diff --git a/.gitattributes b/.gitattributes index a6344aac8c09253b3b630fb776ae94478aa0275b..2c1b7a5da39d91886f04bd4a5ff30048eaf7d82a 100644 --- a/.gitattributes +++ b/.gitattributes @@ -33,3 +33,25 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text *.zip filter=lfs diff=lfs merge=lfs -text *.zst filter=lfs diff=lfs merge=lfs -text *tfevents* filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/350851163e9afeb820892a0b74911762 filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/a10d490bd636dee5625dc9c0e2c965c5 filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/dfaf76c72efc3b98e0f2d0123b1a90f6 filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/7e6588ee50c86f09b2c3d6949e1c9690 filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/656eb7a8ffa362793bab344e4a577f2e filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/f22dba572d133eefc93171306a8b2422 filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/c72702d4298c6a5f4c87c0ba1ec088fa filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/e3b826885cab2805f06a048b1c5c1e4c filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/fa8fc1adef4465f261746f1ff3af8958 filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/c1fba6cc04e42db0c9546189e9eb3abb filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/19c633d6161a987e4b1263ceb783cb88 filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/05e846437a4c2f2b41278b91683ce0ca filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/e6b8649a44b89fe29cec3c0d57f63d99 filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/a8fc9f147578055e153973dae3775467 filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/3e881eec8d1aaf87c29d137eff1fb908 filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/ee02d421e6fb02af7ebb505915412e09 filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/1f7d59a1ef805bb7fd9121f8c2271248 filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/52412676e0895ac53201892dce56d11a filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/c41c0e0324ebd6011c92cfa9c448acc5 filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/b92c3f557da2011d6f92464862d2c77a filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/b183315706388dc107976f0039a872d4 filter=lfs diff=lfs merge=lfs -text +pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/a41a218fbcc6abee2529523257209157 filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..61a3a2658b0e000bc689bfc7275e0119d026021e --- /dev/null +++ b/README.md @@ -0,0 +1,24 @@ +--- +library_name: openpi +tags: +- robotics +- pi0.5 +- robotwin +- multi-embodiment +--- + +# Bibilabu OpenPI Checkpoints + +This repository contains OpenPI checkpoints shared by `jsw19`. + +## pi05 RobotWin Multi-Embodiment Head + +Path: +`pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999` + +Contents uploaded for default evaluation/inference: +- `params/`: Orbax parameter checkpoint, loaded by `openpi.models.model.restore_params(checkpoint_dir / "params")`. +- `assets/`: per-embodiment normalization stats for 16 embodiment heads. +- `_CHECKPOINT_METADATA` and `UPLOAD_MANIFEST.json`. + +The training `train_state/` item is intentionally not included in this inference upload because it mainly stores optimizer/training-resume state and is about 31G locally. diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/UPLOAD_MANIFEST.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/UPLOAD_MANIFEST.json new file mode 100644 index 0000000000000000000000000000000000000000..0adeaeb2d001d29ff1b937b5051da2498f629626 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/UPLOAD_MANIFEST.json @@ -0,0 +1,38 @@ +{ + "model": "pi05_robotwin_multi_embodiment_head", + "experiment": "robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000", + "checkpoint_step_dir": "59999", + "source_checkpoint": "/share/project/xsw/openpi_subtask/checkpoints/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999", + "uploaded_contents": [ + "params", + "assets", + "_CHECKPOINT_METADATA" + ], + "excluded_contents": { + "train_state": "Excluded from this inference/default-test upload; keep local/full checkpoint for optimizer-state resume." + }, + "training": { + "batch_size": 32, + "num_train_steps": 60000, + "fsdp_devices": 1, + "save_interval": 5000 + }, + "embodiments": [ + "pool_aloha_agilex_50", + "pool_arx_arx_50", + "pool_arx_franka_50", + "pool_arx_piper_50", + "pool_arx_ur5_50", + "pool_franka_arx_50", + "pool_franka_franka_50", + "pool_franka_piper_50", + "pool_franka_ur5_50", + "pool_piper_arx_50", + "pool_piper_franka_50", + "pool_piper_piper_50", + "pool_piper_ur5_50", + "pool_ur5_arx_50", + "pool_ur5_franka_50", + "pool_ur5_piper_50" + ] +} diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/_CHECKPOINT_METADATA b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..9188ba862727e0a20c88739a68506486f7965882 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1782865169803799099, "commit_timestamp_nsecs": 1782865189464306312, "custom_metadata": {}} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_aloha_agilex_50/norm_stats.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_aloha_agilex_50/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..f3f1485e86320a474b5ab948153aa2e737b27efa --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_aloha_agilex_50/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "state": { + "mean": [ + -0.2477792501449585, + 1.015021800994873, + 0.7502681612968445, + -0.32447507977485657, + 0.024147555232048035, + -0.0721702128648758, + 0.6786196231842041, + 0.24032150208950043, + 1.0438393354415894, + 0.7783036828041077, + -0.3092740774154663, + -0.01698729209601879, + 0.15327830612659454, + 0.6861949563026428, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.35137295722961426, + 0.9982670545578003, + 0.7873422503471375, + 0.6972808241844177, + 0.2319105714559555, + 0.7041156888008118, + 0.4547664523124695, + 0.31290513277053833, + 1.027068853378296, + 0.8311058282852173, + 0.7100183367729187, + 0.2544979751110077, + 0.6897114515304565, + 0.4506969451904297, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -1.0410923164367676, + -0.00003208045018254779, + -0.000038301765016512945, + -1.653036053276062, + -0.5914484158754348, + -2.6525988887786864, + 0.0, + -0.055030662822723286, + -0.0006399909378960733, + -0.001173513736575843, + -1.7006684300899506, + -1.3417523243665694, + -1.4530227954864503, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.3939636804103852, + 2.548150322773929, + 2.3798068248131545, + 1.3515688506126402, + 1.2653680232286453, + 1.6595860313415525, + 0.9998, + 0.9913687164306646, + 2.643266748090461, + 2.6757842990756036, + 1.4917593781948089, + 0.6644758921623231, + 2.3548005764007565, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "actions": { + "mean": [ + -0.2477792501449585, + 1.015021800994873, + 0.7502681612968445, + -0.32447507977485657, + 0.024147555232048035, + -0.0721702128648758, + 0.6786196231842041, + 0.24032150208950043, + 1.0438393354415894, + 0.7783036828041077, + -0.3092740774154663, + -0.01698729209601879, + 0.15327830612659454, + 0.6861949563026428, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.35137295722961426, + 0.9982670545578003, + 0.7873422503471375, + 0.6972808241844177, + 0.2319105714559555, + 0.7041156888008118, + 0.4547664523124695, + 0.31290513277053833, + 1.027068853378296, + 0.8311058282852173, + 0.7100183367729187, + 0.2544979751110077, + 0.6897114515304565, + 0.4506969451904297, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -1.0410923164367676, + -0.00003208045018254779, + -0.000038301765016512945, + -1.653036053276062, + -0.5914484158754348, + -2.6525988887786864, + 0.0, + -0.055030662822723286, + -0.0006399909378960733, + -0.001173513736575843, + -1.7006684300899506, + -1.3417523243665694, + -1.4530227954864503, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.3939636804103852, + 2.548150322773929, + 2.3798068248131545, + 1.3515688506126402, + 1.2653680232286453, + 1.6595860313415525, + 0.9998, + 0.9913687164306646, + 2.643266748090461, + 2.6757842990756036, + 1.4917593781948089, + 0.6644758921623231, + 2.3548005764007565, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_arx_arx_50/norm_stats.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_arx_arx_50/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..e08c264ae487d5f123eb714278cff8ff8d8b8499 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_arx_arx_50/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "state": { + "mean": [ + -0.32786670327186584, + 1.2925053834915161, + 0.8936919569969177, + -0.3023148775100708, + 0.26355433464050293, + -0.10663361102342606, + 0.599133312702179, + 0.29268285632133484, + 1.3455990552902222, + 0.7975098490715027, + -0.0075946394354105, + -0.27158427238464355, + 0.03451511263847351, + 0.5687751770019531, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.37685486674308777, + 0.9251756072044373, + 0.6776905655860901, + 0.7911098599433899, + 0.5098046660423279, + 0.4251629114151001, + 0.46805933117866516, + 0.3584440350532532, + 0.9599965810775757, + 0.6209710240364075, + 0.9701655507087708, + 0.5653303265571594, + 0.557466447353363, + 0.4734734296798706, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -1.1713549021065235, + -0.00003287216532044113, + -0.0000640408688923344, + -1.4916693492889403, + -0.05738349751234055, + -1.3176463331222534, + 0.0, + -0.17993444902896877, + 0.0, + -0.000019999999494757503, + -2.3404107452392577, + -1.777756989121437, + -1.967166356754303, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.16003163962960243, + 2.869060991465201, + 2.2971462346089453, + 1.1243686857938768, + 1.532177363026142, + 0.8941072900772093, + 0.9998, + 1.161049847340584, + 2.774488867282867, + 2.1134236422815125, + 1.8984432067871095, + 0.9822880945920942, + 1.2080574467658995, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "actions": { + "mean": [ + -0.32786670327186584, + 1.2925053834915161, + 0.8936919569969177, + -0.3023148775100708, + 0.26355433464050293, + -0.10663361102342606, + 0.599133312702179, + 0.29268285632133484, + 1.3455990552902222, + 0.7975098490715027, + -0.0075946394354105, + -0.27158427238464355, + 0.03451511263847351, + 0.5687751770019531, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.37685486674308777, + 0.9251756072044373, + 0.6776905655860901, + 0.7911098599433899, + 0.5098046660423279, + 0.4251629114151001, + 0.46805933117866516, + 0.3584440350532532, + 0.9599965810775757, + 0.6209710240364075, + 0.9701655507087708, + 0.5653303265571594, + 0.557466447353363, + 0.4734734296798706, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -1.1713549021065235, + -0.00003287216532044113, + -0.0000640408688923344, + -1.4916693492889403, + -0.05738349751234055, + -1.3176463331222534, + 0.0, + -0.17993444902896877, + 0.0, + -0.000019999999494757503, + -2.3404107452392577, + -1.777756989121437, + -1.967166356754303, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.16003163962960243, + 2.869060991465201, + 2.2971462346089453, + 1.1243686857938768, + 1.532177363026142, + 0.8941072900772093, + 0.9998, + 1.161049847340584, + 2.774488867282867, + 2.1134236422815125, + 1.8984432067871095, + 0.9822880945920942, + 1.2080574467658995, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_arx_franka_50/norm_stats.