Upload folder using huggingface_hub
Browse files- config.json +64 -0
- experiment_cfg/metadata.json +871 -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
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 +1,871 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"new_embodiment": {
|
| 3 |
+
"statistics": {
|
| 4 |
+
"state": {
|
| 5 |
+
"joint_0": {
|
| 6 |
+
"max": [
|
| 7 |
+
0.21999700367450714
|
| 8 |
+
],
|
| 9 |
+
"min": [
|
| 10 |
+
-0.8441087603569031
|
| 11 |
+
],
|
| 12 |
+
"mean": [
|
| 13 |
+
0.01793520711362362
|
| 14 |
+
],
|
| 15 |
+
"std": [
|
| 16 |
+
0.06067444384098053
|
| 17 |
+
],
|
| 18 |
+
"q01": [
|
| 19 |
+
-0.2344350427389145
|
| 20 |
+
],
|
| 21 |
+
"q99": [
|
| 22 |
+
0.14161196291446684
|
| 23 |
+
]
|
| 24 |
+
},
|
| 25 |
+
"joint_1": {
|
| 26 |
+
"max": [
|
| 27 |
+
1.5441097021102905
|
| 28 |
+
],
|
| 29 |
+
"min": [
|
| 30 |
+
-0.5638335943222046
|
| 31 |
+
],
|
| 32 |
+
"mean": [
|
| 33 |
+
0.1550542116165161
|
| 34 |
+
],
|
| 35 |
+
"std": [
|
| 36 |
+
0.39392921328544617
|
| 37 |
+
],
|
| 38 |
+
"q01": [
|
| 39 |
+
-0.4965669679641724
|
| 40 |
+
],
|
| 41 |
+
"q99": [
|
| 42 |
+
1.2590437459945678
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"joint_2": {
|
| 46 |
+
"max": [
|
| 47 |
+
0.9559916853904724
|
| 48 |
+
],
|
| 49 |
+
"min": [
|
| 50 |
+
-0.04853518679738045
|
| 51 |
+
],
|
| 52 |
+
"mean": [
|
| 53 |
+
0.10207588970661163
|
| 54 |
+
],
|
| 55 |
+
"std": [
|
| 56 |
+
0.0941309779882431
|
| 57 |
+
],
|
| 58 |
+
"q01": [
|
| 59 |
+
-0.015685712471604347
|
| 60 |
+
],
|
| 61 |
+
"q99": [
|
| 62 |
+
0.49832082271575917
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
"joint_3": {
|
| 66 |
+
"max": [
|
| 67 |
+
-0.1581546813249588
|
| 68 |
+
],
|
| 69 |
+
"min": [
|
| 70 |
+
-3.072965621948242
|
| 71 |
+
],
|
| 72 |
+
"mean": [
|
| 73 |
+
-2.4750986099243164
|
| 74 |
+
],
|
| 75 |
+
"std": [
|
| 76 |
+
0.5610002875328064
|
| 77 |
+
],
|
| 78 |
+
"q01": [
|
| 79 |
+
-3.0718095302581787
|
| 80 |
+
],
|
| 81 |
+
"q99": [
|
| 82 |
+
-0.70877742290497
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"joint_4": {
|
| 86 |
+
"max": [
|
| 87 |
+
1.8218625783920288
|
| 88 |
+
],
|
| 89 |
+
"min": [
|
| 90 |
+
-0.9370173215866089
|
| 91 |
+
],
|
| 92 |
+
"mean": [
|
| 93 |
+
0.15316052734851837
|
| 94 |
+
],
|
| 95 |
+
"std": [
|
| 96 |
+
0.2780144512653351
