000/experiment_cfg/metadata.json +195 -0
- checkpoint-7000/model-00001-of-00002.safetensors +3 -0
- checkpoint-7000/model-00002-of-00002.safetensors +3 -0
- checkpoint-7000/model.safetensors.index.json +0 -0
- checkpoint-7000/rng_state.pth +3 -0
- checkpoint-7000/scheduler.pt +3 -0
- checkpoint-7000/trainer_state.json +0 -0
- checkpoint-8000/config.json +64 -0
- checkpoint-8000/experiment_cfg/metadata.json +195 -0
- checkpoint-8000/model-00001-of-00002.safetensors +3 -0
- checkpoint-8000/model-00002-of-00002.safetensors +3 -0
- checkpoint-8000/model.safetensors.index.json +0 -0
- checkpoint-8000/rng_state.pth +3 -0
- checkpoint-8000/scheduler.pt +3 -0
- checkpoint-8000/trainer_state.json +0 -0
- checkpoint-9000/config.json +64 -0
- checkpoint-9000/experiment_cfg/metadata.json +195 -0
- checkpoint-9000/model-00001-of-00002.safetensors +3 -0
- checkpoint-9000/model-00002-of-00002.safetensors +3 -0
- checkpoint-9000/model.safetensors.index.json +0 -0
- checkpoint-9000/rng_state.pth +3 -0
- checkpoint-9000/scheduler.pt +3 -0
- checkpoint-9000/trainer_state.json +0 -0
- config.json +64 -0
- experiment_cfg/metadata.json +195 -0
- model-00001-of-00002.safetensors +3 -0
- model-00002-of-00002.safetensors +3 -0
- model.safetensors.index.json +0 -0
- runs/Oct11_10-52-40_autodl-container-08a34fb751-80978039/events.out.tfevents.1760151163.autodl-container-08a34fb751-80978039.270193.0 +3 -0
- trainer_state.json +0 -0
- training_args.bin +3 -0
checkpoint-10000/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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"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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"noise_beta_beta": 1.0,
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"noise_s": 0.999,
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"num_inference_timesteps": 4,
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"num_target_vision_tokens": 32,
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"num_timestep_buckets": 1000,
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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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| 47 |
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"attn_implementation": null,
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| 48 |
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"backbone_cfg": {
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| 49 |
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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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| 50 |
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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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| 53 |
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"select_layer": 12,
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| 54 |
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"tune_llm": false,
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| 55 |
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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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checkpoint-10000/experiment_cfg/metadata.json
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| 174 |
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