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_arx_franka_50/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..ea704b8d46f6958e23c272c9fe79d995085a4b2d --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_arx_franka_50/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "state": { + "mean": [ + -0.3092918395996094, + 1.0399099588394165, + 0.7223240733146667, + -0.3905993402004242, + 0.01541947666555643, + -0.15852144360542297, + 0.6450343132019043, + 0.1581549197435379, + 0.4069092869758606, + -0.014689771458506584, + -2.3231008052825928, + -0.07243207842111588, + 2.7931857109069824, + 0.7402105927467346, + 0.6973534822463989, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.3802791237831116, + 0.9451093077659607, + 0.7001499533653259, + 0.6480085849761963, + 0.26037636399269104, + 0.6910050511360168, + 0.4532812535762787, + 0.4340069591999054, + 0.39647001028060913, + 0.4072187840938568, + 0.3694150149822235, + 0.7386117577552795, + 0.2758827805519104, + 0.7654792070388794, + 0.4354800581932068, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -1.1535093254089355, + -0.0009098388545215139, + -0.0006973687320947636, + -1.589902808094025, + -0.7182923177242279, + -2.4404603310108186, + 0.0, + -0.8098107714653013, + -0.918064027428627, + -1.6657006538391115, + -2.618556807017326, + -2.8208792267799376, + 1.8179510929584501, + -2.0878483776569365, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.504157647418976, + 2.3677562601204962, + 2.0741347993791104, + 1.4212262825489042, + 1.3294941980123522, + 1.6152131214141843, + 0.9998, + 2.0837052516937264, + 1.7028805881738664, + 1.1477706283569336, + -1.2886891689062119, + 2.6506970131874086, + 3.4749093453884123, + 2.7954957029342653, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "actions": { + "mean": [ + -0.3092918395996094, + 1.0399099588394165, + 0.7223240733146667, + -0.3905993402004242, + 0.01541947666555643, + -0.15852144360542297, + 0.6450343132019043, + 0.1581549197435379, + 0.4069092869758606, + -0.014689771458506584, + -2.3231008052825928, + -0.07243207842111588, + 2.7931857109069824, + 0.7402105927467346, + 0.6973534822463989, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.3802791237831116, + 0.9451093077659607, + 0.7001499533653259, + 0.6480085849761963, + 0.26037636399269104, + 0.6910050511360168, + 0.4532812535762787, + 0.4340069591999054, + 0.39647001028060913, + 0.4072187840938568, + 0.3694150149822235, + 0.7386117577552795, + 0.2758827805519104, + 0.7654792070388794, + 0.4354800581932068, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -1.1535093254089355, + -0.0009098388545215139, + -0.0006973687320947636, + -1.589902808094025, + -0.7182923177242279, + -2.4404603310108186, + 0.0, + -0.8098107714653013, + -0.918064027428627, + -1.6657006538391115, + -2.618556807017326, + -2.8208792267799376, + 1.8179510929584501, + -2.0878483776569365, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.504157647418976, + 2.3677562601204962, + 2.0741347993791104, + 1.4212262825489042, + 1.3294941980123522, + 1.6152131214141843, + 0.9998, + 2.0837052516937264, + 1.7028805881738664, + 1.1477706283569336, + -1.2886891689062119, + 2.6506970131874086, + 3.4749093453884123, + 2.7954957029342653, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_arx_piper_50/norm_stats.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_arx_piper_50/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..811896b7a75ebd8c96ac3dada2ebca6c88dbf529 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_arx_piper_50/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "state": { + "mean": [ + -0.34078481793403625, + 1.1631709337234497, + 0.8232105374336243, + -0.4420914947986603, + 0.03193758428096771, + -0.1663791388273239, + 0.6160296201705933, + 0.16976742446422577, + 0.7781381607055664, + -0.5339510440826416, + 0.015676598995923996, + 0.16198813915252686, + 0.1518288254737854, + 0.7529311180114746, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.38756904006004333, + 0.9381534457206726, + 0.7037121057510376, + 0.6772821545600891, + 0.2978023290634155, + 0.7186225056648254, + 0.4579909145832062, + 0.2879275977611542, + 0.9863712787628174, + 0.7003996968269348, + 0.3884586989879608, + 0.5351009964942932, + 0.6891236305236816, + 0.4088790714740753, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -1.1543239656329156, + -0.0014607490692287676, + -0.0007196057237684669, + -1.6539126381874087, + -0.7280028816223145, + -2.279889448261261, + 0.0, + -0.12103871260881427, + 0.0, + -2.0123378783925787, + -1.3926302679300309, + -1.0892160255432128, + -1.368110648584366, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.5041431901454922, + 2.5289448752623054, + 2.0987023326002063, + 1.4105579775333403, + 1.354266191291809, + 1.6189548401832576, + 0.9998, + 0.9537817403495312, + 2.470894347572327, + -0.00033511079688341994, + 1.3711292038679126, + 1.2058480282783508, + 2.598982655096054, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "actions": { + "mean": [ + -0.34078481793403625, + 1.1631709337234497, + 0.8232105374336243, + -0.4420914947986603, + 0.03193758428096771, + -0.1663791388273239, + 0.6160296201705933, + 0.16976742446422577, + 0.7781381607055664, + -0.5339510440826416, + 0.015676598995923996, + 0.16198813915252686, + 0.1518288254737854, + 0.7529311180114746, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.38756904006004333, + 0.9381534457206726, + 0.7037121057510376, + 0.6772821545600891, + 0.2978023290634155, + 0.7186225056648254, + 0.4579909145832062, + 0.2879275977611542, + 0.9863712787628174, + 0.7003996968269348, + 0.3884586989879608, + 0.5351009964942932, + 0.6891236305236816, + 0.4088790714740753, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -1.1543239656329156, + -0.0014607490692287676, + -0.0007196057237684669, + -1.6539126381874087, + -0.7280028816223145, + -2.279889448261261, + 0.0, + -0.12103871260881427, + 0.0, + -2.0123378783925787, + -1.3926302679300309, + -1.0892160255432128, + -1.368110648584366, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.5041431901454922, + 2.5289448752623054, + 2.0987023326002063, + 1.4105579775333403, + 1.354266191291809, + 1.6189548401832576, + 0.9998, + 0.9537817403495312, + 2.470894347572327, + -0.00033511079688341994, + 1.3711292038679126, + 1.2058480282783508, + 2.598982655096054, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_arx_ur5_50/norm_stats.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_arx_ur5_50/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..12f87326075609c68ef76fa44dc46278d01da190 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_arx_ur5_50/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "state": { + "mean": [ + -0.3606293797492981, + 1.6598701477050781, + 0.9961397051811218, + -0.32543858885765076, + 0.47864410281181335, + -0.2661045491695404, + 0.2952880561351776, + -1.0682718753814697, + -1.8436840772628784, + -1.6072759628295898, + -0.9454708695411682, + 1.2809324264526367, + 0.3283859193325043, + 0.2952880561351776, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.22341735661029816, + 0.44927287101745605, + 0.34175536036491394, + 0.942450225353241, + 0.6343640685081482, + 0.6683049201965332, + 0.43428313732147217, + 0.5817641019821167, + 0.3146187365055084, + 0.6035991907119751, + 0.5136871933937073, + 1.2684519290924072, + 0.7671709656715393, + 0.43428313732147217, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -0.9216277995936573, + 0.0, + -0.000019999999494757503, + -2.2270525840759277, + -0.028907972240448, + -1.6372097803115844, + 0.0, + -1.5440003425121307, + -2.4466209934860466, + -2.099087116146088, + -1.6233077927827835, + -3.0054359463214873, + -1.8155514912605286, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.0005822360187769382, + 2.287301625299454, + 1.7162489296607835, + 1.2020425726890562, + 1.671727071043104, + 1.619004365301132, + 1.0, + 1.4933279015541077, + -0.7847278059333562, + 1.3017100103855133, + 0.7306786706209185, + 3.0214164778232577, + 1.7760877857208253, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "actions": { + "mean": [ + -0.3606293797492981, + 1.6598701477050781, + 0.9961397051811218, + -0.32543858885765076, + 0.47864410281181335, + -0.2661045491695404, + 0.2952880561351776, + -1.0682718753814697, + -1.8436840772628784, + -1.6072759628295898, + -0.9454708695411682, + 1.2809324264526367, + 0.3283859193325043, + 0.2952880561351776, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.22341735661029816, + 0.44927287101745605, + 0.34175536036491394, + 0.942450225353241, + 0.6343640685081482, + 0.6683049201965332, + 0.43428313732147217, + 0.5817641019821167, + 0.3146187365055084, + 0.6035991907119751, + 0.5136871933937073, + 1.2684519290924072, + 0.7671709656715393, + 0.43428313732147217, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -0.9216277995936573, + 0.0, + -0.000019999999494757503, + -2.2270525840759277, + -0.028907972240448, + -1.6372097803115844, + 0.0, + -1.5440003425121307, + -2.4466209934860466, + -2.099087116146088, + -1.6233077927827835, + -3.0054359463214873, + -1.8155514912605286, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.0005822360187769382, + 2.287301625299454, + 1.7162489296607835, + 1.2020425726890562, + 1.671727071043104, + 1.619004365301132, + 1.0, + 1.4933279015541077, + -0.7847278059333562, + 1.3017100103855133, + 0.7306786706209185, + 3.0214164778232577, + 1.7760877857208253, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_franka_arx_50/norm_stats.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_franka_arx_50/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..e42643daae9edc7d2f0f164c4170429482df6bfa --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_franka_arx_50/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "state": { + "mean": [ + -0.08199057728052139, + 0.4038563072681427, + -0.11102105677127838, + -2.2935080528259277, + -0.025868508964776993, + 2.7229762077331543, + 0.8345052003860474, + 0.637453556060791, + 0.34053993225097656, + 1.2291094064712524, + 0.700007438659668, + -0.1303814947605133, + -0.13038280606269836, + 0.08900745958089828, + 0.5862632989883423, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.29958376288414, + 0.25060269236564636, + 0.2627856433391571, + 0.2897890508174896, + 0.305747389793396, + 0.24834370613098145, + 0.5702501535415649, + 0.458553671836853, + 0.3745444715023041, + 0.927306056022644, + 0.5744783282279968, + 0.9821013808250427, + 0.4795144200325012, + 0.6725766062736511, + 0.47087550163269043, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -0.699264646911621, + 0.12244688746333121, + -1.1225317000746726, + -2.6178223649024965, + -1.3024929490447046, + 1.7021589221954345, + -0.6915195212364198, + 0.0, + -0.162122468829155, + 0.0, + -0.000019999999494757503, + -2.3483313751220702, + -1.7790772651433944, + -2.1853523965358734, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.8753860150337218, + 1.2201212218999862, + 0.3113727589249611, + -1.6778959074497224, + 0.3364016758084296, + 2.9415008296966554, + 2.48824924287796, + 0.9998, + 1.2110063160657882, + 2.5050464548110964, + 2.1262175704617405, + 1.8752364349365234, + 1.04763071475029, + 2.4540959825038904, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "actions": { + "mean": [ + -0.08199057728052139, + 0.4038563072681427, + -0.11102105677127838, + -2.2935080528259277, + -0.025868508964776993, + 2.7229762077331543, + 0.8345052003860474, + 0.637453556060791, + 0.34053993225097656, + 1.2291094064712524, + 0.700007438659668, + -0.1303814947605133, + -0.13038280606269836, + 0.08900745958089828, + 0.5862632989883423, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.29958376288414, + 0.25060269236564636, + 0.2627856433391571, + 0.2897890508174896, + 0.305747389793396, + 0.24834370613098145, + 0.5702501535415649, + 0.458553671836853, + 0.3745444715023041, + 0.927306056022644, + 0.5744783282279968, + 0.9821013808250427, + 0.4795144200325012, + 0.6725766062736511, + 0.47087550163269043, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -0.699264646911621, + 0.12244688746333121, + -1.1225317000746726, + -2.6178223649024965, + -1.3024929490447046, + 1.7021589221954345, + -0.6915195212364198, + 0.0, + -0.162122468829155, + 0.0, + -0.000019999999494757503, + -2.3483313751220702, + -1.7790772651433944, + -2.1853523965358734, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.8753860150337218, + 1.2201212218999862, + 0.3113727589249611, + -1.6778959074497224, + 0.3364016758084296, + 2.9415008296966554, + 2.48824924287796, + 0.9998, + 1.2110063160657882, + 2.5050464548110964, + 2.1262175704617405, + 1.8752364349365234, + 1.04763071475029, + 2.4540959825038904, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_franka_franka_50/norm_stats.