Upload folder using huggingface_hub
Browse files- config.json +64 -0
- experiment_cfg/metadata.json +431 -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.pth +3 -0
- scheduler.pt +3 -0
- trainer_state.json +0 -0
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 |
+
}
|
experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,431 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"new_embodiment": {
|
| 3 |
+
"statistics": {
|
| 4 |
+
"state": {
|
| 5 |
+
"base_position": {
|
| 6 |
+
"max": [
|
| 7 |
+
7.778976917266846,
|
| 8 |
+
0.7572364211082458,
|
| 9 |
+
0.7678815722465515
|
| 10 |
+
],
|
| 11 |
+
"min": [
|
| 12 |
+
-5.451417922973633,
|
| 13 |
+
-8.747910499572754,
|
| 14 |
+
0.698784351348877
|
| 15 |
+
],
|
| 16 |
+
"mean": [
|
| 17 |
+
2.654967701417028,
|
| 18 |
+
-2.312603201514601,
|
| 19 |
+
0.7017931665650737
|
| 20 |
+
],
|
| 21 |
+
"std": [
|
| 22 |
+
1.6812542217813051,
|
| 23 |
+
1.4374053366477129,
|
| 24 |
+
0.002770274630317656
|
| 25 |
+
],
|
| 26 |
+
"q01": [
|
| 27 |
+
-1.2119644922112263,
|
| 28 |
+
-5.737460157529482,
|
| 29 |
+
0.6999888640441118
|
| 30 |
+
],
|
| 31 |
+
"q99": [
|
| 32 |
+
6.229334757497698,
|
| 33 |
+
-0.6044882808532064,
|
| 34 |
+
0.7073385971611953
|
| 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 |
+
0.24505679210493964,
|
| 54 |
+
0.6304187740544468
|
| 55 |
+
],
|
| 56 |
+
"std": [
|
| 57 |
+
0.0,
|
| 58 |
+
0.0,
|
| 59 |
+
0.6484714011255448,
|
| 60 |
+
0.34942432790807293
|
| 61 |
+
],
|
| 62 |
+
"q01": [
|
| 63 |
+
0.0,
|
| 64 |
+
0.0,
|
| 65 |
+
-0.9999876197837357,
|
| 66 |
+
0.0001443402896033188
|
| 67 |
+
],
|
| 68 |
+
"q99": [
|
| 69 |
+
0.0,
|
| 70 |
+
0.0,
|
| 71 |
+
0.9999981170335596,
|
| 72 |
+
0.99999996133623
|
| 73 |
+
]
|
| 74 |
+
},
|
| 75 |
+
"end_effector_position_relative": {
|
| 76 |
+
"max": [
|
| 77 |
+
0.9316536784172058,
|
| 78 |
+
0.8727958798408508,
|
| 79 |
+
1.1222138404846191
|
| 80 |
+
],
|
| 81 |
+
"min": [
|
| 82 |
+
-0.65090411901474,
|
| 83 |
+
-0.903346061706543,
|
| 84 |
+
-0.37153130769729614
|
| 85 |
+
],
|
| 86 |
+
"mean": [
|
| 87 |
+
0.24668259593208566,
|
| 88 |
+
-0.012032116142909142,
|
| 89 |
+
0.5279085030194163
|
| 90 |
+
],
|
| 91 |
+
"std": [
|
| 92 |
+
0.19344092845015276,
|
| 93 |
+
0.1930747899058619,
|
| 94 |
+
0.19997707447442778
|
| 95 |
+
],
|
| 96 |
+
"q01": [
|
| 97 |
+
-0.09279797820659887,
|
| 98 |
+
-0.4254360876401248,
|
| 99 |
+
0.20971629323845067
|
| 100 |
+
],
|
| 101 |
+
"q99": [
|
| 102 |
+
0.6337033079770765,
|
| 103 |
+
0.41157325993908306,
|
| 104 |
+
0.7842848743908305
|
| 105 |
+
]
|
| 106 |
+
},
|
| 107 |
+
"end_effector_rotation_relative": {
|
| 108 |
+
"max": [
|
| 109 |
+
0.9999998807907104,
|
| 110 |
+
0.9999892115592957,
|
| 111 |
+
0.9948683977127075,
|
| 112 |
+
0.9997240900993347
|
| 113 |
+
],
|
| 114 |
+
