kimtaey commited on
Commit
f48f04d
·
verified ·
1 Parent(s): ff8370b

Upload folder using huggingface_hub

Browse files
config.json ADDED
@@ -0,0 +1,65 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_dim": 32,
3
+ "action_head_cfg": {
4
+ "action_dim": 32,
5
+ "action_horizon": 16,
6
+ "add_pos_embed": true,
7
+ "backbone_embedding_dim": 2048,
8
+ "diffusion_model_cfg": {
9
+ "attention_head_dim": 48,
10
+ "cross_attention_dim": 2048,
11
+ "dropout": 0.2,
12
+ "final_dropout": true,
13
+ "interleave_self_attention": true,
14
+ "norm_type": "ada_norm",
15
+ "num_attention_heads": 32,
16
+ "num_layers": 16,
17
+ "output_dim": 1024,
18
+ "positional_embeddings": null
19
+ },
20
+ "hidden_size": 1024,
21
+ "input_embedding_dim": 1536,
22
+ "max_action_dim": 32,
23
+ "max_state_dim": 64,
24
+ "model_dtype": "float32",
25
+ "noise_beta_alpha": 1.5,
26
+ "noise_beta_beta": 1.0,
27
+ "noise_s": 0.999,
28
+ "num_inference_timesteps": 4,
29
+ "num_target_vision_tokens": 32,
30
+ "num_timestep_buckets": 1000,
31
+ "tune_diffusion_model": true,
32
+ "tune_projector": true,
33
+ "use_vlln": true,
34
+ "vl_self_attention_cfg": {
35
+ "attention_head_dim": 64,
36
+ "dropout": 0.2,
37
+ "final_dropout": true,
38
+ "num_attention_heads": 32,
39
+ "num_layers": 4,
40
+ "positional_embeddings": null
41
+ }
42
+ },
43
+ "action_horizon": 16,
44
+ "architectures": [
45
+ "GR00T_N1_5"
46
+ ],
47
+ "attn_implementation": null,
48
+ "backbone_cfg": {
49
+ "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
50
+ "load_bf16": false,
51
+ "project_to_dim": null,
52
+ "reproject_vision": false,
53
+ "select_layer": 12,
54
+ "tune_llm": false,
55
+ "tune_visual": true,
56
+ "use_flash_attention": true
57
+ },
58
+ "compute_dtype": "bfloat16",
59
+ "hidden_size": 2048,
60
+ "model_dtype": "float32",
61
+ "model_type": "gr00t_n1_5",
62
+ "temperature": 0.02,
63
+ "torch_dtype": "bfloat16",
64
+ "transformers_version": "4.51.3"
65
+ }
experiment_cfg/metadata.json ADDED
@@ -0,0 +1,807 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "new_embodiment": {
3
+ "statistics": {
4
+ "state": {
5
+ "base_position": {
6
+ "max": [
7
+ 5.600244045257568,
8
+ -0.4998365342617035,
9
+ 0.7402433753013611
10
+ ],
11
+ "min": [
12
+ 0.3735806941986084,
13
+ -4.303599834442139,
14
+ 0.6995181441307068
15
+ ],
16
+ "mean": [
17
+ 2.5897774696350098,
18
+ -1.4536144733428955,
19
+ 0.7017937302589417
20
+ ],
21
+ "std": [
22
+ 1.4627233743667603,
23
+ 0.8321003317832947,
24
+ 0.0022711746860295534
25
+ ],
26
+ "q01": [
27
+ 0.5201904535293579,
28
+ -4.100449085235596,
29
+ 0.6999391913414001
30
+ ],
31
+ "q99": [
32
+ 5.599984645843506,
33
+ -0.7779659926891327,
34
+ 0.7067059195041656
35
+ ]
36
+ },
37
+ "base_rotation": {
38
+ "max": [
39
+ 0.0,
40
+ 0.0,
41
+ 1.0,
42
+ 1.0
43
+ ],
44
+ "min": [
45
+ 0.0,
46
+ 0.0,
47
+ -1.0,
48
+ 0.0
49
+ ],
50
+ "mean": [
51
+ 0.0,
52
+ 0.0,
53
+ 0.28411704301834106,
54
+ 0.6596570611000061
55
+ ],
56
+ "std": [
57
+ 0.0,
58