|
| 97 |
+
],
|
| 98 |
+
"q01": [
|
| 99 |
+
-0.28979173898696897
|
| 100 |
+
],
|
| 101 |
+
"q99": [
|
| 102 |
+
1.6177706193923935
|
| 103 |
+
]
|
| 104 |
+
},
|
| 105 |
+
"joint_5": {
|
| 106 |
+
"max": [
|
| 107 |
+
3.5001635551452637
|
| 108 |
+
],
|
| 109 |
+
"min": [
|
| 110 |
+
1.5855518579483032
|
| 111 |
+
],
|
| 112 |
+
"mean": [
|
| 113 |
+
2.5788917541503906
|
| 114 |
+
],
|
| 115 |
+
"std": [
|
| 116 |
+
0.2920321226119995
|
| 117 |
+
],
|
| 118 |
+
"q01": [
|
| 119 |
+
1.8930704545974733
|
| 120 |
+
],
|
| 121 |
+
"q99": [
|
| 122 |
+
3.218030662536621
|
| 123 |
+
]
|
| 124 |
+
},
|
| 125 |
+
"joint_6": {
|
| 126 |
+
"max": [
|
| 127 |
+
1.353515386581421
|
| 128 |
+
],
|
| 129 |
+
"min": [
|
| 130 |
+
-0.6390262842178345
|
| 131 |
+
],
|
| 132 |
+
"mean": [
|
| 133 |
+
0.8052569031715393
|
| 134 |
+
],
|
| 135 |
+
"std": [
|
| 136 |
+
0.2418307363986969
|
| 137 |
+
],
|
| 138 |
+
"q01": [
|
| 139 |
+
-0.26034320831298824
|
| 140 |
+
],
|
| 141 |
+
"q99": [
|
| 142 |
+
1.2117371606826781
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
"eef_pos": {
|
| 146 |
+
"max": [
|
| 147 |
+
0.1609686017036438,
|
| 148 |
+
0.11925532668828964,
|
| 149 |
+
0.3253864049911499
|
| 150 |
+
],
|
| 151 |
+
"min": [
|
| 152 |
+
-0.4395936131477356,
|
| 153 |
+
-0.042725708335638046,
|
| 154 |
+
0.03923523426055908
|
| 155 |
+
],
|
| 156 |
+
"mean": [
|
| 157 |
+
-0.22023990750312805,
|
| 158 |
+
0.044368382543325424,
|
| 159 |
+
0.15872296690940857
|
| 160 |
+
],
|
| 161 |
+
"std": [
|
| 162 |
+
0.1486569046974182,
|
| 163 |
+
0.020406506955623627,
|
| 164 |
+
0.060896385461091995
|
| 165 |
+
],
|
| 166 |
+
"q01": [
|
| 167 |
+
-0.39925427198410035,
|
| 168 |
+
-0.01479150664061308,
|
| 169 |
+
0.04549020528793335
|
| 170 |
+
],
|
| 171 |
+
"q99": [
|
| 172 |
+
0.1373039239645003,
|
| 173 |
+
0.08694220095872879,
|
| 174 |
+
0.30582916736602783
|
| 175 |
+
]
|
| 176 |
+
},
|
| 177 |
+
"eef_linvel": {
|
| 178 |
+
"max": [
|
| 179 |
+
0.0675840675830841,
|
| 180 |
+
0.0453341007232666,
|
| 181 |
+
0.0643467903137207
|
| 182 |
+
],
|
| 183 |
+
"min": [
|
| 184 |
+
-0.052973926067352295,
|
| 185 |
+
-0.09219758212566376,
|
| 186 |
+
-0.051190853118896484
|
| 187 |
+
],
|
| 188 |
+
"mean": [
|
| 189 |
+
0.01100813690572977,
|
| 190 |
+
0.0009563973871991038,
|
| 191 |
+
-0.00601474242284894
|
| 192 |
+
],
|
| 193 |
+
