mvhk commited on
Commit
161a4a7
·
verified ·
1 Parent(s): 9dc7caf

Upload folder using huggingface_hub

Browse files
leisaac-pick-orange-v0/.gitattributes ADDED
@@ -0,0 +1,35 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ *.7z filter=lfs diff=lfs merge=lfs -text
2
+ *.arrow filter=lfs diff=lfs merge=lfs -text
3
+ *.bin filter=lfs diff=lfs merge=lfs -text
4
+ *.bz2 filter=lfs diff=lfs merge=lfs -text
5
+ *.ckpt filter=lfs diff=lfs merge=lfs -text
6
+ *.ftz filter=lfs diff=lfs merge=lfs -text
7
+ *.gz filter=lfs diff=lfs merge=lfs -text
8
+ *.h5 filter=lfs diff=lfs merge=lfs -text
9
+ *.joblib filter=lfs diff=lfs merge=lfs -text
10
+ *.lfs.* filter=lfs diff=lfs merge=lfs -text
11
+ *.mlmodel filter=lfs diff=lfs merge=lfs -text
12
+ *.model filter=lfs diff=lfs merge=lfs -text
13
+ *.msgpack filter=lfs diff=lfs merge=lfs -text
14
+ *.npy filter=lfs diff=lfs merge=lfs -text
15
+ *.npz filter=lfs diff=lfs merge=lfs -text
16
+ *.onnx filter=lfs diff=lfs merge=lfs -text
17
+ *.ot filter=lfs diff=lfs merge=lfs -text
18
+ *.parquet filter=lfs diff=lfs merge=lfs -text
19
+ *.pb filter=lfs diff=lfs merge=lfs -text
20
+ *.pickle filter=lfs diff=lfs merge=lfs -text
21
+ *.pkl filter=lfs diff=lfs merge=lfs -text
22
+ *.pt filter=lfs diff=lfs merge=lfs -text
23
+ *.pth filter=lfs diff=lfs merge=lfs -text
24
+ *.rar filter=lfs diff=lfs merge=lfs -text
25
+ *.safetensors filter=lfs diff=lfs merge=lfs -text
26
+ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
27
+ *.tar.* filter=lfs diff=lfs merge=lfs -text
28
+ *.tar filter=lfs diff=lfs merge=lfs -text
29
+ *.tflite filter=lfs diff=lfs merge=lfs -text
30
+ *.tgz filter=lfs diff=lfs merge=lfs -text
31
+ *.wasm filter=lfs diff=lfs merge=lfs -text
32
+ *.xz filter=lfs diff=lfs merge=lfs -text
33
+ *.zip filter=lfs diff=lfs merge=lfs -text
34
+ *.zst filter=lfs diff=lfs merge=lfs -text
35
+ *tfevents* filter=lfs diff=lfs merge=lfs -text
leisaac-pick-orange-v0/config.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_dim": 32,
3
+ "action_head_cfg": {
4
+ "action_dim": 32,
5
+ "action_horizon": 16,
6
+ "add_pos_embed": true,
7
+ "backbone_embedding_dim": 2048,
8
+ "diffusion_model_cfg": {
9
+ "attention_head_dim": 48,
10
+ "cross_attention_dim": 2048,
11
+ "dropout": 0.2,
12
+ "final_dropout": true,
13
+ "interleave_self_attention": true,
14
+ "norm_type": "ada_norm",
15
+ "num_attention_heads": 32,
16
+ "num_layers": 16,
17
+ "output_dim": 1024,
18
+ "positional_embeddings": null
19
+ },
20
+ "hidden_size": 1024,
21
+ "input_embedding_dim": 1536,
22
+ "max_action_dim": 32,
23
+ "max_state_dim": 64,
24
+ "model_dtype": "float32",
25
+ "noise_beta_alpha": 1.5,
26
+ "noise_beta_beta": 1.0,
27
+ "noise_s": 0.999,
28
+ "num_inference_timesteps": 4,
29
+ "num_target_vision_tokens": 32,
30
+ "num_timestep_buckets": 1000,
31
+ "tune_diffusion_model": true,
32
+ "tune_projector": true,
33
+ "use_vlln": true,
34
+ "vl_self_attention_cfg": {
35
+ "attention_head_dim": 64,
36
+ "dropout": 0.2,
37
+ "final_dropout": true,
38
+ "num_attention_heads": 32,
39
+ "num_layers": 4,
40
+ "positional_embeddings": null
41
+ }
42
+ },
43
+ "action_horizon": 16,
44
+ "architectures": [
45
+ "GR00T_N1_5"
46
+ ],
47
+ "attn_implementation": null,
48
+ "backbone_cfg": {
49
+ "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
50
+ "load_bf16": false,
51
+ "project_to_dim": null,
52
+ "reproject_vision": false,
53
+ "select_layer": 12,
54
+ "tune_llm": false,
55
+ "tune_visual": true,
56
+ "use_flash_attention": true
57
+ },
58
+ "compute_dtype": "bfloat16",
59
+ "hidden_size": 2048,
60
+ "model_dtype": "float32",
61
+ "model_type": "gr00t_n1_5",
62
+ "torch_dtype": "bfloat16",
63
+ "transformers_version": "4.51.3"
64
+ }
leisaac-pick-orange-v0/experiment_cfg/metadata.json ADDED
@@ -0,0 +1,195 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "new_embodiment": {
3
+ "statistics": {
4
+ "state": {
5
+ "single_arm": {
6
+ "max": [
7
+ 52.71546936035156,
8
+ 65.318359375,
9
+ 100.1607666015625,
10
+ 100.02542114257812,