+ 0.0,
59
+ 0.608854353427887,
60
+ 0.3371504545211792
61
+ ],
62
+ "q01": [
63
+ 0.0,
64
+ 0.0,
65
+ -1.0,
66
+ 6.0501792268041755e-06
67
+ ],
68
+ "q99": [
69
+ 0.0,
70
+ 0.0,
71
+ 1.0,
72
+ 1.0
73
+ ]
74
+ },
75
+ "end_effector_position_absolute": {
76
+ "max": [
77
+ 6.133894920349121,
78
+ -0.04782945662736893,
79
+ 1.8085776567459106
80
+ ],
81
+ "min": [
82
+ 0.04607010260224342,
83
+ -4.937679290771484,
84
+ 0.7265726923942566
85
+ ],
86
+ "mean": [
87
+ 2.6147520542144775,
88
+ -1.3599551916122437,
89
+ 1.2543766498565674
90
+ ],
91
+ "std": [
92
+ 1.6113340854644775,
93
+ 0.9575768113136292,
94
+ 0.24675776064395905
95
+ ],
96
+ "q01": [
97
+ 0.20344213128089905,
98
+ -4.1129065990448,
99
+ 0.7741085124015809
100
+ ],
101
+ "q99": [
102
+ 5.863920087814333,
103
+ -0.14631859153509097,
104
+ 1.6876109552383423
105
+ ]
106
+ },
107
+ "end_effector_position_relative": {
108
+ "max": [
109
+ 0.7946437001228333,
110
+ 0.8023916482925415,
111
+ 1.107443928718567
112
+ ],
113
+ "min": [
114
+ -0.4491760730743408,
115
+ -0.7699451446533203,
116
+ 0.025005392730236053
117
+ ],
118
+ "mean": [
119
+ 0.2661423981189728,
120
+ -0.049612462520599365,
121
+ 0.5538275837898254
122
+ ],
123
+ "std": [
124
+ 0.19171708822250366,
125
+ 0.25656411051750183,
126
+ 0.24705982208251953
127
+ ],
128
+ "q01": [
129
+ -0.24926845788955687,
130
+ -0.6278938555717468,
131
+ 0.07239981606602669
132
+ ],
133
+ "q99": [
134
+ 0.7344183444976807,
135
+ 0.5960123562812807,
136
+ 0.9873404657840731
137
+ ]
138
+ },
139
+ "end_effector_rotation_absolute": {
140
+ "max": [
141
+ 0.9998370409011841,
142
+ 0.996281087398529,
143
+ 0.9373617768287659,
144
+ 0.9058380126953125
145
+ ],
146
+ "min": [
147
+ -0.9361178278923035,
148
+ -0.9998485445976257,
149
+ -0.8000203967094421,
150
+ -0.9410373568534851
151
+ ],
152
+ "mean": [
153
+ 0.4957371652126312,
154
+ 0.05640978366136551,
155
+ 0.16956020891666412,
156
+ -0.07050260156393051
157
+ ],
158
+ "std": [
159
+ 0.4083639681339264,
160
+ 0.5907211303710938,
161
+ 0.3055726885795593,
162
+ 0.3289632499217987
163
+ ],
164
+ "q01": [
165
+ -0.7008288669586181,
166
+ -0.9909334874153137,
167
+ -0.6741142225265503,
168
+ -0.7576235675811768
169
+ ],
170
+ "q99": [
171
+ 0.9919409644603729,
172
+ 0.9219199538230898,
173
+ 0.7806965434551245,
174
+ 0.7412372529506691
175
+ ]
176
+ },
177
+ "end_effector_rotation_relative": {
178
+ "max": [
179
+ 0.9999920129776001,
180
+ 0.976334810256958,
181
+ 0.9598895311355591,
182
+ 0.8841238021850586
183
+ ],
184
+ "min": [
185
+ -0.9999996423721313,
186
+ -0.940577507019043,
187
+ -0.9456604719161987,
188
+ 1.7012781938774424e-07
189
+ ],
190
+ "mean": [
191
+ -0.12507325410842896,
192
+ 0.12539735436439514,
193
+ 0.012579292990267277,
194
+ 0.2037956863641739
195
+ ],
196
+ "std": [
197
+ 0.7753974199295044,
198
+ 0.36340439319610596,
199
+ 0.3751949667930603,
200
+ 0.22989633679389954
201
+ ],
202
+ "q01": [
203
+ -0.996828875541687,
204
+ -0.713239563703537,
205