"min": [
|
| 115 |
+
-0.9999992847442627,
|
| 116 |
+
-0.9999884366989136,
|
| 117 |
+
-0.9975370168685913,
|
| 118 |
+
7.53001938580411e-10
|
| 119 |
+
],
|
| 120 |
+
"mean": [
|
| 121 |
+
-0.18716363477102008,
|
| 122 |
+
0.042197768367289466,
|
| 123 |
+
-0.057659459752153995,
|
| 124 |
+
0.12923932727163936
|
| 125 |
+
],
|
| 126 |
+
"std": [
|
| 127 |
+
0.8359975444297222,
|
| 128 |
+
0.3154394462749756,
|
| 129 |
+
0.34675285652401194,
|
| 130 |
+
0.15659141437591545
|
| 131 |
+
],
|
| 132 |
+
"q01": [
|
| 133 |
+
-0.9936889269479753,
|
| 134 |
+
-0.6207200408872208,
|
| 135 |
+
-0.6139638960815086,
|
| 136 |
+
0.0013660874448937702
|
| 137 |
+
],
|
| 138 |
+
"q99": [
|
| 139 |
+
0.9852533529246098,
|
| 140 |
+
0.7212727283914762,
|
| 141 |
+
0.5828153666912674,
|
| 142 |
+
0.5189229249802788
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
"gripper_qpos": {
|
| 146 |
+
"max": [
|
| 147 |
+
0.07638481259346008,
|
| 148 |
+
0.030545983463525772
|
| 149 |
+
],
|
| 150 |
+
"min": [
|
| 151 |
+
-0.04314137250185013,
|
| 152 |
+
-0.07785148173570633
|
| 153 |
+
],
|
| 154 |
+
"mean": [
|
| 155 |
+
0.03010611853568522,
|
| 156 |
+
-0.03007088309534884
|
| 157 |
+
],
|
| 158 |
+
"std": [
|
| 159 |
+
0.012650814924005526,
|
| 160 |
+
0.01265015748860496
|
| 161 |
+
],
|
| 162 |
+
"q01": [
|
| 163 |
+
0.005405729914847853,
|
| 164 |
+
-0.04027899166624506
|
| 165 |
+
],
|
| 166 |
+
"q99": [
|
| 167 |
+
0.04022964370674609,
|
| 168 |
+
-0.005456649609281796
|
| 169 |
+
]
|
| 170 |
+
}
|
| 171 |
+
},
|
| 172 |
+
"action": {
|
| 173 |
+
"base_motion": {
|
| 174 |
+
"max": [
|
| 175 |
+
1.0,
|
| 176 |
+
1.0,
|
| 177 |
+
1.0,
|
| 178 |
+
0.0
|
| 179 |
+
],
|
| 180 |
+
"min": [
|
| 181 |
+
-1.0,
|
| 182 |
+
-1.0,
|
| 183 |
+
-1.0,
|
| 184 |
+
0.0
|
| 185 |
+
],
|
| 186 |
+
"mean": [
|
| 187 |
+
0.06118170421366438,
|
| 188 |
+
0.005168978720450757,
|
| 189 |
+
0.00015468911936722662,
|
| 190 |
+
0.0
|
| 191 |
+
],
|
| 192 |
+
"std": [
|
| 193 |
+
0.28311138077516473,
|
| 194 |
+
0.23894521906956986,
|
| 195 |
+
0.17381784712136492,
|
| 196 |
+
0.0
|
| 197 |
+
],
|
| 198 |
+
"q01": [
|
| 199 |
+
-0.562252432369087,
|
| 200 |
+
-0.6371663064504606,
|
| 201 |
+
-0.4676562510790457,
|
| 202 |
+
0.0
|
| 203 |
+
],
|
| 204 |
+
"q99": [
|
| 205 |
+
0.6772610732113116,
|
| 206 |
+
0.6611900172189822,
|
| 207 |
+
0.47041472061780404,
|
| 208 |
+
0.0
|
| 209 |
+
]
|
| 210 |
+
},
|
| 211 |
+
"control_mode": {
|
| 212 |
+
"max": [
|
| 213 |
+
1.0
|
| 214 |
+
],
|
| 215 |
+
"min": [
|
| 216 |
+
-1.0
|
| 217 |
+
],
|
| 218 |
+
"mean": [
|
| 219 |
+
-0.565887839502144
|
| 220 |
+
],
|
| 221 |
+
"std": [
|
| 222 |
+
0.8245004495696986
|
| 223 |
+
],
|
| 224 |
+
"q01": [
|
| 225 |
+
-1.0
|
| 226 |
+
],
|
| 227 |
+
"q99": [
|
| 228 |
+
0.6670156612373467
|
| 229 |
+
]
|
| 230 |
+
},
|