"std": [
|
| 194 |
+
0.026193767786026,
|
| 195 |
+
0.006468241568654776,
|
| 196 |
+
0.021736063063144684
|
| 197 |
+
],
|
| 198 |
+
"q01": [
|
| 199 |
+
-0.03261864185333252,
|
| 200 |
+
-0.017778068780899048,
|
| 201 |
+
-0.048515605926513675
|
| 202 |
+
],
|
| 203 |
+
"q99": [
|
| 204 |
+
0.04827313423156738,
|
| 205 |
+
0.020818572342395744,
|
| 206 |
+
0.049285697937011715
|
| 207 |
+
]
|
| 208 |
+
},
|
| 209 |
+
"gripper_left": {
|
| 210 |
+
"max": [
|
| 211 |
+
0.04002973809838295
|
| 212 |
+
],
|
| 213 |
+
"min": [
|
| 214 |
+
0.0010009030811488628
|
| 215 |
+
],
|
| 216 |
+
"mean": [
|
| 217 |
+
0.014652198180556297
|
| 218 |
+
],
|
| 219 |
+
"std": [
|
| 220 |
+
0.016789862886071205
|
| 221 |
+
],
|
| 222 |
+
"q01": [
|
| 223 |
+
0.0017990141548216343
|
| 224 |
+
],
|
| 225 |
+
"q99": [
|
| 226 |
+
0.04000455513596535
|
| 227 |
+
]
|
| 228 |
+
},
|
| 229 |
+
"gripper_right": {
|
| 230 |
+
"max": [
|
| 231 |
+
-0.00040562430513091385
|
| 232 |
+
],
|
| 233 |
+
"min": [
|
| 234 |
+
-0.040001433342695236
|
| 235 |
+
],
|
| 236 |
+
"mean": [
|
| 237 |
+
-0.014187172055244446
|
| 238 |
+
],
|
| 239 |
+
"std": [
|
| 240 |
+
0.016892913728952408
|
| 241 |
+
],
|
| 242 |
+
"q01": [
|
| 243 |
+
-0.03999411568045616
|
| 244 |
+
],
|
| 245 |
+
"q99": [
|
| 246 |
+
-0.0015953061589971185
|
| 247 |
+
]
|
| 248 |
+
},
|
| 249 |
+
"bowl_pos": {
|
| 250 |
+
"max": [
|
| 251 |
+
0.16971853375434875,
|
| 252 |
+
0.08610870689153671,
|
| 253 |
+
0.17719745635986328
|
| 254 |
+
],
|
| 255 |
+
"min": [
|
| 256 |
+
-0.42714840173721313,
|
| 257 |
+
-0.06400266289710999,
|
| 258 |
+
0.020979225635528564
|
| 259 |
+
],
|
| 260 |
+
"mean": [
|
| 261 |
+
-0.23459789156913757,
|
| 262 |
+
0.010207011364400387,
|
| 263 |
+
0.07771805673837662
|
| 264 |
+
],
|
| 265 |
+
"std": [
|
| 266 |
+
0.15573957562446594,
|
| 267 |
+
0.014521659351885319,
|
| 268 |
+
0.04710683226585388
|
| 269 |
+
],
|
| 270 |
+
"q01": [
|
| 271 |
+
-0.39080581307411194,
|
| 272 |
+
-0.014805457182228556,
|
| 273 |
+
0.02229414463043213
|
| 274 |
+
],
|
| 275 |
+
"q99": [
|
| 276 |
+
0.14029802322387694,
|
| 277 |
+
0.049512456506490686,
|
| 278 |
+
0.16815256595611572
|
| 279 |
+
]
|
| 280 |
+
},
|
| 281 |
+
"milk_pos": {
|
| 282 |
+
"max": [
|
| 283 |
+
-0.010001024231314659,
|
| 284 |
+
0.4187243580818176,
|
| 285 |
+
0.09500002861022949
|
| 286 |
+
],
|