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_franka_franka_50/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..9bc620dd7a2bed5b551a7775ef94dda588e19f44 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_franka_franka_50/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "state": { + "mean": [ + -0.09398636966943741, + 0.4351339042186737, + -0.05751832574605942, + -2.274174928665161, + 0.012408160604536533, + 2.7751362323760986, + 0.6084563136100769, + 0.6476866006851196, + 0.1114257276058197, + 0.4168189764022827, + 0.044253066182136536, + -2.3004720211029053, + -0.058930519968271255, + 2.783113479614258, + 0.6768786907196045, + 0.6707851886749268, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.36908045411109924, + 0.3527091443538666, + 0.3557438552379608, + 0.3809363543987274, + 0.6986157298088074, + 0.28476637601852417, + 0.843487024307251, + 0.4526340663433075, + 0.42436087131500244, + 0.40511688590049744, + 0.4058655798435211, + 0.38299307227134705, + 0.7958921194076538, + 0.2979308068752289, + 0.8278051018714905, + 0.4463399350643158, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -1.2536810359954833, + 0.01835647773742677, + -1.341321975326538, + -2.6207587507367136, + -2.658562484550476, + 1.8721767826080322, + -2.39896440410614, + 0.0, + -1.458634642839432, + -1.2579340644836425, + -1.2201777634620667, + -2.6192630297094586, + -2.795315044784546, + 1.782525843501091, + -2.27718716506958, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 1.2777814863681796, + 1.5138959541320798, + 1.2483075767517087, + -1.2899860000312329, + 2.7049192846298213, + 3.6519506144285203, + 2.3966465641021726, + 0.9998, + 1.4465488698005675, + 1.666903659439087, + 1.6952001366615295, + -1.2790248933494093, + 2.7049192846298213, + 3.601937876939773, + 2.775892205047607, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "actions": { + "mean": [ + -0.09398636966943741, + 0.4351339042186737, + -0.05751832574605942, + -2.274174928665161, + 0.012408160604536533, + 2.7751362323760986, + 0.6084563136100769, + 0.6476866006851196, + 0.1114257276058197, + 0.4168189764022827, + 0.044253066182136536, + -2.3004720211029053, + -0.058930519968271255, + 2.783113479614258, + 0.6768786907196045, + 0.6707851886749268, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.36908045411109924, + 0.3527091443538666, + 0.3557438552379608, + 0.3809363543987274, + 0.6986157298088074, + 0.28476637601852417, + 0.843487024307251, + 0.4526340663433075, + 0.42436087131500244, + 0.40511688590049744, + 0.4058655798435211, + 0.38299307227134705, + 0.7958921194076538, + 0.2979308068752289, + 0.8278051018714905, + 0.4463399350643158, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -1.2536810359954833, + 0.01835647773742677, + -1.341321975326538, + -2.6207587507367136, + -2.658562484550476, + 1.8721767826080322, + -2.39896440410614, + 0.0, + -1.458634642839432, + -1.2579340644836425, + -1.2201777634620667, + -2.6192630297094586, + -2.795315044784546, + 1.782525843501091, + -2.27718716506958, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 1.2777814863681796, + 1.5138959541320798, + 1.2483075767517087, + -1.2899860000312329, + 2.7049192846298213, + 3.6519506144285203, + 2.3966465641021726, + 0.9998, + 1.4465488698005675, + 1.666903659439087, + 1.6952001366615295, + -1.2790248933494093, + 2.7049192846298213, + 3.601937876939773, + 2.775892205047607, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_franka_piper_50/norm_stats.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_franka_piper_50/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..642d5fc934f7f09d6669ca77f70a178bc5c59358 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_franka_piper_50/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "state": { + "mean": [ + -0.05038841813802719, + 0.5601808428764343, + -0.20217278599739075, + -2.1444380283355713, + -0.21861514449119568, + 2.5985593795776367, + 0.5409045219421387, + 0.49213099479675293, + 0.12640884518623352, + 0.7956295609474182, + -0.5174724459648132, + -0.044313959777355194, + 0.03325089067220688, + 0.2770621180534363, + 0.7433539032936096, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.5955711007118225, + 0.513340413570404, + 0.5859458446502686, + 0.39932093024253845, + 0.975201427936554, + 0.34583690762519836, + 1.3256866931915283, + 0.4606855511665344, + 0.2518983781337738, + 0.9790890216827393, + 0.6602458953857422, + 0.5492531657218933, + 0.5462319254875183, + 0.7411312460899353, + 0.4056119918823242, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -1.9479420975923538, + -0.647631442785263, + -1.6264015007019044, + -2.6193474417328835, + -2.753018844604492, + 1.7809076669692994, + -2.598298644447327, + 0.0, + -0.2184926820755005, + 0.0, + -2.1149484070305595, + -1.5437937243461608, + -1.1145920261383058, + -1.0058249235153198, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 1.3828132277250291, + 1.752304630994797, + 1.5344547523498537, + -0.9959782123684884, + 2.564083316755294, + 3.148528243303299, + 2.888028644943237, + 0.9998, + 0.8649237407982349, + 2.5491766746520996, + -0.00035864881415603733, + 1.5484029773712158, + 1.1843760277748108, + 2.6735229496955872, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "actions": { + "mean": [ + -0.05038841813802719, + 0.5601808428764343, + -0.20217278599739075, + -2.1444380283355713, + -0.21861514449119568, + 2.5985593795776367, + 0.5409045219421387, + 0.49213099479675293, + 0.12640884518623352, + 0.7956295609474182, + -0.5174724459648132, + -0.044313959777355194, + 0.03325089067220688, + 0.2770621180534363, + 0.7433539032936096, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.5955711007118225, + 0.513340413570404, + 0.5859458446502686, + 0.39932093024253845, + 0.975201427936554, + 0.34583690762519836, + 1.3256866931915283, + 0.4606855511665344, + 0.2518983781337738, + 0.9790890216827393, + 0.6602458953857422, + 0.5492531657218933, + 0.5462319254875183, + 0.7411312460899353, + 0.4056119918823242, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -1.9479420975923538, + -0.647631442785263, + -1.6264015007019044, + -2.6193474417328835, + -2.753018844604492, + 1.7809076669692994, + -2.598298644447327, + 0.0, + -0.2184926820755005, + 0.0, + -2.1149484070305595, + -1.5437937243461608, + -1.1145920261383058, + -1.0058249235153198, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 1.3828132277250291, + 1.752304630994797, + 1.5344547523498537, + -0.9959782123684884, + 2.564083316755294, + 3.148528243303299, + 2.888028644943237, + 0.9998, + 0.8649237407982349, + 2.5491766746520996, + -0.00035864881415603733, + 1.5484029773712158, + 1.1843760277748108, + 2.6735229496955872, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_franka_ur5_50/norm_stats.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_franka_ur5_50/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..3c50ab6db715aabb17a9eb096f77914fb4832f0c --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_franka_ur5_50/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "state": { + "mean": [ + -0.0676075741648674, + 0.41375863552093506, + -0.13835088908672333, + -2.2751200199127197, + -0.019060257822275162, + 2.721179246902466, + 0.9099488854408264, + 0.6177718639373779, + -1.142984390258789, + -1.864798903465271, + -1.5552302598953247, + -0.7258821725845337, + 1.5617181062698364, + 0.09000375866889954, + 0.5700327157974243, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.2725523114204407, + 0.2565169632434845, + 0.2618555426597595, + 0.30973199009895325, + 0.3018014132976532, + 0.2513647973537445, + 0.4938974976539612, + 0.46393346786499023, + 0.5289621949195862, + 0.37501081824302673, + 0.5919821858406067, + 0.9582028388977051, + 0.6015870571136475, + 0.7574043869972229, + 0.4734974503517151, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -0.6315466806888581, + 0.17696047861129044, + -1.112503832423687, + -2.6176126039505005, + -1.3423222591519357, + 1.7928109588623047, + -0.2828499132335186, + 0.0, + -1.544700026512146, + -2.5607195342063904, + -2.0955701010227203, + -1.5807299125671386, + -1.4749214622497557, + -1.9892374198436737, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.8445854191780089, + 1.1974832966297864, + 0.22116527591943735, + -1.5299700214385987, + 0.38475867466330516, + 2.9424330917358397, + 2.268421669280529, + 0.9998, + 1.4625983250617978, + -0.9255437552452086, + 1.9206518707275384, + 1.181106815099716, + 2.935699617767334, + 3.0134564416408542, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "actions": { + "mean": [ + -0.0676075741648674, + 0.41375863552093506, + -0.13835088908672333, + -2.2751200199127197, + -0.019060257822275162, + 2.721179246902466, + 0.9099488854408264, + 0.6177718639373779, + -1.142984390258789, + -1.864798903465271, + -1.5552302598953247, + -0.7258821725845337, + 1.5617181062698364, + 0.09000375866889954, + 0.5700327157974243, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.2725523114204407, + 0.2565169632434845, + 0.2618555426597595, + 0.30973199009895325, + 0.3018014132976532, + 0.2513647973537445, + 0.4938974976539612, + 0.46393346786499023, + 0.5289621949195862, + 0.37501081824302673, + 0.5919821858406067, + 0.9582028388977051, + 0.6015870571136475, + 0.7574043869972229, + 0.4734974503517151, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -0.6315466806888581, + 0.17696047861129044, + -1.112503832423687, + -2.6176126039505005, + -1.3423222591519357, + 1.7928109588623047, + -0.2828499132335186, + 0.0, + -1.544700026512146, + -2.5607195342063904, + -2.0955701010227203, + -1.5807299125671386, + -1.4749214622497557, + -1.9892374198436737, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.8445854191780089, + 1.1974832966297864, + 0.22116527591943735, + -1.5299700214385987, + 0.38475867466330516, + 2.9424330917358397, + 2.268421669280529, + 0.9998, + 1.4625983250617978, + -0.9255437552452086, + 1.9206518707275384, + 1.181106815099716, + 2.935699617767334, + 3.0134564416408542, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_piper_arx_50/norm_stats.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_piper_arx_50/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..df3f38a6f7b0e37a43a72e9858e775e67f111fd6 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_piper_arx_50/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "state": { + "mean": [ + -0.03917240351438522, + 1.0936279296875, + -0.7319141626358032, + 0.028900370001792908, + 0.005305629689246416, + -0.09331724047660828, + 0.6213465929031372, + 0.3411060571670532, + 1.6003094911575317, + 1.040788173675537, + -0.07961665093898773, + -0.42622578144073486, + -0.09804826229810715, + 0.430448979139328, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.12915325164794922, + 1.0752147436141968, + 0.7537588477134705, + 0.8170378804206848, + 0.6258156895637512, + 0.5312312245368958, + 0.41259363293647766, + 0.3907712996006012, + 0.894622802734375, + 0.6607732772827148, + 0.7539603114128113, + 0.6306618452072144, + 0.34999701380729675, + 0.4139418303966522, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -0.4541242470145226, + 0.0, + -2.276807422542572, + -1.5074146410226823, + -1.1511920269966125, + -1.4444316725492479, + 0.0, + -0.22103219561576845, + 0.0, + 0.0, + -1.436890813398361, + -1.5044547843456268, + -0.8959022833108902, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.22832690924406052, + 2.6796304332733154, + -0.0005394000053406955, + 1.6408722997188572, + 1.2038960282325744, + 0.8745575245141981, + 0.9998, + 1.0756767362594604, + 2.672440679168701, + 2.0883947610855103, + 1.142211310124397, + 0.907261954522133, + 0.8987627122402191, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "actions": { + "mean": [ + -0.03917240351438522, + 1.0936279296875, + -0.7319141626358032, + 0.028900370001792908, + 0.005305629689246416, + -0.09331724047660828, + 0.6213465929031372, + 0.3411060571670532, + 1.6003094911575317, + 1.040788173675537, + -0.07961665093898773, + -0.42622578144073486, + -0.09804826229810715, + 0.430448979139328, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.12915325164794922, + 1.0752147436141968, + 0.7537588477134705, + 0.8170378804206848, + 0.6258156895637512, + 0.5312312245368958, + 0.41259363293647766, + 0.3907712996006012, + 0.894622802734375, + 0.6607732772827148, + 0.7539603114128113, + 0.6306618452072144, + 0.34999701380729675, + 0.4139418303966522, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -0.4541242470145226, + 0.0, + -2.276807422542572, + -1.5074146410226823, + -1.1511920269966125, + -1.4444316725492479, + 0.0, + -0.22103219561576845, + 0.0, + 0.0, + -1.436890813398361, + -1.5044547843456268, + -0.8959022833108902, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.22832690924406052, + 2.6796304332733154, + -0.0005394000053406955, + 1.6408722997188572, + 1.2038960282325744, + 0.8745575245141981, + 0.9998, + 1.0756767362594604, + 2.672440679168701, + 2.0883947610855103, + 1.142211310124397, + 0.907261954522133, + 0.8987627122402191, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_piper_franka_50/norm_stats.