+ -0.7744453060626983,
206
+ 0.001315216845832765
207
+ ],
208
+ "q99": [
209
+ 0.9966616463661194,
210
+ 0.843702874183655,
211
+ 0.7694008576869965,
212
+ 0.8033244729042059
213
+ ]
214
+ },
215
+ "gripper_qpos": {
216
+ "max": [
217
+ 0.04635483771562576,
218
+ 0.0027282838709652424
219
+ ],
220
+ "min": [
221
+ -0.004078286234289408,
222
+ -0.04439501091837883
223
+ ],
224
+ "mean": [
225
+ 0.03089093044400215,
226
+ -0.030836645513772964
227
+ ],
228
+ "std": [
229
+ 0.013444341719150543,
230
+ 0.013526818715035915
231
+ ],
232
+ "q01": [
233
+ -3.996735482360236e-05,
234
+ -0.04028850540518761
235
+ ],
236
+ "q99": [
237
+ 0.04064305931329727,
238
+ -0.0003752229083329437
239
+ ]
240
+ },
241
+ "gripper_qvel": {
242
+ "max": [
243
+ 0.22247284650802612,
244
+ 0.4759351313114166
245
+ ],
246
+ "min": [
247
+ -0.3669273853302002,
248
+ -0.36150607466697693
249
+ ],
250
+ "mean": [
251
+ 0.000703127239830792,
252
+ -0.0007103682146407664
253
+ ],
254
+ "std": [
255
+ 0.014825682155787945,
256
+ 0.014853210188448429
257
+ ],
258
+ "q01": [
259
+ -0.06068180464208126,
260
+ -0.06152946390211582
261
+ ],
262
+ "q99": [
263
+ 0.060245261490345106,
264
+ 0.06001089163124564
265
+ ]
266
+ },
267
+ "joint_position": {
268
+ "max": [
269
+ 2.7051279544830322,
270
+ 1.4924447536468506,
271
+ 2.4484479427337646,
272
+ -0.041607052087783813,
273
+ 2.9081852436065674,
274
+ 3.7754714488983154,
275
+ 2.9066874980926514
276
+ ],
277
+ "min": [
278
+ -2.9045588970184326,
279
+ -1.7736507654190063,
280
+ -2.5973806381225586,
281
+ -3.0815083980560303,
282
+ -2.737060308456421,
283
+ 0.06411540508270264,
284
+ -2.9009268283843994
285
+ ],
286
+ "mean": [
287
+ -0.016707828268408775,
288
+ -0.8169873952865601,
289
+ -0.16864080727100372,
290
+ -2.091508626937866,
291
+ 0.20235277712345123,
292
+ 1.9744174480438232,
293
+ 0.6646620035171509
294
+ ],
295
+ "std": [
296
+ 0.37753987312316895,
297
+ 0.6170080304145813,
298
+ 0.6852325797080994,
299
+ 0.6478614807128906,
300
+ 0.7054621577262878,
301
+ 0.5638076066970825,
302
+ 0.8752512335777283
303
+ ],
304
+ "q01": [
305
+ -1.120775351524353,
306
+ -1.762917582988739,
307
+ -1.9490767669677735,
308
+ -3.0719692707061768,
309
+ -1.2494990062713622,
310
+ 0.7738006913661957,
311
+ -1.49278076171875
312
+ ],
313
+ "q99": [
314
+ 1.275104243755341,
315
+ 0.7441651785373691,
316
+ 1.871231088638306,
317
+ -0.07056314423680286,
318
+ 2.8974015712738037,
319
+ 3.441933336257936,
320
+ 2.785749015808106
321
+ ]
322
+ },
323
+ "joint_position_cos": {
324
+ "max": [
325
+ 1.0,
326
+ 1.0,
327
+ 1.0,
328
+ 0.9991345405578613,
329
+ 1.0,
330
+ 0.9979453086853027,
331
+ 1.0
332
+ ],
333
+ "min": [
334
+ -0.9720388054847717,
335
+ -0.20146605372428894,
336
+ -0.8555355072021484,
337
+ -0.998195469379425,
338
+ -0.972883939743042,
339
+ -1.0,
340
+ -0.9725363850593567
341
+ ],
342
+ "mean": [
343
+ 0.937332034111023,
344
+ 0.544434130191803,
345
+ 0.7916384935379028,
346
+ -0.4420786499977112,
347
+ 0.8130518794059753,