| 287 |
+
"min": [
|
| 288 |
+
-0.01925387792289257,
|
| 289 |
+
-0.41998210549354553,
|
| 290 |
+
0.09500002861022949
|
| 291 |
+
],
|
| 292 |
+
"mean": [
|
| 293 |
+
-0.014786407351493835,
|
| 294 |
+
-0.06153606250882149,
|
| 295 |
+
0.09497592598199844
|
| 296 |
+
],
|
| 297 |
+
"std": [
|
| 298 |
+
0.0025995366740971804,
|
| 299 |
+
0.2800779640674591,
|
| 300 |
+
2.410135857644491e-05
|
| 301 |
+
],
|
| 302 |
+
"q01": [
|
| 303 |
+
-0.01925387792289257,
|
| 304 |
+
-0.41481906175613403,
|
| 305 |
+
0.09500002861022949
|
| 306 |
+
],
|
| 307 |
+
"q99": [
|
| 308 |
+
-0.010001024231314659,
|
| 309 |
+
0.40982288122177124,
|
| 310 |
+
0.09500002861022949
|
| 311 |
+
]
|
| 312 |
+
},
|
| 313 |
+
"milk_linvel": {
|
| 314 |
+
"max": [
|
| 315 |
+
0.0,
|
| 316 |
+
0.10471975803375244,
|
| 317 |
+
0.0
|
| 318 |
+
],
|
| 319 |
+
"min": [
|
| 320 |
+
0.0,
|
| 321 |
+
-0.10471975803375244,
|
| 322 |
+
0.0
|
| 323 |
+
],
|
| 324 |
+
"mean": [
|
| 325 |
+
0.0,
|
| 326 |
+
-0.011252602562308311,
|
| 327 |
+
0.0
|
| 328 |
+
],
|
| 329 |
+
"std": [
|
| 330 |
+
0.0,
|
| 331 |
+
0.07235405594110489,
|
| 332 |
+
0.0
|
| 333 |
+
],
|
| 334 |
+
"q01": [
|
| 335 |
+
0.0,
|
| 336 |
+
-0.10468386858701706,
|
| 337 |
+
0.0
|
| 338 |
+
],
|
| 339 |
+
"q99": [
|
| 340 |
+
0.0,
|
| 341 |
+
0.10463902354240417,
|
| 342 |
+
0.0
|
| 343 |
+
]
|
| 344 |
+
},
|
| 345 |
+
"orange_juice_pos": {
|
| 346 |
+
"max": [
|
| 347 |
+
-0.0950525775551796,
|
| 348 |
+
0.41458919644355774,
|
| 349 |
+
0.09500002861022949
|
| 350 |
+
],
|
| 351 |
+
"min": [
|
| 352 |
+
-0.10497740656137466,
|
| 353 |
+
-0.41439181566238403,
|
| 354 |
+
0.09500002861022949
|
| 355 |
+
],
|
| 356 |
+
"mean": [
|
| 357 |
+
-0.10068915039300919,
|
| 358 |
+
0.04155777022242546,
|
| 359 |
+
0.09497592598199844
|
| 360 |
+
],
|
| 361 |
+
"std": [
|
| 362 |
+
0.003001124830916524,
|
| 363 |
+
0.27659207582473755,
|
| 364 |
+
2.410135857644491e-05
|
| 365 |
+
],
|
| 366 |
+
"q01": [
|
| 367 |
+
-0.10497740656137466,
|
| 368 |
+
-0.4076954901218414,
|
| 369 |
+
0.09500002861022949
|
| 370 |
+
],
|
| 371 |
+
"q99": [
|
| 372 |
+
-0.0950525775551796,
|
| 373 |
+
0.4073021411895752,
|
| 374 |
+
0.09500002861022949
|
| 375 |
+
]
|
| 376 |
+
},
|
| 377 |
+
"orange_juice_linvel": {
|
| 378 |
+
"max": [
|
| 379 |
+
0.0,
|
| 380 |
+
0.10471975803375244,
|
| 381 |
+
0.0
|
| 382 |
+
],
|