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_piper_franka_50/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..14b093df4829ba5292b03d5a45fd833ecd41a8aa --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_piper_franka_50/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "state": { + "mean": [ + -0.17698657512664795, + 0.9100250601768494, + -0.6405221223831177, + 0.018061386421322823, + 0.1966497302055359, + -0.10384564846754074, + 0.702953040599823, + 0.09358883649110794, + 0.4833354949951172, + 0.08572295308113098, + -2.23785400390625, + 0.02210588939487934, + 2.7794909477233887, + 0.6646721363067627, + 0.6404922008514404, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.3073709011077881, + 1.0089714527130127, + 0.7349494695663452, + 0.4005393087863922, + 0.5790843963623047, + 0.6715438961982727, + 0.4341870844364166, + 0.35192346572875977, + 0.36160707473754883, + 0.3625640273094177, + 0.39816156029701233, + 0.6770605444908142, + 0.26784709095954895, + 0.8901792168617249, + 0.45077818632125854, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -0.9697445352196693, + 0.0, + -2.07020648216386, + -1.3964928672790529, + -1.1624160272598267, + -2.492064240884781, + 0.0, + -0.9913147554397581, + 0.14348186159133913, + -0.9943587719917297, + -2.618750051689148, + -2.6911699545860293, + 2.00001140832901, + -2.2690766800880433, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.44672230542898195, + 2.4753406817913053, + -0.0003259030429152432, + 1.3679770100831985, + 1.2195120285987855, + 1.8965556783199302, + 0.9998, + 1.0358478815555574, + 1.756362986946106, + 1.3991755038976668, + -1.1564181762814523, + 2.6496828112602238, + 3.5966136883735658, + 2.674085522127152, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "actions": { + "mean": [ + -0.17698657512664795, + 0.9100250601768494, + -0.6405221223831177, + 0.018061386421322823, + 0.1966497302055359, + -0.10384564846754074, + 0.702953040599823, + 0.09358883649110794, + 0.4833354949951172, + 0.08572295308113098, + -2.23785400390625, + 0.02210588939487934, + 2.7794909477233887, + 0.6646721363067627, + 0.6404922008514404, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.3073709011077881, + 1.0089714527130127, + 0.7349494695663452, + 0.4005393087863922, + 0.5790843963623047, + 0.6715438961982727, + 0.4341870844364166, + 0.35192346572875977, + 0.36160707473754883, + 0.3625640273094177, + 0.39816156029701233, + 0.6770605444908142, + 0.26784709095954895, + 0.8901792168617249, + 0.45077818632125854, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -0.9697445352196693, + 0.0, + -2.07020648216386, + -1.3964928672790529, + -1.1624160272598267, + -2.492064240884781, + 0.0, + -0.9913147554397581, + 0.14348186159133913, + -0.9943587719917297, + -2.618750051689148, + -2.6911699545860293, + 2.00001140832901, + -2.2690766800880433, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.44672230542898195, + 2.4753406817913053, + -0.0003259030429152432, + 1.3679770100831985, + 1.2195120285987855, + 1.8965556783199302, + 0.9998, + 1.0358478815555574, + 1.756362986946106, + 1.3991755038976668, + -1.1564181762814523, + 2.6496828112602238, + 3.5966136883735658, + 2.674085522127152, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_piper_piper_50/norm_stats.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_piper_piper_50/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..756b072c30f57c82fe5a2e891c2862dc10ea0ca5 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_piper_piper_50/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "state": { + "mean": [ + -0.21417483687400818, + 1.022106409072876, + -0.730197548866272, + 0.06505220383405685, + 0.2480563223361969, + -0.13309234380722046, + 0.6839287877082825, + 0.22546857595443726, + 0.9846155047416687, + -0.7031933069229126, + -0.01462345477193594, + 0.2865242063999176, + 0.17072677612304688, + 0.7022251486778259, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.32911843061447144, + 1.0115433931350708, + 0.7498135566711426, + 0.35471150279045105, + 0.6064462661743164, + 0.7116876840591431, + 0.4466252326965332, + 0.30349481105804443, + 0.9977262616157532, + 0.7387651205062866, + 0.35594066977500916, + 0.5664840340614319, + 0.7495532035827637, + 0.43792399764060974, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -0.9810451387703419, + 0.0, + -2.083462879469013, + -1.0360911366939545, + -1.1648560273170472, + -2.27838673210144, + 0.0, + -0.08983202350139619, + 0.0, + -2.0432584203226725, + -1.365603629207611, + -1.0389520243644714, + -1.6934918296813966, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.44803647251725187, + 2.4852824123382566, + -0.00007848805342813847, + 1.4336764539480211, + 1.2195120285987855, + 1.9677693971633907, + 0.9998, + 1.000168150573969, + 2.4714617762565614, + -0.000037139705091338016, + 1.194976889157295, + 1.2195120285987855, + 2.479119082641602, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "actions": { + "mean": [ + -0.21417483687400818, + 1.022106409072876, + -0.730197548866272, + 0.06505220383405685, + 0.2480563223361969, + -0.13309234380722046, + 0.6839287877082825, + 0.22546857595443726, + 0.9846155047416687, + -0.7031933069229126, + -0.01462345477193594, + 0.2865242063999176, + 0.17072677612304688, + 0.7022251486778259, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.32911843061447144, + 1.0115433931350708, + 0.7498135566711426, + 0.35471150279045105, + 0.6064462661743164, + 0.7116876840591431, + 0.4466252326965332, + 0.30349481105804443, + 0.9977262616157532, + 0.7387651205062866, + 0.35594066977500916, + 0.5664840340614319, + 0.7495532035827637, + 0.43792399764060974, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -0.9810451387703419, + 0.0, + -2.083462879469013, + -1.0360911366939545, + -1.1648560273170472, + -2.27838673210144, + 0.0, + -0.08983202350139619, + 0.0, + -2.0432584203226725, + -1.365603629207611, + -1.0389520243644714, + -1.6934918296813966, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.44803647251725187, + 2.4852824123382566, + -0.00007848805342813847, + 1.4336764539480211, + 1.2195120285987855, + 1.9677693971633907, + 0.9998, + 1.000168150573969, + 2.4714617762565614, + -0.000037139705091338016, + 1.194976889157295, + 1.2195120285987855, + 2.479119082641602, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_piper_ur5_50/norm_stats.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_piper_ur5_50/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..2986ab2a01628ac2be2d634171d9481dcb6557e4 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_piper_ur5_50/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "state": { + "mean": [ + -0.03409726172685623, + 1.0176688432693481, + -0.6648463606834412, + -0.01481112465262413, + 0.028935439884662628, + -0.043567921966314316, + 0.6508430242538452, + -0.933654248714447, + -2.0726118087768555, + -1.0853310823440552, + -0.4688893258571625, + 1.9167150259017944, + -0.3440786600112915, + 0.3921932876110077, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.12654045224189758, + 1.0645793676376343, + 0.7266491055488586, + 0.7729813456535339, + 0.6162790060043335, + 0.5107516050338745, + 0.404918372631073, + 0.8958037495613098, + 0.3645254075527191, + 1.1724542379379272, + 0.8140432834625244, + 0.43605920672416687, + 1.0308642387390137, + 0.40868040919303894, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -0.4565925809264183, + 0.0, + -2.1757280413627624, + -1.5061881542682647, + -1.127280026435852, + -1.251375821685791, + 0.0, + -1.5754348094940185, + -2.7703541623115537, + -2.1226256838321684, + -1.580399990081787, + 1.2468992424488068, + -3.1415927410125732, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.2535171913266181, + 2.636162733459473, + -0.0005172914981841359, + 1.5424716013431552, + 1.2058480282783508, + 0.9550025676727292, + 0.9998, + 1.489273001050949, + -1.5024565002441406, + 2.243151575040817, + 0.941925599241257, + 2.6379784192562106, + 2.8629653323173523, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "actions": { + "mean": [ + -0.03409726172685623, + 1.0176688432693481, + -0.6648463606834412, + -0.01481112465262413, + 0.028935439884662628, + -0.043567921966314316, + 0.6508430242538452, + -0.933654248714447, + -2.0726118087768555, + -1.0853310823440552, + -0.4688893258571625, + 1.9167150259017944, + -0.3440786600112915, + 0.3921932876110077, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.12654045224189758, + 1.0645793676376343, + 0.7266491055488586, + 0.7729813456535339, + 0.6162790060043335, + 0.5107516050338745, + 0.404918372631073, + 0.8958037495613098, + 0.3645254075527191, + 1.1724542379379272, + 0.8140432834625244, + 0.43605920672416687, + 1.0308642387390137, + 0.40868040919303894, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -0.4565925809264183, + 0.0, + -2.1757280413627624, + -1.5061881542682647, + -1.127280026435852, + -1.251375821685791, + 0.0, + -1.5754348094940185, + -2.7703541623115537, + -2.1226256838321684, + -1.580399990081787, + 1.2468992424488068, + -3.1415927410125732, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.2535171913266181, + 2.636162733459473, + -0.0005172914981841359, + 1.5424716013431552, + 1.2058480282783508, + 0.9550025676727292, + 0.9998, + 1.489273001050949, + -1.5024565002441406, + 2.243151575040817, + 0.941925599241257, + 2.6379784192562106, + 2.8629653323173523, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_ur5_arx_50/norm_stats.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_ur5_arx_50/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a0746fcc08768deef3176f5352fa20a1546ddaa5 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_ur5_arx_50/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "state": { + "mean": [ + -1.340198040008545, + -1.839900255203247, + -1.2955845594406128, + -0.9437603950500488, + 1.1490209102630615, + -0.05568394064903259, + 0.3268221914768219, + 0.37362614274024963, + 1.6207044124603271, + 1.048730492591858, + -0.7894407510757446, + -0.36061689257621765, + -0.1356891393661499, + 0.3268221914768219, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.724427342414856, + 0.32625812292099, + 0.8910488486289978, + 0.7019136548042297, + 0.8262274265289307, + 1.0899136066436768, + 0.4466199278831482, + 0.2231559157371521, + 0.4877988398075104, + 0.36927300691604614, + 0.8214892148971558, + 0.6001455783843994, + 0.7696079015731812, + 0.4466199278831482, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -1.8031994324207306, + -2.5266280447036027, + -2.0289909894943237, + -1.589329307937622, + -1.5361342952489854, + -1.7378950905799866, + 0.0, + -0.009131429124623537, + 0.0, + -0.000019999999494757503, + -2.3641577609062194, + -1.7995398038238286, + -2.4258037662506102, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 1.3901325494289396, + -0.3987723113030195, + 2.237350074195862, + 0.8973825585365294, + 2.457777212572098, + 3.140528512477875, + 1.0, + 0.8684858930565418, + 2.305654226016998, + 1.753316393537099, + 1.1290714930534365, + 0.059382082691788574, + 1.5403326268196107, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "actions": { + "mean": [ + -1.340198040008545, + -1.839900255203247, + -1.2955845594406128, + -0.9437603950500488, + 1.1490209102630615, + -0.05568394064903259, + 0.3268221914768219, + 0.37362614274024963, + 1.6207044124603271, + 1.048730492591858, + -0.7894407510757446, + -0.36061689257621765, + -0.1356891393661499, + 0.3268221914768219, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.724427342414856, + 0.32625812292099, + 0.8910488486289978, + 0.7019136548042297, + 0.8262274265289307, + 1.0899136066436768, + 0.4466199278831482, + 0.2231559157371521, + 0.4877988398075104, + 0.36927300691604614, + 0.8214892148971558, + 0.6001455783843994, + 0.7696079015731812, + 0.4466199278831482, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -1.8031994324207306, + -2.5266280447036027, + -2.0289909894943237, + -1.589329307937622, + -1.5361342952489854, + -1.7378950905799866, + 0.0, + -0.009131429124623537, + 0.0, + -0.000019999999494757503, + -2.3641577609062194, + -1.7995398038238286, + -2.4258037662506102, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 1.3901325494289396, + -0.3987723113030195, + 2.237350074195862, + 0.8973825585365294, + 2.457777212572098, + 3.140528512477875, + 1.0, + 0.8684858930565418, + 2.305654226016998, + 1.753316393537099, + 1.1290714930534365, + 0.059382082691788574, + 1.5403326268196107, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_ur5_franka_50/norm_stats.