| 231 |
+
"end_effector_position": {
|
| 232 |
+
"max": [
|
| 233 |
+
1.0,
|
| 234 |
+
1.0,
|
| 235 |
+
1.0
|
| 236 |
+
],
|
| 237 |
+
"min": [
|
| 238 |
+
-1.0,
|
| 239 |
+
-1.0,
|
| 240 |
+
-1.0
|
| 241 |
+
],
|
| 242 |
+
"mean": [
|
| 243 |
+
0.003785921291709651,
|
| 244 |
+
-0.0025378753488897797,
|
| 245 |
+
-0.014835714235104965
|
| 246 |
+
],
|
| 247 |
+
"std": [
|
| 248 |
+
0.3511517723668662,
|
| 249 |
+
0.2665986378244751,
|
| 250 |
+
0.28413315125899574
|
| 251 |
+
],
|
| 252 |
+
"q01": [
|
| 253 |
+
-0.9302930273370403,
|
| 254 |
+
-0.7655163753477748,
|
| 255 |
+
-0.6654673233949292
|
| 256 |
+
],
|
| 257 |
+
"q99": [
|
| 258 |
+
0.7677186796978582,
|
| 259 |
+
0.7610623906968231,
|
| 260 |
+
0.8621295315171748
|
| 261 |
+
]
|
| 262 |
+
},
|
| 263 |
+
"end_effector_rotation": {
|
| 264 |
+
"max": [
|
| 265 |
+
1.0,
|
| 266 |
+
1.0,
|
| 267 |
+
1.0
|
| 268 |
+
],
|
| 269 |
+
"min": [
|
| 270 |
+
-1.0,
|
| 271 |
+
-1.0,
|
| 272 |
+
-1.0
|
| 273 |
+
],
|
| 274 |
+
"mean": [
|
| 275 |
+
0.0005460055915413661,
|
| 276 |
+
-0.00519104931885604,
|
| 277 |
+
0.0005011079496210638
|
| 278 |
+
],
|
| 279 |
+
"std": [
|
| 280 |
+
0.07288433955483174,
|
| 281 |
+
0.0912551221625068,
|
| 282 |
+
0.08750437622572464
|
| 283 |
+
],
|
| 284 |
+
"q01": [
|
| 285 |
+
-0.22605902557440774,
|
| 286 |
+
-0.30891056138292344,
|
| 287 |
+
-0.28242365421680377
|
| 288 |
+
],
|
| 289 |
+
"q99": [
|
| 290 |
+
0.22656327959372116,
|
| 291 |
+
0.26343943799376573,
|
| 292 |
+
0.2894539337544894
|
| 293 |
+
]
|
| 294 |
+
},
|
| 295 |
+
"gripper_close": {
|
| 296 |
+
"max": [
|
| 297 |
+
1.0
|
| 298 |
+
],
|
| 299 |
+
"min": [
|
| 300 |
+
-1.0
|
| 301 |
+
],
|
| 302 |
+
"mean": [
|
| 303 |
+
-0.11074762091339947
|
| 304 |
+
],
|
| 305 |
+
"std": [
|
| 306 |
+
0.9938708219067919
|
| 307 |
+
],
|
| 308 |
+
"q01": [
|
| 309 |
+
-1.0
|
| 310 |
+
],
|
| 311 |
+
"q99": [
|
| 312 |
+
0.9821338671287022
|
| 313 |
+
]
|
| 314 |
+
}
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"modalities": {
|
| 318 |
+
"video": {
|
| 319 |
+
"robot0_eye_in_hand": {
|
| 320 |
+
"resolution": [
|
| 321 |
+
256,
|
| 322 |
+
256
|
| 323 |
+
],
|
| 324 |
+
"channels": 3,
|
| 325 |
+
"fps": 20.0
|
| 326 |
+
},
|
| 327 |
+
"robot0_agentview_left": {
|
| 328 |
+
"resolution": [
|
| 329 |
+
256,
|
| 330 |
+
256
|
| 331 |
+
],
|
| 332 |
+
"channels": 3,
|
| 333 |
+
"fps": 20.0
|
| 334 |
+
},
|
| 335 |
+
"robot0_agentview_right": {
|
| 336 |
+
"resolution": [
|
| 337 |
+
256,
|
| 338 |
+
256
|
| 339 |
+
],
|
| 340 |
+
"channels": 3,
|
| 341 |
+
"fps": 20.0
|
| 342 |
+
}
|
| 343 |
+
},
|
| 344 |
+
"state": {
|
| 345 |
+
"base_position": {
|
| 346 |
+
"absolute": true,
|
| 347 |
+
"rotation_type": null,
|
| 348 |
+
"shape": [
|
| 349 |
+
3
|
| 350 |
+
],
|
| 351 |
+
"continuous": true
|
| 352 |
+
},
|
| 353 |
+