| 383 |
+
"min": [
|
| 384 |
+
0.0,
|
| 385 |
+
-0.10471975803375244,
|
| 386 |
+
0.0
|
| 387 |
+
],
|
| 388 |
+
"mean": [
|
| 389 |
+
0.0,
|
| 390 |
+
-0.015539431013166904,
|
| 391 |
+
0.0
|
| 392 |
+
],
|
| 393 |
+
"std": [
|
| 394 |
+
0.0,
|
| 395 |
+
0.0732317641377449,
|
| 396 |
+
0.0
|
| 397 |
+
],
|
| 398 |
+
"q01": [
|
| 399 |
+
0.0,
|
| 400 |
+
-0.10468386858701706,
|
| 401 |
+
0.0
|
| 402 |
+
],
|
| 403 |
+
"q99": [
|
| 404 |
+
0.0,
|
| 405 |
+
0.10463902354240417,
|
| 406 |
+
0.0
|
| 407 |
+
]
|
| 408 |
+
},
|
| 409 |
+
"wine_bottle_pos": {
|
| 410 |
+
"max": [
|
| 411 |
+
-0.17520850896835327,
|
| 412 |
+
0.4139479398727417,
|
| 413 |
+
0.09500002861022949
|
| 414 |
+
],
|
| 415 |
+
"min": [
|
| 416 |
+
-0.1849105805158615,
|
| 417 |
+
-0.41390374302864075,
|
| 418 |
+
0.09500002861022949
|
| 419 |
+
],
|
| 420 |
+
"mean": [
|
| 421 |
+
-0.179671049118042,
|
| 422 |
+
0.006499060429632664,
|
| 423 |
+
0.09497592598199844
|
| 424 |
+
],
|
| 425 |
+
"std": [
|
| 426 |
+
0.0029021669179201126,
|
| 427 |
+
0.287096232175827,
|
| 428 |
+
2.410135857644491e-05
|
| 429 |
+
],
|
| 430 |
+
"q01": [
|
| 431 |
+
-0.1849105805158615,
|
| 432 |
+
-0.40526899695396423,
|
| 433 |
+
0.09500002861022949
|
| 434 |
+
],
|
| 435 |
+
"q99": [
|
| 436 |
+
-0.17520850896835327,
|
| 437 |
+
0.4074046313762665,
|
| 438 |
+
0.09500002861022949
|
| 439 |
+
]
|
| 440 |
+
},
|
| 441 |
+
"wine_bottle_linvel": {
|
| 442 |
+
"max": [
|
| 443 |
+
0.0,
|
| 444 |
+
0.07853981852531433,
|
| 445 |
+
0.0
|
| 446 |
+
],
|
| 447 |
+
"min": [
|
| 448 |
+
0.0,
|
| 449 |
+
-0.07853981852531433,
|
| 450 |
+
0.0
|
| 451 |
+
],
|
| 452 |
+
"mean": [
|
| 453 |
+
0.0,
|
| 454 |
+
-0.0020944341085851192,
|
| 455 |
+
0.0
|
| 456 |
+
],
|
| 457 |
+
"std": [
|
| 458 |
+
0.0,
|
| 459 |
+
0.054663270711898804,
|
| 460 |
+
0.0
|
| 461 |
+
],
|
| 462 |
+
"q01": [
|
| 463 |
+
0.0,
|
| 464 |
+
-0.0785057544708252,
|
| 465 |
+
0.0
|
| 466 |
+
],
|
| 467 |
+
"q99": [
|
| 468 |
+
0.0,
|
| 469 |
+
0.07847926765680313,
|
| 470 |
+
0.0
|
| 471 |
+
]
|
| 472 |
+
},
|
| 473 |
+
"timestamp": {
|
| 474 |
+
"max": [
|
| 475 |
+
45.650001525878906
|
| 476 |
+
],
|
| 477 |
+
"min": [
|
| 478 |
+
0.0
|
| 479 |
+
],
|
| 480 |
+
"mean": [
|
| 481 |
+
15.77792739868164
|
| 482 |
+
],
|
| 483 |
+
"std": [
|
| 484 |
+
9.27527904510498
|
| 485 |
+
],
|
| 486 |
+
"q01": [
|
| 487 |