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_ur5_franka_50/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..cf1a8745f5a225ec8de9de027702961ee0e6e532 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_ur5_franka_50/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "state": { + "mean": [ + -1.5447001457214355, + -1.5447001457214355, + -1.5447001457214355, + -1.5794020891189575, + 1.5794020891189575, + 0.0, + 1.0, + 0.26115158200263977, + 0.6743633151054382, + 0.019579166546463966, + -1.9552021026611328, + -0.07366558909416199, + 2.6947052478790283, + 0.6064419746398926, + 0.37801769375801086, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.0008457279182039201, + 0.0008457279182039201, + 0.0008457279182039201, + 0.0, + 0.0, + 0.0, + 0.0, + 0.38518694043159485, + 0.33350327610969543, + 0.42399513721466064, + 0.35430046916007996, + 0.959587037563324, + 0.3374486267566681, + 1.096501350402832, + 0.44853949546813965, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -1.544700026512146, + -1.544700026512146, + -1.544700026512146, + -1.5793999433517456, + 1.5793999433517456, + 0.0, + 1.0, + -0.8558061760663986, + 0.07333247909545904, + -1.2908253961563112, + -2.619015796610713, + -2.8115399248123167, + 1.7303658390998842, + -2.528763444328308, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + -1.544700026512146, + -1.544700026512146, + -1.544700026512146, + -1.5793999433517456, + 1.5793999433517456, + 0.0, + 1.0, + 1.178174218773842, + 1.6972238190650941, + 1.18083802113533, + -0.903192020571232, + 2.7918382847785947, + 3.7122719345569615, + 2.8694859249114986, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "actions": { + "mean": [ + -1.5447001457214355, + -1.5447001457214355, + -1.5447001457214355, + -1.5794020891189575, + 1.5794020891189575, + 0.0, + 1.0, + 0.26115158200263977, + 0.6743633151054382, + 0.019579166546463966, + -1.9552021026611328, + -0.07366558909416199, + 2.6947052478790283, + 0.6064419746398926, + 0.37801769375801086, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.0008457279182039201, + 0.0008457279182039201, + 0.0008457279182039201, + 0.0, + 0.0, + 0.0, + 0.0, + 0.38518694043159485, + 0.33350327610969543, + 0.42399513721466064, + 0.35430046916007996, + 0.959587037563324, + 0.3374486267566681, + 1.096501350402832, + 0.44853949546813965, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -1.544700026512146, + -1.544700026512146, + -1.544700026512146, + -1.5793999433517456, + 1.5793999433517456, + 0.0, + 1.0, + -0.8558061760663986, + 0.07333247909545904, + -1.2908253961563112, + -2.619015796610713, + -2.8115399248123167, + 1.7303658390998842, + -2.528763444328308, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + -1.544700026512146, + -1.544700026512146, + -1.544700026512146, + -1.5793999433517456, + 1.5793999433517456, + 0.0, + 1.0, + 1.178174218773842, + 1.6972238190650941, + 1.18083802113533, + -0.903192020571232, + 2.7918382847785947, + 3.7122719345569615, + 2.8694859249114986, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_ur5_piper_50/norm_stats.json b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_ur5_piper_50/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..91ae7ab9bffd653d7860be9f36514181e7169618 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/assets/pool_ur5_piper_50/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "state": { + "mean": [ + -1.5994724035263062, + -1.769301414489746, + -1.479853630065918, + -1.1292997598648071, + 1.462237000465393, + 0.07341569662094116, + 0.5922546982765198, + 0.1586592197418213, + 0.7221250534057617, + -0.5016219019889832, + 0.06415067613124847, + 0.21370737254619598, + 0.09984873980283737, + 0.7591757774353027, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.39190220832824707, + 0.3715592622756958, + 0.39303940534591675, + 0.6461994051933289, + 0.5645975470542908, + 0.7950201034545898, + 0.4597833454608917, + 0.2770459055900574, + 0.9722921252250671, + 0.7022799849510193, + 0.3306977450847626, + 0.5019932985305786, + 0.6709781885147095, + 0.4042923152446747, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -2.8967549800872803, + -2.871887683868408, + -2.089891417598724, + -1.6570578266382217, + -1.5700215925216674, + -2.4868850870609283, + 0.0, + -0.0738691679954529, + 0.0, + -1.986208329619115, + -0.6899159243106842, + -1.0179680238723754, + -1.4548021627426149, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + -0.008687329530716159, + -0.09799196004867561, + 0.09902245969772361, + 1.1696662045717239, + 3.0051866892337795, + 1.9276791899681092, + 0.9998, + 0.9340728148460387, + 2.4522196619033814, + -0.00030703181989633066, + 1.2815908694267275, + 1.2156080285072326, + 2.5312277869701383, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "actions": { + "mean": [ + -1.5994724035263062, + -1.769301414489746, + -1.479853630065918, + -1.1292997598648071, + 1.462237000465393, + 0.07341569662094116, + 0.5922546982765198, + 0.1586592197418213, + 0.7221250534057617, + -0.5016219019889832, + 0.06415067613124847, + 0.21370737254619598, + 0.09984873980283737, + 0.7591757774353027, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.39190220832824707, + 0.3715592622756958, + 0.39303940534591675, + 0.6461994051933289, + 0.5645975470542908, + 0.7950201034545898, + 0.4597833454608917, + 0.2770459055900574, + 0.9722921252250671, + 0.7022799849510193, + 0.3306977450847626, + 0.5019932985305786, + 0.6709781885147095, + 0.4042923152446747, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -2.8967549800872803, + -2.871887683868408, + -2.089891417598724, + -1.6570578266382217, + -1.5700215925216674, + -2.4868850870609283, + 0.0, + -0.0738691679954529, + 0.0, + -1.986208329619115, + -0.6899159243106842, + -1.0179680238723754, + -1.4548021627426149, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + -0.008687329530716159, + -0.09799196004867561, + 0.09902245969772361, + 1.1696662045717239, + 3.0051866892337795, + 1.9276791899681092, + 0.9998, + 0.9340728148460387, + 2.4522196619033814, + -0.00030703181989633066, + 1.2815908694267275, + 1.2156080285072326, + 2.5312277869701383, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/_METADATA b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..8bb741035aacdd45c7ed30770e909a3432bbfb01 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/_METADATA @@ -0,0 +1 @@ +{"tree_metadata": {"('params', 'PaliGemma', 'img', 'Transformer', 'encoder_norm', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoder_norm", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [288]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoder_norm', 'scale', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoder_norm", "key_type": 2}, {"key": "scale", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [288]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'LayerNorm_0', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 288]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'LayerNorm_0', 'scale', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "scale", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 288]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'LayerNorm_1', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 288]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'LayerNorm_1', 'scale', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "scale", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 288]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MlpBlock_0', 'Dense_0', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MlpBlock_0", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 1076]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MlpBlock_0', 'Dense_0', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MlpBlock_0", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 288, 4304]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MlpBlock_0', 'Dense_1', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MlpBlock_0", "key_type": 2}, {"key": "Dense_1", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 288]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MlpBlock_0', 'Dense_1', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MlpBlock_0", "key_type": 2}, {"key": "Dense_1", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 1076, 1152]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'key', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "key", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 4, 72]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'key', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "key", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 288, 16, 72]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'out', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "out", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 288]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'out', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "out", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 4, 72, 1152]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'query', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "query", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 4, 72]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'query', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "query", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 288, 16, 72]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'value', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "value", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 4, 72]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'value', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "value", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 288, 16, 72]}}, "('params', 'PaliGemma', 'img', 'embedding', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "embedding", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [288]}}, "('params', 'PaliGemma', 'img', 'embedding', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "embedding", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [14, 14, 3, 288]}}, "('params', 'PaliGemma', 'img', 'head', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "head", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('params', 'PaliGemma', 'img', 'head', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "head", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [288, 2048]}}, "('params', 'PaliGemma', 'img', 'pos_embedding', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "pos_embedding", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1, 64, 1152]}}, "('params', 'PaliGemma', 'llm', 'embedder', 'input_embedding', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "embedder", "key_type": 2}, {"key": "input_embedding", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [64288, 2048]}}, "('params', 'PaliGemma', 'llm', 'final_norm', 'scale', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "final_norm", "key_type": 2}, {"key": "scale", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [512]}}, "('params', 'PaliGemma', 'llm', 'final_norm_1', 'Dense_0', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "final_norm_1", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [768]}}, "('params', 'PaliGemma', 'llm', 'final_norm_1', 'Dense_0', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "final_norm_1", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 3072]}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'attn_vec_einsum', 'w', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "attn_vec_einsum", "key_type": 2}, {"key": "w", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 2, 256, 2048]}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'attn_vec_einsum_1', 'w', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "attn_vec_einsum_1", "key_type": 2}, {"key": "w", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 2, 256, 1024]}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'kv_einsum', 'w', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "kv_einsum", "key_type": 2}, {"key": "w", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 2, 1, 512, 256]}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'kv_einsum_1', 'w', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "kv_einsum_1", "key_type": 2}, {"key": "w", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 2, 1, 256, 256]}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'q_einsum', 'w', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "q_einsum", "key_type": 2}, {"key": "w", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 2, 2048, 256]}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'q_einsum_1', 'w', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "q_einsum_1", "key_type": 2}, {"key": "w", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 2, 1024, 256]}}, "('params', 'PaliGemma', 'llm', 'layers', 'mlp', 'gating_einsum', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "mlp", "key_type": 2}, {"key": "gating_einsum", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 2, 512, 16384]}}, "('params', 'PaliGemma', 'llm', 'layers', 'mlp', 'linear', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "mlp", "key_type": 2}, {"key": "linear", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 4096, 2048]}}, "('params', 'PaliGemma', 'llm', 'layers', 'mlp_1', 'gating_einsum', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "mlp_1", "key_type": 2}, {"key": "gating_einsum", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 2, 256, 4096]}}, "('params', 'PaliGemma', 'llm', 'layers', 'mlp_1', 'linear', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "mlp_1", "key_type": 2}, {"key": "linear", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 1024, 1024]}}, "('params', 'PaliGemma', 'llm', 'layers', 'pre_attention_norm', 'scale', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "pre_attention_norm", "key_type": 2}, {"key": "scale", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 