11
+ 50.691986083984375
12
+ ],
13
+ "min": [
14
+ -38.4887809753418,
15
+ -99.55461120605469,
16
+ -96.33113098144531,
17
+ 16.11701202392578,
18
+ -14.437675476074219
19
+ ],
20
+ "mean": [
21
+ 8.840156555175781,
22
+ 4.428213119506836,
23
+ 3.7019574642181396,
24
+ 75.59637451171875,
25
+ 18.457332611083984
26
+ ],
27
+ "std": [
28
+ 19.552515029907227,
29
+ 39.316009521484375,
30
+ 41.37403106689453,
31
+ 13.751623153686523,
32
+ 9.614367485046387
33
+ ],
34
+ "q01": [
35
+ -24.408675842285156,
36
+ -98.82302276611328,
37
+ -69.73289306640625,
38
+ 39.07359924316406,
39
+ -4.678773803710937
40
+ ],
41
+ "q99": [
42
+ 47.0116217041016,
43
+ 60.00616455078126,
44
+ 93.92067687988282,
45
+ 99.91351684570313,
46
+ 39.71997375488284
47
+ ]
48
+ },
49
+ "gripper": {
50
+ "max": [
51
+ 88.45756530761719
52
+ ],
53
+ "min": [
54
+ 2.1588988304138184
55
+ ],
56
+ "mean": [
57
+ 33.337127685546875
58
+ ],
59
+ "std": [
60
+ 11.978549003601074
61
+ ],
62
+ "q01": [
63
+ 2.5056805324554445
64
+ ],
65
+ "q99": [
66
+ 58.33354202270508
67
+ ]
68
+ }
69
+ },
70
+ "action": {
71
+ "single_arm": {
72
+ "max": [
73
+ 52.056304931640625,
74
+ 63.758392333984375,
75
+ 99.45799255371094,
76
+ 100.0,
77
+ 51.0172119140625
78
+ ],
79
+ "min": [
80
+ -38.495731353759766,
81
+ -99.99999237060547,
82
+ -99.1869888305664,
83
+ 21.52564239501953,
84
+ -14.449661254882812
85
+ ],
86
+ "mean": [
87
+ 8.859687805175781,
88
+ 2.965143918991089,
89
+ 2.249222993850708,
90
+ 76.57550048828125,
91
+ 18.281843185424805
92
+ ],
93
+ "std": [
94
+ 19.56995391845703,
95
+ 39.62527084350586,
96
+ 41.96939468383789,
97
+ 13.673238754272461,
98
+ 9.612025260925293
99
+ ],
100
+ "q01": [
101
+ -24.194137573242188,
102
+ -99.16107177734375,
103
+ -70.280029296875,
104
+ 40.99079895019531,
105
+ -4.955657958984375
106
+ ],
107
+ "q99": [
108
+ 46.72100830078125,
109
+ 58.47315979003906,
110
+ 92.86360168457031,
111
+ 99.82463073730469,
112
+ 39.8017578125
113
+ ]
114
+ },
115
+ "gripper": {
116
+ "max": [
117
+ 91.3986587524414
118
+ ],
119
+ "min": [
120
+ 0.5983543395996094
121
+ ],
122
+ "mean": [
123
+ 32.5671501159668
124
+ ],
125
+ "std": [
126
+ 12.373101234436035
127
+ ],
128
+ "q01": [
129
+ 2.393418788909912
130
+ ],
131
+ "q99": [
132
+ 58.33956527709961
133
+ ]
134
+ }
135
+ }
136
+ },
137
+ "modalities": {
138
+ "video": {
139
+ "front": {
140
+ "resolution": [
141
+ 640,
142
+ 480
143
+ ],
144
+ "channels": 3,
145
+ "fps": 30.0
146
+ },
147
+ "wrist": {
148
+ "resolution": [
149
+ 640,
150
+ 480
151
+ ],
152
+ "channels": 3,
153
+ "fps": 30.0
154
+ }
155
+ },
156
+ "state": {
157
+ "single_arm": {
158
+ "absolute": true,
159
+ "rotation_type": null,
160
+ "shape": [
161
+ 5
162
+ ],
163
+ "continuous": true
164
+ },
165
+ "gripper": {
166
+ "absolute": true,
167
+ "rotation_type": null,
168
+ "shape": [
169
+ 1
170
+ ],
171
+ "continuous": true
172
+ }
173
+ },
174
+ "action": {
175
+ "single_arm": {
176
+ "absolute": true,
177
+ "rotation_type": null,
178
+ "shape": [
179
+ 5
180
+ ],
181
+ "continuous": true
182
+ },
183
+ "gripper": {
184
+ "absolute": true,
185
+ "rotation_type": null,
186
+ "shape": [
187
+ 1
188
+ ],
189
+ "continuous": true
190
+ }
191
+ }
192
+ },
193
+ "embodiment_tag": "new_embodiment"
194
+ }
195
+ }
leisaac-pick-orange-v0/model-00001-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0e65895a7b6c052e58b679bdd68bff54a68694a81f38e23d3e03a92059b3600b
3
+ size 4999367032
leisaac-pick-orange-v0/model-00002-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7803043990838e3296f54b518c9e81987216f532660d25208d130afb4d34c403
3
+ size 2586705312
leisaac-pick-orange-v0/model.safetensors.index.json ADDED
The diff for this file is too large to render. See raw diff
 
leisaac-pick-orange-v0/trainer_state.json ADDED
The diff for this file is too large to render. See raw diff
 
leisaac-pick-orange-v0/training_args.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3c65dadaf88bf5cb6ddb278a12a0e8778396c591aa57ea723fbe9ac73e8f0613
3
+ size 5304