+
0.30000001192092896
|
| 488 |
+
],
|
| 489 |
+
"q99": [
|
| 490 |
+
34.29999923706055
|
| 491 |
+
]
|
| 492 |
+
}
|
| 493 |
+
},
|
| 494 |
+
"action": {
|
| 495 |
+
"x": {
|
| 496 |
+
"max": [
|
| 497 |
+
0.1875
|
| 498 |
+
],
|
| 499 |
+
"min": [
|
| 500 |
+
-0.1875
|
| 501 |
+
],
|
| 502 |
+
"mean": [
|
| 503 |
+
0.0454094335436821
|
| 504 |
+
],
|
| 505 |
+
"std": [
|
| 506 |
+
0.10828886181116104
|
| 507 |
+
],
|
| 508 |
+
"q01": [
|
| 509 |
+
-0.12964285910129547
|
| 510 |
+
],
|
| 511 |
+
"q99": [
|
| 512 |
+
0.1875
|
| 513 |
+
]
|
| 514 |
+
},
|
| 515 |
+
"y": {
|
| 516 |
+
"max": [
|
| 517 |
+
0.11196428537368774
|
| 518 |
+
],
|
| 519 |
+
"min": [
|
| 520 |
+
-0.09375
|
| 521 |
+
],
|
| 522 |
+
"mean": [
|
| 523 |
+
0.0036800075322389603
|
| 524 |
+
],
|
| 525 |
+
"std": [
|
| 526 |
+
0.023335915058851242
|
| 527 |
+
],
|
| 528 |
+
"q01": [
|
| 529 |
+
-0.06964285671710968
|
| 530 |
+
],
|
| 531 |
+
"q99": [
|
| 532 |
+
0.07767856866121292
|
| 533 |
+
]
|
| 534 |
+
},
|
| 535 |
+
"z": {
|
| 536 |
+
"max": [
|
| 537 |
+
0.1875
|
| 538 |
+
],
|
| 539 |
+
"min": [
|
| 540 |
+
-0.1875
|
| 541 |
+
],
|
| 542 |
+
"mean": [
|
| 543 |
+
-0.020797599107027054
|
| 544 |
+
],
|
| 545 |
+
"std": [
|
| 546 |
+
0.08572448790073395
|
| 547 |
+
],
|
| 548 |
+
"q01": [
|
| 549 |
+
-0.1875
|
| 550 |
+
],
|
| 551 |
+
"q99": [
|
| 552 |
+
0.1875
|
| 553 |
+
]
|
| 554 |
+
},
|
| 555 |
+
"roll": {
|
| 556 |
+
"max": [
|
| 557 |
+
0.032999999821186066
|
| 558 |
+
],
|
| 559 |
+
"min": [
|
| 560 |
+
-0.033642858266830444
|
| 561 |
+
],
|
| 562 |
+
"mean": [
|
| 563 |
+
0.0006370862247422338
|
| 564 |
+
],
|
| 565 |
+
"std": [
|
| 566 |
+
0.0055356635712087154
|
| 567 |
+
],
|
| 568 |
+
"q01": [
|
| 569 |
+
-0.018420000076293942
|
| 570 |
+
],
|
| 571 |
+
"q99": [
|
| 572 |
+
0.015857143327593803
|
| 573 |
+
]
|
| 574 |
+
},
|
| 575 |
+
"pitch": {
|
| 576 |
+
"max": [
|
| 577 |
+
0.054428569972515106
|
| 578 |
+
],
|
| 579 |
+
"min": [
|
| 580 |
+
-0.051428571343421936
|
| 581 |
+
],
|
| 582 |
+
"mean": [
|
| 583 |
+
0.0004924584645777941
|
| 584 |
+
],
|
| 585 |
+
"std": [
|
| 586 |
+
0.005849131383001804
|
| 587 |
+
],
|
| 588 |
+
"q01": [
|
| 589 |
+
-0.016499999910593033
|
| 590 |
+
],
|
| 591 |
+
"q99": [
|
| 592 |
+
0.020571429282426834
|
| 593 |
+
]
|
| 594 |
+
},
|
| 595 |
+
"yaw": {
|
| 596 |
+
"max": [
|
| 597 |
+