348
+ -0.32554686069488525,
349
+ 0.526200532913208
350
+ ],
351
+ "std": [
352
+ 0.1726839542388916,
353
+ 0.3241359293460846,
354
+ 0.34464725852012634,
355
+ 0.5060480237007141,
356
+ 0.39935997128486633,
357
+ 0.43489915132522583,
358
+ 0.4589160680770874
359
+ ],
360
+ "q01": [
361
+ 0.09444083884358406,
362
+ -0.19094155967235565,
363
+ -0.411951510310173,
364
+ -0.9975772500038147,
365
+ -0.9703332185745239,
366
+ -0.9983614599704742,
367
+ -0.9379793632030488
368
+ ],
369
+ "q99": [
370
+ 0.9999991655349731,
371
+ 0.9995235002040863,
372
+ 0.9999950528144836,
373
+ 0.9975114536285401,
374
+ 0.9999950850009918,
375
+ 0.7152596914768246,
376
+ 0.999648962020874
377
+ ]
378
+ },
379
+ "joint_position_sin": {
380
+ "max": [
381
+ 1.0,
382
+ 0.9969320893287659,
383
+ 1.0,
384
+ -0.04159504920244217,
385
+ 1.0,
386
+ 1.0,
387
+ 1.0
388
+ ],
389
+ "min": [
390
+ -0.9999999403953552,
391
+ -1.0,
392
+ -1.0,
393
+ -1.0,
394
+ -0.9999997615814209,
395
+ -0.5922744274139404,
396
+ -1.0
397
+ ],
398
+ "mean": [
399
+ -0.019647283479571342,
400
+ -0.624114453792572,
401
+ -0.13741548359394073,
402
+ -0.6896383762359619,
403
+ 0.0990123599767685,
404
+ 0.7888032793998718,
405
+ 0.44728729128837585
406
+ ],
407
+ "std": [
408
+ 0.3029352128505707,
409
+ 0.45728087425231934,
410
+ 0.4856858253479004,
411
+ 0.26999545097351074,
412
+ 0.41228702664375305,
413
+ 0.287863552570343,
414
+ 0.5589814782142639
415
+ ],
416
+ "q01": [
417
+ -0.8859896612167358,
418
+ -0.9999045825004578,
419
+ -0.999434448480606,
420
+ -0.9998028004169464,
421
+ -0.9381179583072662,
422
+ -0.29584568083286283,
423
+ -0.9836170065402985
424
+ ],
425
+ "q99": [
426
+ 0.943021060228348,
427
+ 0.677357910871506,
428
+ 0.9940037667751314,
429
+ -0.0694508470594883,
430
+ 0.9973852646350863,
431
+ 0.9999758923053741,
432
+ 0.9997489774227142
433
+ ]
434
+ },
435
+ "joint_velocity": {
436
+ "max": [
437
+ 2.5510153770446777,
438
+ 3.899738073348999,
439
+ 3.1096808910369873,
440
+ 4.77147912979126,
441
+ 5.783198356628418,
442
+ 4.520660877227783,
443
+ 4.450740337371826
444
+ ],
445
+ "min": [
446
+ -2.559718132019043,
447
+ -2.451976776123047,
448
+ -2.554994821548462,
449
+ -4.509403705596924,
450
+ -4.546645641326904,
451
+ -5.097129821777344,
452
+ -6.017898082733154
453
+ ],
454
+ "mean": [
455
+ -0.004114540759474039,
456
+ 0.017924316227436066,
457
+ -0.005763450637459755,
458
+ 0.01854311116039753,
459
+ 0.012834235094487667,
460
+ 0.032818734645843506,
461
+ -0.00534476526081562
462
+ ],
463
+ "std": [
464
+ 0.21674557030200958,
465
+ 0.33307138085365295,
466
+ 0.24992425739765167,
467
+ 0.3653525412082672,
468
+ 0.3259930908679962,
469
+ 0.38134682178497314,
470
+ 0.3557809889316559
471
+ ],
472
+ "q01": [
473
+ -0.7281607091426849,
474
+ -0.9842112290859223,
475
+ -0.6806633770465851,
476
+ -1.1201532149314881,
477
+ -0.8647743165493011,
478
+ -1.051033902168274,
479
+ -1.0387119770050048
480
+ ],
481
+ "q99": [
482
+ 0.6290657651424418,
483