"base_rotation": {
|
| 354 |
+
"absolute": true,
|
| 355 |
+
"rotation_type": "quaternion",
|
| 356 |
+
"shape": [
|
| 357 |
+
4
|
| 358 |
+
],
|
| 359 |
+
"continuous": true
|
| 360 |
+
},
|
| 361 |
+
"end_effector_position_relative": {
|
| 362 |
+
"absolute": true,
|
| 363 |
+
"rotation_type": null,
|
| 364 |
+
"shape": [
|
| 365 |
+
3
|
| 366 |
+
],
|
| 367 |
+
"continuous": true
|
| 368 |
+
},
|
| 369 |
+
"end_effector_rotation_relative": {
|
| 370 |
+
"absolute": true,
|
| 371 |
+
"rotation_type": "quaternion",
|
| 372 |
+
"shape": [
|
| 373 |
+
4
|
| 374 |
+
],
|
| 375 |
+
"continuous": true
|
| 376 |
+
},
|
| 377 |
+
"gripper_qpos": {
|
| 378 |
+
"absolute": true,
|
| 379 |
+
"rotation_type": null,
|
| 380 |
+
"shape": [
|
| 381 |
+
2
|
| 382 |
+
],
|
| 383 |
+
"continuous": true
|
| 384 |
+
}
|
| 385 |
+
},
|
| 386 |
+
"action": {
|
| 387 |
+
"base_motion": {
|
| 388 |
+
"absolute": true,
|
| 389 |
+
"rotation_type": null,
|
| 390 |
+
"shape": [
|
| 391 |
+
4
|
| 392 |
+
],
|
| 393 |
+
"continuous": true
|
| 394 |
+
},
|
| 395 |
+
"control_mode": {
|
| 396 |
+
"absolute": true,
|
| 397 |
+
"rotation_type": null,
|
| 398 |
+
"shape": [
|
| 399 |
+
1
|
| 400 |
+
],
|
| 401 |
+
"continuous": true
|
| 402 |
+
},
|
| 403 |
+
"end_effector_position": {
|
| 404 |
+
"absolute": true,
|
| 405 |
+
"rotation_type": null,
|
| 406 |
+
"shape": [
|
| 407 |
+
3
|
| 408 |
+
],
|
| 409 |
+
"continuous": true
|
| 410 |
+
},
|
| 411 |
+
"end_effector_rotation": {
|
| 412 |
+
"absolute": true,
|
| 413 |
+
"rotation_type": "axis_angle",
|
| 414 |
+
"shape": [
|
| 415 |
+
3
|
| 416 |
+
],
|
| 417 |
+
"continuous": true
|
| 418 |
+
},
|
| 419 |
+
"gripper_close": {
|
| 420 |
+
"absolute": true,
|
| 421 |
+
"rotation_type": null,
|
| 422 |
+
"shape": [
|
| 423 |
+
1
|
| 424 |
+
],
|
| 425 |
+
"continuous": true
|
| 426 |
+
}
|
| 427 |
+
}
|
| 428 |
+
},
|
| 429 |
+
"embodiment_tag": "new_embodiment"
|
| 430 |
+
}
|
| 431 |
+
}
|
model-00001-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:08f1891947973e2e5ec2422201cd90261806f77f2634f9ec0477c27aa5a4fe42
|
| 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:deb9c9cf40cd8983a7779af85341f6344db15f65bf3307073a0e3c3085450435
|
| 3 |
+
size 2586705312
|
model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
optimizer.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4d59aa8fae6642def95034580444222027900a537b2fd99c2a49d4e53ca574fc
|
| 3 |
+
size 8550719959
|
rng_state.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e097f2ff2c1e1790217877d411f313d095262121e5999071b7d2c9c2aa94b442
|
| 3 |
+
size 14645
|
scheduler.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:abc2607874971bcbd0e7fc3a3cb9d7f94cfea97632a7acd7c7510e0b729784fc
|
| 3 |
+
size 1465
|
trainer_state.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|