512]}}, "('params', 'PaliGemma', 'llm', 'layers', 'pre_attention_norm_1', 'Dense_0', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "pre_attention_norm_1", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 768]}}, "('params', 'PaliGemma', 'llm', 'layers', 'pre_attention_norm_1', 'Dense_0', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "pre_attention_norm_1", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 256, 3072]}}, "('params', 'PaliGemma', 'llm', 'layers', 'pre_ffw_norm', 'scale', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "pre_ffw_norm", "key_type": 2}, {"key": "scale", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 512]}}, "('params', 'PaliGemma', 'llm', 'layers', 'pre_ffw_norm_1', 'Dense_0', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "pre_ffw_norm_1", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 768]}}, "('params', 'PaliGemma', 'llm', 'layers', 'pre_ffw_norm_1', 'Dense_0', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "pre_ffw_norm_1", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 256, 3072]}}, "('params', 'action_in_proj', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "action_in_proj", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256]}}, "('params', 'action_in_proj', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "action_in_proj", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8, 1024]}}, "('params', 'action_out_proj', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "action_out_proj", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8]}}, "('params', 'action_out_proj', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "action_out_proj", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 32]}}, "('params', 'embodiment_action_out_proj_1', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_1", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8]}}, "('params', 'embodiment_action_out_proj_1', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_1", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 32]}}, "('params', 'embodiment_action_out_proj_10', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_10", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8]}}, "('params', 'embodiment_action_out_proj_10', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_10", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 32]}}, "('params', 'embodiment_action_out_proj_11', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_11", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8]}}, "('params', 'embodiment_action_out_proj_11', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_11", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 32]}}, "('params', 'embodiment_action_out_proj_12', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_12", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8]}}, "('params', 'embodiment_action_out_proj_12', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_12", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 32]}}, "('params', 'embodiment_action_out_proj_13', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_13", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8]}}, "('params', 'embodiment_action_out_proj_13', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_13", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 32]}}, "('params', 'embodiment_action_out_proj_14', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_14", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8]}}, "('params', 'embodiment_action_out_proj_14', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_14", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 32]}}, "('params', 'embodiment_action_out_proj_15', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_15", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8]}}, "('params', 'embodiment_action_out_proj_15', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_15", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 32]}}, "('params', 'embodiment_action_out_proj_2', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_2", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8]}}, "('params', 'embodiment_action_out_proj_2', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_2", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 32]}}, "('params', 'embodiment_action_out_proj_3', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_3", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8]}}, "('params', 'embodiment_action_out_proj_3', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_3", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 32]}}, "('params', 'embodiment_action_out_proj_4', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_4", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8]}}, "('params', 'embodiment_action_out_proj_4', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_4", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 32]}}, "('params', 'embodiment_action_out_proj_5', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_5", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8]}}, "('params', 'embodiment_action_out_proj_5', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_5", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 32]}}, "('params', 'embodiment_action_out_proj_6', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_6", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8]}}, "('params', 'embodiment_action_out_proj_6', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_6", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 32]}}, "('params', 'embodiment_action_out_proj_7', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_7", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8]}}, "('params', 'embodiment_action_out_proj_7', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_7", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 32]}}, "('params', 'embodiment_action_out_proj_8', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_8", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8]}}, "('params', 'embodiment_action_out_proj_8', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_8", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 32]}}, "('params', 'embodiment_action_out_proj_9', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_9", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [8]}}, "('params', 'embodiment_action_out_proj_9', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "embodiment_action_out_proj_9", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 32]}}, "('params', 'time_mlp_in', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "time_mlp_in", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256]}}, "('params', 'time_mlp_in', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "time_mlp_in", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 1024]}}, "('params', 'time_mlp_out', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "time_mlp_out", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256]}}, "('params', 'time_mlp_out', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "time_mlp_out", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [256, 1024]}}}, "use_zarr3": false, "store_array_data_equal_to_fill_value": true, "custom_metadata": null} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/_sharding b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/_sharding new file mode 100644 index 0000000000000000000000000000000000000000..7a3d3d2f44bf83909e519dd750f8ce921020be19 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/_sharding @@ -0,0 +1 @@ +{"cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2Rlcl9ub3JtLmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2Rlcl9ub3JtLnNjYWxlLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk11bHRpSGVhZERvdFByb2R1Y3RBdHRlbnRpb25fMC52YWx1ZS5iaWFzLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk11bHRpSGVhZERvdFByb2R1Y3RBdHRlbnRpb25fMC52YWx1ZS5rZXJuZWwudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk11bHRpSGVhZERvdFByb2R1Y3RBdHRlbnRpb25fMC5rZXkuYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk11bHRpSGVhZERvdFByb2R1Y3RBdHRlbnRpb25fMC5rZXkua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk11bHRpSGVhZERvdFByb2R1Y3RBdHRlbnRpb25fMC5vdXQuYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk11bHRpSGVhZERvdFByb2R1Y3RBdHRlbnRpb25fMC5vdXQua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk11bHRpSGVhZERvdFByb2R1Y3RBdHRlbnRpb25fMC5xdWVyeS5iaWFzLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk11bHRpSGVhZERvdFByb2R1Y3RBdHRlbnRpb25fMC5xdWVyeS5rZXJuZWwudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk1scEJsb2NrXzAuRGVuc2VfMC5iaWFzLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk1scEJsb2NrXzAuRGVuc2VfMC5rZXJuZWwudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk1scEJsb2NrXzAuRGVuc2VfMS5iaWFzLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk1scEJsb2NrXzAuRGVuc2VfMS5rZXJuZWwudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLkxheWVyTm9ybV8wLmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLkxheWVyTm9ybV8wLnNjYWxlLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLkxheWVyTm9ybV8xLmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLkxheWVyTm9ybV8xLnNjYWxlLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuZW1iZWRkaW5nLmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuZW1iZWRkaW5nLmtlcm5lbC52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuaGVhZC5iaWFzLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuaGVhZC5rZXJuZWwudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcucG9zX2VtYmVkZGluZy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0uZW1iZWRkZXIuaW5wdXRfZW1iZWRkaW5nLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0uZmluYWxfbm9ybS5zY2FsZS52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0uZmluYWxfbm9ybV8xLkRlbnNlXzAuYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0uZmluYWxfbm9ybV8xLkRlbnNlXzAua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLm1scC5nYXRpbmdfZWluc3VtLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLm1scC5saW5lYXIudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLm1scF8xLmdhdGluZ19laW5zdW0udmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLm1scF8xLmxpbmVhci52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLmF0dG4uYXR0bl92ZWNfZWluc3VtLncudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLmF0dG4uYXR0bl92ZWNfZWluc3VtXzEudy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLmF0dG4ua3ZfZWluc3VtLncudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLmF0dG4ua3ZfZWluc3VtXzEudy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLmF0dG4ucV9laW5zdW0udy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLmF0dG4ucV9laW5zdW1fMS53LnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLnByZV9hdHRlbnRpb25fbm9ybS5zY2FsZS52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLnByZV9hdHRlbnRpb25fbm9ybV8xLkRlbnNlXzAuYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLnByZV9hdHRlbnRpb25fbm9ybV8xLkRlbnNlXzAua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLnByZV9mZndfbm9ybS5zY2FsZS52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLnByZV9mZndfbm9ybV8xLkRlbnNlXzAuYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLnByZV9mZndfbm9ybV8xLkRlbnNlXzAua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmFjdGlvbl9pbl9wcm9qLmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmFjdGlvbl9pbl9wcm9qLmtlcm5lbC52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmFjdGlvbl9vdXRfcHJvai5iaWFzLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmFjdGlvbl9vdXRfcHJvai5rZXJuZWwudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzE0LmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzE0Lmtlcm5lbC52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzE1LmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzE1Lmtlcm5lbC52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzEuYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzEua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzEwLmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzEwLmtlcm5lbC52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzExLmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzExLmtlcm5lbC52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzEyLmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzEyLmtlcm5lbC52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzEzLmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzEzLmtlcm5lbC52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzIuYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzIua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzMuYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzMua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzQuYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzQua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzUuYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzUua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzYuYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzYua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzcuYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzcua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzguYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzgua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzkuYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLmVtYm9kaW1lbnRfYWN0aW9uX291dF9wcm9qXzkua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLnRpbWVfbWxwX291dC5iaWFzLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLnRpbWVfbWxwX291dC5rZXJuZWwudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLnRpbWVfbWxwX2luLmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}","cGFyYW1zLnRpbWVfbWxwX2luLmtlcm5lbC52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [4, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}], [{\"id\": 