+ 0.840664968490601,
484
+ 0.6987897658348083,
485
+ 1.0645919394493109,
486
+ 1.0217083716392528,
487
+ 1.0535141229629525,
488
+ 0.950566293001175
489
+ ]
490
+ }
491
+ },
492
+ "action": {
493
+ "base_motion": {
494
+ "max": [
495
+ 0.0,
496
+ 0.0,
497
+ 0.0,
498
+ 0.0
499
+ ],
500
+ "min": [
501
+ 0.0,
502
+ 0.0,
503
+ 0.0,
504
+ 0.0
505
+ ],
506
+ "mean": [
507
+ 0.0,
508
+ 0.0,
509
+ 0.0,
510
+ 0.0
511
+ ],
512
+ "std": [
513
+ 0.0,
514
+ 0.0,
515
+ 0.0,
516
+ 0.0
517
+ ],
518
+ "q01": [
519
+ 0.0,
520
+ 0.0,
521
+ 0.0,
522
+ 0.0
523
+ ],
524
+ "q99": [
525
+ 0.0,
526
+ 0.0,
527
+ 0.0,
528
+ 0.0
529
+ ]
530
+ },
531
+ "control_mode": {
532
+ "max": [
533
+ 0.0
534
+ ],
535
+ "min": [
536
+ 0.0
537
+ ],
538
+ "mean": [
539
+ 0.0
540
+ ],
541
+ "std": [
542
+ 0.0
543
+ ],
544
+ "q01": [
545
+ 0.0
546
+ ],
547
+ "q99": [
548
+ 0.0
549
+ ]
550
+ },
551
+ "end_effector_position": {
552
+ "max": [
553
+ 1.0,
554
+ 1.0,
555
+ 1.0
556
+ ],
557
+ "min": [
558
+ -1.0,
559
+ -1.0,
560
+ -1.0
561
+ ],
562
+ "mean": [
563
+ 0.028168492019176483,
564
+ 0.0069015976041555405,
565
+ -0.036012791097164154
566
+ ],
567
+ "std": [
568
+ 0.4235195815563202,
569
+ 0.41265496611595154,
570
+ 0.3736116290092468
571
+ ],
572
+ "q01": [
573
+ -1.0,
574
+ -1.0,
575
+ -1.0
576
+ ],
577
+ "q99": [
578
+ 1.0,
579
+ 1.0,
580
+ 1.0
581
+ ]
582
+ },
583
+ "end_effector_rotation": {
584
+ "max": [
585
+ 1.0,
586
+ 1.0,
587
+ 1.0
588
+ ],
589
+ "min": [
590
+ -1.0,
591
+ -1.0,
592
+ -1.0
593
+ ],
594
+ "mean": [
595
+ 0.008194858208298683,
596
+ -0.023682018741965294,
597
+ -0.0023345137014985085
598
+ ],
599
+ "std": [
600
+ 0.14607661962509155,
601
+ 0.15568476915359497,
602
+ 0.13754062354564667
603
+ ],
604
+ "q01": [
605
+ -0.418744860291481,
606
+ -0.5458712959289551,
607
+ -0.4083929044008255
608
+ ],
609
+ "q99": [
610
+ 0.4636783003807069,
611
+ 0.3923924827575694,
612
+ 0.43083886384964076
613
+ ]
614
+ },
615
+ "gripper_close": {
616
+ "max": [
617
+ 1.0
618
+ ],
619
+ "min": [
620
+ 0.0
621
+ ],
622
+ "mean": [
623
+ 0.3491593897342682
624
+ ],
625
+ "std": [
626
+ 0.4762044847011566
627
+ ],
628
+ "q01": [
629
+ 0.0
630
+ ],
631
+ "q99": [
632
+ 1.0
633
+ ]
634
+ }
635
+ }
636
+ },
637
+ "modalities": {
638
+ "video": {
639
+ "left_view": {
640
+ "resolution": [
641
+ 256,
642
+ 256
643
+ ],
644
+ "channels": 3,
645
+ "fps": 20.0
646
+ },
647
+ "right_view": {
648
+ "resolution": [
649
+ 256,
650
+ 256
651
+ ],
652
+ "channels": 3,
653
+ "fps": 20.0
654
+ },
655
+ "wrist_view": {
656
+ "resolution": [
657
+ 256,
658
+ 256
659
+ ],
660
+ "channels": 3,
661
+ "fps": 20.0
662
+ }
663
+ },
664
+ "state": {
665
+ "base_position": {
666
+ "absolute": true,
667
+ "rotation_type": null,
668
+ "shape": [
669
+ 3
670
+ ],
671
+ "continuous": true
672
+ },
673
+ "base_rotation": {
674
+ "absolute": true,
675
+ "rotation_type": "quaternion",
676
+ "shape": [
677
+ 4
678
+ ],
679
+ "continuous": true
680
+ },
681
+ "end_effector_position_absolute": {
682
