Upload 16 files
Browse files- config.json +64 -0
- experiment_cfg/metadata.json +515 -0
- model-00001-of-00002.safetensors +3 -0
- model-00002-of-00002.safetensors +3 -0
- model.safetensors.index.json +0 -0
- optimizer.pt +3 -0
- rng_state_0.pth +3 -0
- rng_state_1.pth +3 -0
- rng_state_2.pth +3 -0
- rng_state_3.pth +3 -0
- rng_state_4.pth +3 -0
- rng_state_5.pth +3 -0
- rng_state_6.pth +3 -0
- rng_state_7.pth +3 -0
- scheduler.pt +3 -0
- trainer_state.json +0 -0
config.json
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{
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"action_dim": 32,
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"action_head_cfg": {
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"action_dim": 32,
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"action_horizon": 16,
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"add_pos_embed": true,
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"backbone_embedding_dim": 2048,
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"diffusion_model_cfg": {
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"attention_head_dim": 48,
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"cross_attention_dim": 2048,
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"dropout": 0.2,
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"final_dropout": true,
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"interleave_self_attention": true,
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"norm_type": "ada_norm",
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"num_attention_heads": 32,
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"num_layers": 16,
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"output_dim": 1024,
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"positional_embeddings": null
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},
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"hidden_size": 1024,
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"input_embedding_dim": 1536,
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"max_action_dim": 32,
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"max_state_dim": 64,
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"model_dtype": "float32",
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"noise_beta_alpha": 1.5,
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"noise_beta_beta": 1.0,
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"noise_s": 0.999,
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"num_inference_timesteps": 4,
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"num_target_vision_tokens": 32,
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"num_timestep_buckets": 1000,
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"tune_diffusion_model": true,
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"tune_projector": true,
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"use_vlln": true,
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"vl_self_attention_cfg": {
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"attention_head_dim": 64,
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"dropout": 0.2,
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"final_dropout": true,
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"num_attention_heads": 32,
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"num_layers": 4,
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"positional_embeddings": null
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}
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},
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"action_horizon": 16,
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"architectures": [
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"GR00T_N1_5"
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],
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"attn_implementation": null,
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"backbone_cfg": {
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"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
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"load_bf16": false,
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"project_to_dim": null,
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"reproject_vision": false,
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"select_layer": 12,
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"tune_llm": false,
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"tune_visual": true,
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"use_flash_attention": true
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},
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"compute_dtype": "bfloat16",
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"hidden_size": 2048,
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"model_dtype": "float32",
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"model_type": "gr00t_n1_5",
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"torch_dtype": "bfloat16",
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"transformers_version": "4.51.3"
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}
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experiment_cfg/metadata.json
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| 1 |
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{
|
| 2 |
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"gr1": {
|
| 3 |
+
"statistics": {
|
| 4 |
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"state": {
|
| 5 |
+
"left_arm": {
|
| 6 |
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"max": [
|
| 7 |
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0.5980680584907532,
|
| 8 |
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0.15597352385520935,
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| 9 |
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0.9133843779563904,
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| 10 |
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| 11 |
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0.5152917504310608,
|
| 12 |
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|
| 13 |
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|
| 14 |
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],
|
| 15 |
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"min": [
|
| 16 |
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|
| 17 |
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|
| 18 |
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| 19 |
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| 20 |
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-0.17535948753356934,
|
| 21 |
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-0.6402844190597534,
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| 22 |
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-0.6124218702316284
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| 23 |
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],
|
| 24 |
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"mean": [
|
| 25 |
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0.22868363559246063,
|
| 26 |
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-0.04614688828587532,
|
| 27 |
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0.2259162813425064,
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| 28 |
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-0.976912260055542,
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| 29 |
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0.27828070521354675,
|
| 30 |
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-0.17533159255981445,
|
| 31 |
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-0.58253413438797
|
| 32 |
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],
|
| 33 |
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"std": [
|
| 34 |
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0.18243607878684998,
|
| 35 |
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0.07653902471065521,
|
| 36 |
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0.22644320130348206,
|
| 37 |
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0.5070427060127258,
|
| 38 |
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0.16958224773406982,
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| 39 |
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0.16888540983200073,
|
| 40 |
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0.08742853999137878
|
| 41 |
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],
|
| 42 |
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"q01": [
|
| 43 |
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-0.06489868819713593,
|
| 44 |
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-0.17785244658589364,
|
| 45 |
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0.0,
|
| 46 |
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| 47 |
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| 48 |
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-0.5922394001483917,
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| 49 |
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-0.6115805464982986
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| 50 |
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],
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| 51 |
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"q99": [
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| 52 |
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0.5530595558881757,
|
| 53 |
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0.12942651227116578,
|
| 54 |
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0.8635041540861128,
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| 55 |
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-0.10534207008779051,
|
| 56 |
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0.491974429488182,
|
| 57 |
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0.15730175226926793,
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| 58 |
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0.0
|
| 59 |
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