1}], [{\"id\": 2}], [{\"id\": 3}]]}}"} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/array_metadatas/process_0 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/array_metadatas/process_0 new file mode 100644 index 0000000000000000000000000000000000000000..de6f316988687407ae10075a9c27c933ead2b16d --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/array_metadatas/process_0 @@ -0,0 +1 @@ +{"array_metadatas": [{"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoder_norm.bias.value", "write_shape": [288], "chunk_shape": [288], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoder_norm.scale.value", "write_shape": [288], "chunk_shape": [288], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.LayerNorm_0.bias.value", "write_shape": [27, 288], "chunk_shape": [27, 288], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.LayerNorm_0.scale.value", "write_shape": [27, 288], "chunk_shape": [27, 288], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.LayerNorm_1.bias.value", "write_shape": [27, 288], "chunk_shape": [27, 288], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.LayerNorm_1.scale.value", "write_shape": [27, 288], "chunk_shape": [27, 288], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MlpBlock_0.Dense_0.bias.value", "write_shape": [27, 1076], "chunk_shape": [27, 1076], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MlpBlock_0.Dense_0.kernel.value", "write_shape": [27, 288, 4304], "chunk_shape": [27, 288, 4304], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MlpBlock_0.Dense_1.bias.value", "write_shape": [27, 288], "chunk_shape": [27, 288], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MlpBlock_0.Dense_1.kernel.value", "write_shape": [27, 1076, 1152], "chunk_shape": [27, 1076, 1152], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MultiHeadDotProductAttention_0.key.bias.value", "write_shape": [27, 4, 72], "chunk_shape": [27, 4, 72], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MultiHeadDotProductAttention_0.key.kernel.value", "write_shape": [27, 288, 16, 72], "chunk_shape": [27, 288, 16, 72], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MultiHeadDotProductAttention_0.out.bias.value", "write_shape": [27, 288], "chunk_shape": [27, 288], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MultiHeadDotProductAttention_0.out.kernel.value", "write_shape": [27, 4, 72, 1152], "chunk_shape": [27, 4, 72, 1152], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MultiHeadDotProductAttention_0.query.bias.value", "write_shape": [27, 4, 72], "chunk_shape": [27, 4, 72], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MultiHeadDotProductAttention_0.query.kernel.value", "write_shape": [27, 288, 16, 72], "chunk_shape": [27, 288, 16, 72], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MultiHeadDotProductAttention_0.value.bias.value", "write_shape": [27, 4, 72], "chunk_shape": [27, 4, 72], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MultiHeadDotProductAttention_0.value.kernel.value", "write_shape": [27, 288, 16, 72], "chunk_shape": [27, 288, 16, 72], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.embedding.bias.value", "write_shape": [288], "chunk_shape": [288], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.embedding.kernel.value", "write_shape": [14, 14, 3, 288], "chunk_shape": [14, 14, 3, 288], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.head.bias.value", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.head.kernel.value", "write_shape": [288, 2048], "chunk_shape": [288, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.pos_embedding.value", "write_shape": [1, 64, 1152], "chunk_shape": [1, 64, 1152], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.embedder.input_embedding.value", "write_shape": [64288, 2048], "chunk_shape": [64288, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.final_norm.scale.value", "write_shape": [512], "chunk_shape": [512], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.final_norm_1.Dense_0.bias.value", "write_shape": [768], "chunk_shape": [768], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.final_norm_1.Dense_0.kernel.value", "write_shape": [256, 3072], "chunk_shape": [256, 3072], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.attn.attn_vec_einsum.w.value", "write_shape": [18, 2, 256, 2048], "chunk_shape": [18, 2, 256, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.attn.attn_vec_einsum_1.w.value", "write_shape": [18, 2, 256, 1024], "chunk_shape": [18, 2, 256, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.attn.kv_einsum.w.value", "write_shape": [18, 2, 1, 512, 256], "chunk_shape": [18, 2, 1, 512, 256], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.attn.kv_einsum_1.w.value", "write_shape": [18, 2, 1, 256, 256], "chunk_shape": [18, 2, 1, 256, 256], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.attn.q_einsum.w.value", "write_shape": [18, 2, 2048, 256], "chunk_shape": [18, 2, 2048, 256], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.attn.q_einsum_1.w.value", "write_shape": [18, 2, 1024, 256], "chunk_shape": [18, 2, 1024, 256], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.mlp.gating_einsum.value", "write_shape": [18, 2, 512, 16384], "chunk_shape": [18, 2, 512, 16384], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.mlp.linear.value", "write_shape": [18, 4096, 2048], "chunk_shape": [18, 4096, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.mlp_1.gating_einsum.value", "write_shape": [18, 2, 256, 4096], "chunk_shape": [18, 2, 256, 4096], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.mlp_1.linear.value", "write_shape": [18, 1024, 1024], "chunk_shape": [18, 1024, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.pre_attention_norm.scale.value", "write_shape": [18, 512], "chunk_shape": [18, 512], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.pre_attention_norm_1.Dense_0.bias.value", "write_shape": [18, 768], "chunk_shape": [18, 768], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.pre_attention_norm_1.Dense_0.kernel.value", "write_shape": [18, 256, 3072], "chunk_shape": [18, 256, 3072], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.pre_ffw_norm.scale.value", "write_shape": [18, 512], "chunk_shape": [18, 512], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.pre_ffw_norm_1.Dense_0.bias.value", "write_shape": [18, 768], "chunk_shape": [18, 768], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.pre_ffw_norm_1.Dense_0.kernel.value", "write_shape": [18, 256, 3072], "chunk_shape": [18, 256, 3072], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.action_in_proj.bias.value", "write_shape": [256], "chunk_shape": [256], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.action_in_proj.kernel.value", "write_shape": [8, 1024], "chunk_shape": [8, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.action_out_proj.bias.value", "write_shape": [8], "chunk_shape": [8], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.action_out_proj.kernel.value", "write_shape": [256, 32], "chunk_shape": [256, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_1.bias.value", "write_shape": [8], "chunk_shape": [8], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_1.kernel.value", "write_shape": [256, 32], "chunk_shape": [256, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_10.bias.value", "write_shape": [8], "chunk_shape": [8], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_10.kernel.value", "write_shape": [256, 32], "chunk_shape": [256, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_11.bias.value", "write_shape": [8], "chunk_shape": [8], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_11.kernel.value", "write_shape": [256, 32], "chunk_shape": [256, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_12.bias.value", "write_shape": [8], "chunk_shape": [8], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_12.kernel.value", "write_shape": [256, 32], "chunk_shape": [256, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_13.bias.value", "write_shape": [8], "chunk_shape": [8], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_13.kernel.value", "write_shape": [256, 32], "chunk_shape": [256, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_14.bias.value", "write_shape": [8], "chunk_shape": [8], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_14.kernel.value", "write_shape": [256, 32], "chunk_shape": [256, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_15.bias.value", "write_shape": [8], "chunk_shape": [8], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_15.kernel.value", "write_shape": [256, 32], "chunk_shape": [256, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_2.bias.value", "write_shape": [8], "chunk_shape": [8], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_2.kernel.value", "write_shape": [256, 32], "chunk_shape": [256, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_3.bias.value", "write_shape": [8], "chunk_shape": [8], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_3.kernel.value", "write_shape": [256, 32], "chunk_shape": [256, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_4.bias.value", "write_shape": [8], "chunk_shape": [8], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_4.kernel.value", "write_shape": [256, 32], "chunk_shape": [256, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_5.bias.value", "write_shape": [8], "chunk_shape": [8], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_5.kernel.value", "write_shape": [256, 32], "chunk_shape": [256, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_6.bias.value", "write_shape": [8], "chunk_shape": [8], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_6.kernel.value", "write_shape": [256, 32], "chunk_shape": [256, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_7.bias.value", "write_shape": [8], "chunk_shape": [8], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_7.kernel.value", "write_shape": [256, 32], "chunk_shape": [256, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_8.bias.value", "write_shape": [8], "chunk_shape": [8], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_8.kernel.value", "write_shape": [256, 32], "chunk_shape": [256, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_9.bias.value", "write_shape": [8], "chunk_shape": [8], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.embodiment_action_out_proj_9.kernel.value", "write_shape": [256, 32], "chunk_shape": [256, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.time_mlp_in.bias.value", "write_shape": [256], "chunk_shape": [256], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.time_mlp_in.kernel.value", "write_shape": [256, 1024], "chunk_shape": [256, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.time_mlp_out.bias.value", "write_shape": [256], "chunk_shape": [256], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.time_mlp_out.kernel.value", "write_shape": [256, 1024], "chunk_shape": [256, 1024], "ext_metadata": null}}]} \ No newline at end of file diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/d/5a13bd20c9071a204fd81735ebfe9212 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/d/5a13bd20c9071a204fd81735ebfe9212 new file mode 100644 index 0000000000000000000000000000000000000000..b224a6c546e6085fd9687bc93ef73f165f208cd4 Binary files /dev/null and b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/d/5a13bd20c9071a204fd81735ebfe9212 differ diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/manifest.ocdbt b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..dbbc96beae924a612f13ea4203c2888ed1f9ba7a Binary files /dev/null and b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/manifest.ocdbt