+ "absolute": true,
683
+ "rotation_type": null,
684
+ "shape": [
685
+ 3
686
+ ],
687
+ "continuous": true
688
+ },
689
+ "end_effector_position_relative": {
690
+ "absolute": true,
691
+ "rotation_type": null,
692
+ "shape": [
693
+ 3
694
+ ],
695
+ "continuous": true
696
+ },
697
+ "end_effector_rotation_absolute": {
698
+ "absolute": true,
699
+ "rotation_type": "quaternion",
700
+ "shape": [
701
+ 4
702
+ ],
703
+ "continuous": true
704
+ },
705
+ "end_effector_rotation_relative": {
706
+ "absolute": true,
707
+ "rotation_type": "quaternion",
708
+ "shape": [
709
+ 4
710
+ ],
711
+ "continuous": true
712
+ },
713
+ "gripper_qpos": {
714
+ "absolute": true,
715
+ "rotation_type": null,
716
+ "shape": [
717
+ 2
718
+ ],
719
+ "continuous": true
720
+ },
721
+ "gripper_qvel": {
722
+ "absolute": true,
723
+ "rotation_type": null,
724
+ "shape": [
725
+ 2
726
+ ],
727
+ "continuous": true
728
+ },
729
+ "joint_position": {
730
+ "absolute": true,
731
+ "rotation_type": null,
732
+ "shape": [
733
+ 7
734
+ ],
735
+ "continuous": true
736
+ },
737
+ "joint_position_cos": {
738
+ "absolute": true,
739
+ "rotation_type": null,
740
+ "shape": [
741
+ 7
742
+ ],
743
+ "continuous": true
744
+ },
745
+ "joint_position_sin": {
746
+ "absolute": true,
747
+ "rotation_type": null,
748
+ "shape": [
749
+ 7
750
+ ],
751
+ "continuous": true
752
+ },
753
+ "joint_velocity": {
754
+ "absolute": true,
755
+ "rotation_type": null,
756
+ "shape": [
757
+ 7
758
+ ],
759
+ "continuous": true
760
+ }
761
+ },
762
+ "action": {
763
+ "base_motion": {
764
+ "absolute": false,
765
+ "rotation_type": null,
766
+ "shape": [
767
+ 4
768
+ ],
769
+ "continuous": true
770
+ },
771
+ "control_mode": {
772
+ "absolute": true,
773
+ "rotation_type": null,
774
+ "shape": [
775
+ 1
776
+ ],
777
+ "continuous": false
778
+ },
779
+ "end_effector_position": {
780
+ "absolute": false,
781
+ "rotation_type": null,
782
+ "shape": [
783
+ 3
784
+ ],
785
+ "continuous": true
786
+ },
787
+ "end_effector_rotation": {
788
+ "absolute": false,
789
+ "rotation_type": "axis_angle",
790
+ "shape": [
791
+ 3
792
+ ],
793
+ "continuous": true
794
+ },
795
+ "gripper_close": {
796
+ "absolute": true,
797
+ "rotation_type": null,
798
+ "shape": [
799
+ 1
800
+ ],
801
+ "continuous": false
802
+ }
803
+ }
804
+ },
805
+ "embodiment_tag": "new_embodiment"
806
+ }
807
+ }
model-00001-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d83644961d657ff3625ca71931baa2db3eabdfa6be5c629d4e216e4bfe5c7947
3
+ size 4999367032
model-00002-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:98d33db1755700cf4b022ddb2e60f70d53f30b1be3f20cca19838e742dfb7db6
3
+ size 2604343536
model.safetensors.index.json ADDED
The diff for this file is too large to render. See raw diff
 
scheduler.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bb677b69d5815e7e1f5f341ea75c4bd0f7789a7a85a36e672ade3f744edffa5f
3
+ size 1064
trainer_state.json ADDED
The diff for this file is too large to render. See raw diff