differ diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/05e846437a4c2f2b41278b91683ce0ca b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/05e846437a4c2f2b41278b91683ce0ca new file mode 100644 index 0000000000000000000000000000000000000000..1a001b83f4a65818a2164c7f98d4a01c8f9367f8 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/05e846437a4c2f2b41278b91683ce0ca @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55f083c3a2795cc1787a8964ae432c90ca10da42bcbad07917ddc2f2a9b6c452 +size 1119927424 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/19c633d6161a987e4b1263ceb783cb88 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/19c633d6161a987e4b1263ceb783cb88 new file mode 100644 index 0000000000000000000000000000000000000000..595145f0f5866b21d2b9dfa9742b6d2937f65a0c --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/19c633d6161a987e4b1263ceb783cb88 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:928e346592ab6343b039ea500c01c7817e927c3eeff4b420e8ff3ed7f7972da9 +size 489339052 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/1f7d59a1ef805bb7fd9121f8c2271248 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/1f7d59a1ef805bb7fd9121f8c2271248 new file mode 100644 index 0000000000000000000000000000000000000000..2385ef76455a3c8ed2e2b0076d31e583010a34fc --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/1f7d59a1ef805bb7fd9121f8c2271248 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c378d1154d92e08e95524d7fab363a4025b647f5345d283b8732b4812df6b3b +size 174723205 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/2f9df94a3a7b9b0c259251b180756a2d b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/2f9df94a3a7b9b0c259251b180756a2d new file mode 100644 index 0000000000000000000000000000000000000000..15aaae2455bbb76aad4af551b7ecedd4c25aaf6b Binary files /dev/null and b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/2f9df94a3a7b9b0c259251b180756a2d differ diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/350851163e9afeb820892a0b74911762 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/350851163e9afeb820892a0b74911762 new file mode 100644 index 0000000000000000000000000000000000000000..2f671ece3ae11e06ecdf1bbdb1adc4e692653fd0 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/350851163e9afeb820892a0b74911762 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4ea1299b9ca819097f48f89768f91487d24f7832fd32678f3554d4015b01271 +size 489209369 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/3e881eec8d1aaf87c29d137eff1fb908 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/3e881eec8d1aaf87c29d137eff1fb908 new file mode 100644 index 0000000000000000000000000000000000000000..7cafa5af864d7a15d5be90f7077d5d1fea373efc --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/3e881eec8d1aaf87c29d137eff1fb908 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58b6a666107850d6afe40e49e66aa8cf9ed0da9aa7a365a50c9c3a1a01a6db10 +size 1119642379 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/52412676e0895ac53201892dce56d11a b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/52412676e0895ac53201892dce56d11a new file mode 100644 index 0000000000000000000000000000000000000000..4582b2154ad7ddc383876d529272f5f25afd185f --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/52412676e0895ac53201892dce56d11a @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3592d4b92590c6247483f3f83e8972e379a1d049bfe4a94ab0e09c775290fac5 +size 978513502 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/5f34c398439d67a772cbab786e38692f b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/5f34c398439d67a772cbab786e38692f new file mode 100644 index 0000000000000000000000000000000000000000..c9859d19b0e22e38e40a08fc23df14ef52abceaa Binary files /dev/null and b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/5f34c398439d67a772cbab786e38692f differ diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/656eb7a8ffa362793bab344e4a577f2e b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/656eb7a8ffa362793bab344e4a577f2e new file mode 100644 index 0000000000000000000000000000000000000000..fceb87f9aeb10250a0fcfc488a7e89f02e1e12b9 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/656eb7a8ffa362793bab344e4a577f2e @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccd188e58ceab59843e41a94361acbe9ee6f0630960f316d36c3b628e29534e5 +size 403628113 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/7e6588ee50c86f09b2c3d6949e1c9690 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/7e6588ee50c86f09b2c3d6949e1c9690 new file mode 100644 index 0000000000000000000000000000000000000000..78de8aa7d61a2cad8ce1f3e55fae6361e6e3f05a --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/7e6588ee50c86f09b2c3d6949e1c9690 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6468a23173b8ce5d050fcc6f3d277e98178e3ca99c97caa939555964fef71e9 +size 8040317 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/80c3ab8bbb8eb1fdb2099311dc923825 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/80c3ab8bbb8eb1fdb2099311dc923825 new file mode 100644 index 0000000000000000000000000000000000000000..e5a4b9ceaa0edc122d764bd3f37086b3f49cc156 Binary files /dev/null and b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/80c3ab8bbb8eb1fdb2099311dc923825 differ diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/a10d490bd636dee5625dc9c0e2c965c5 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/a10d490bd636dee5625dc9c0e2c965c5 new file mode 100644 index 0000000000000000000000000000000000000000..0a668b8cfbb3bcc2a4f792213cf2a9b9067fc63e --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/a10d490bd636dee5625dc9c0e2c965c5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab223aea54f8d8e4451f1f42e8b5fe55e926b0910e5639022b087b44b10c0fd4 +size 1119639636 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/a41a218fbcc6abee2529523257209157 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/a41a218fbcc6abee2529523257209157 new file mode 100644 index 0000000000000000000000000000000000000000..5792ccc154962a95bcfc52a6732a217266b0bbf0 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/a41a218fbcc6abee2529523257209157 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b4b572a4e531802ff29fbf008f05222cf68fc1ef9ba9a4a17da466383598823 +size 275193075 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/a8fc9f147578055e153973dae3775467 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/a8fc9f147578055e153973dae3775467 new file mode 100644 index 0000000000000000000000000000000000000000..e580837c5ba70fc36d5ce04166fe9f3378bafa0f --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/a8fc9f147578055e153973dae3775467 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:937c0bc4aaae3a4c8f65fc064fc8ed8f5b10d5208c53fed7e929d06217058c19 +size 2239223894 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/b183315706388dc107976f0039a872d4 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/b183315706388dc107976f0039a872d4 new file mode 100644 index 0000000000000000000000000000000000000000..d2130b42f8a49144c5785dc495ae741e452f1966 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/b183315706388dc107976f0039a872d4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6825761bbd73b2b8d2c171b29153dd1c9ca0121284aaef7990cb368e79aa9c9c +size 1119927436 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/b92c3f557da2011d6f92464862d2c77a b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/b92c3f557da2011d6f92464862d2c77a new file mode 100644 index 0000000000000000000000000000000000000000..8c739379f46a0645366fc7c68cb5aa80d4b7f2eb --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/b92c3f557da2011d6f92464862d2c77a @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ae5d255a4fbc924388e247af311ccf9a506d611800425a9b12e14467183291b +size 70027242 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/c1fba6cc04e42db0c9546189e9eb3abb b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/c1fba6cc04e42db0c9546189e9eb3abb new file mode 100644 index 0000000000000000000000000000000000000000..5dfa57d1434f8cf7b410cdbf8f9892f1d1522237 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/c1fba6cc04e42db0c9546189e9eb3abb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:582d263e3f5c7fa68ff03a59fc2ec0f785820308caf77da80a304b6225d50a54 +size 279527642 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/c41c0e0324ebd6011c92cfa9c448acc5 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/c41c0e0324ebd6011c92cfa9c448acc5 new file mode 100644 index 0000000000000000000000000000000000000000..ba29a71a296c5d11fd5929dcf2480de664ae1f19 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/c41c0e0324ebd6011c92cfa9c448acc5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed9e20668337fe6f2a5526d9c60161990af32ba89a0e6ea43f489513d6d39811 +size 719347311 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/c72702d4298c6a5f4c87c0ba1ec088fa b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/c72702d4298c6a5f4c87c0ba1ec088fa new file mode 100644 index 0000000000000000000000000000000000000000..633e24506876f2663d81152f21da1ddd912e6621 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/c72702d4298c6a5f4c87c0ba1ec088fa @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a6e1d053ed3ec8a385abba57c02332954978fe394999102db462fffc8e7e519 +size 124280771 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/dfaf76c72efc3b98e0f2d0123b1a90f6 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/dfaf76c72efc3b98e0f2d0123b1a90f6 new file mode 100644 index 0000000000000000000000000000000000000000..e66dd119d5c0e4aec53902d78819639179f16ce1 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/dfaf76c72efc3b98e0f2d0123b1a90f6 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fffd1788411ae0ee63ac7b2198445d453411f6960ee620344ecd739521a1bfe4 +size 210061989 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/e3b826885cab2805f06a048b1c5c1e4c b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/e3b826885cab2805f06a048b1c5c1e4c new file mode 100644 index 0000000000000000000000000000000000000000..02cfcd1b6c64d172b9197837c806387fd0cee909 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/e3b826885cab2805f06a048b1c5c1e4c @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8084dc8992f9740d206fe2bfcd8c7d7d68b9cedf83819e212b92291cd655065 +size 124254404 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/e6b8649a44b89fe29cec3c0d57f63d99 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/e6b8649a44b89fe29cec3c0d57f63d99 new file mode 100644 index 0000000000000000000000000000000000000000..72d5ca118934a35bad2c37374f06ce4a6c2da6e8 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/e6b8649a44b89fe29cec3c0d57f63d99 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4557a1c218ceb58db4734d5f824cefdf7b532ed2891d23e59be7a01f0ecfae4 +size 140052789 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/ee02d421e6fb02af7ebb505915412e09 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/ee02d421e6fb02af7ebb505915412e09 new file mode 100644 index 0000000000000000000000000000000000000000..cfbb55f4606134aafdbdca31c58ceaae38a41757 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/ee02d421e6fb02af7ebb505915412e09 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:720168af048354a5ad1f7dda1f6e408aa995b9adbca687a6ce47157ae1b92c4d +size 248513522 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/f22dba572d133eefc93171306a8b2422 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/f22dba572d133eefc93171306a8b2422 new file mode 100644 index 0000000000000000000000000000000000000000..7319a405ec0f9ca1675ac8b631ea5ec9117d54e3 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/f22dba572d133eefc93171306a8b2422 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82466625af3a7d611af73eaab7d5feae7e5be9491af8cff09c20694157d07cad +size 210047514 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/fa8fc1adef4465f261746f1ff3af8958 b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/fa8fc1adef4465f261746f1ff3af8958 new file mode 100644 index 0000000000000000000000000000000000000000..8afdf9d84373bc829b431e6d40cbbd99c3e3eb50 --- /dev/null +++ b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/d/fa8fc1adef4465f261746f1ff3af8958 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01150eca7e2af9224cce72da506b653b830107d26a9a2b4562c5b18a14129bc0 +size 124248931 diff --git a/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/manifest.ocdbt b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..fbb7fe405820c8892dd9d95a890ea560b2adcb1c Binary files /dev/null and b/pi05_robotwin_multi_embodiment_head/robotwin_multi_embodiment_head_master0_0630_fsdp1_save5000/59999/params/ocdbt.process_0/manifest.ocdbt differ