0.019285714253783226
|
| 598 |
+
],
|
| 599 |
+
"min": [
|
| 600 |
+
-0.030857142060995102
|
| 601 |
+
],
|
| 602 |
+
"mean": [
|
| 603 |
+
-0.0009668355924077332
|
| 604 |
+
],
|
| 605 |
+
"std": [
|
| 606 |
+
0.004951929673552513
|
| 607 |
+
],
|
| 608 |
+
"q01": [
|
| 609 |
+
-0.02078571356832981
|
| 610 |
+
],
|
| 611 |
+
"q99": [
|
| 612 |
+
0.00985714327543974
|
| 613 |
+
]
|
| 614 |
+
},
|
| 615 |
+
"gripper": {
|
| 616 |
+
"max": [
|
| 617 |
+
1.0
|
| 618 |
+
],
|
| 619 |
+
"min": [
|
| 620 |
+
-1.0
|
| 621 |
+
],
|
| 622 |
+
"mean": [
|
| 623 |
+
0.3682534694671631
|
| 624 |
+
],
|
| 625 |
+
"std": [
|
| 626 |
+
0.9297012090682983
|
| 627 |
+
],
|
| 628 |
+
"q01": [
|
| 629 |
+
-1.0
|
| 630 |
+
],
|
| 631 |
+
"q99": [
|
| 632 |
+
1.0
|
| 633 |
+
]
|
| 634 |
+
}
|
| 635 |
+
}
|
| 636 |
+
},
|
| 637 |
+
"modalities": {
|
| 638 |
+
"video": {
|
| 639 |
+
"image": {
|
| 640 |
+
"resolution": [
|
| 641 |
+
512,
|
| 642 |
+
512
|
| 643 |
+
],
|
| 644 |
+
"channels": 3,
|
| 645 |
+
"fps": 20.0
|
| 646 |
+
},
|
| 647 |
+
"wrist_image": {
|
| 648 |
+
"resolution": [
|
| 649 |
+
512,
|
| 650 |
+
512
|
| 651 |
+
],
|
| 652 |
+
"channels": 3,
|
| 653 |
+
"fps": 20.0
|
| 654 |
+
}
|
| 655 |
+
},
|
| 656 |
+
"state": {
|
| 657 |
+
"joint_0": {
|
| 658 |
+
"absolute": true,
|
| 659 |
+
"rotation_type": null,
|
| 660 |
+
"shape": [
|
| 661 |
+
1
|
| 662 |
+
],
|
| 663 |
+
"continuous": true
|
| 664 |
+
},
|
| 665 |
+
"joint_1": {
|
| 666 |
+
"absolute": true,
|
| 667 |
+
"rotation_type": null,
|
| 668 |
+
"shape": [
|
| 669 |
+
1
|
| 670 |
+
],
|
| 671 |
+
"continuous": true
|
| 672 |
+
},
|
| 673 |
+
"joint_2": {
|
| 674 |
+
"absolute": true,
|
| 675 |
+
"rotation_type": null,
|
| 676 |
+
"shape": [
|
| 677 |
+
1
|
| 678 |
+
],
|
| 679 |
+
"continuous": true
|
| 680 |
+
},
|
| 681 |
+
"joint_3": {
|
| 682 |
+
"absolute": true,
|
| 683 |
+
"rotation_type": null,
|
| 684 |
+
"shape": [
|
| 685 |
+
1
|
| 686 |
+
],
|
| 687 |
+
"continuous": true
|
| 688 |
+
},
|
| 689 |
+
"joint_4": {
|
| 690 |
+
"absolute": true,
|
| 691 |
+
"rotation_type": null,
|
| 692 |
+
"shape": [
|
| 693 |
+
1
|
| 694 |
+
],
|
| 695 |
+
"continuous": true
|
| 696 |
+
},
|
| 697 |
+
"joint_5": {
|
| 698 |
+
"absolute": true,
|
| 699 |
+
"rotation_type": null,
|
| 700 |
+
"shape": [
|
| 701 |
+
1
|
| 702 |
+
],
|
| 703 |
+
"continuous": true
|
| 704 |
+
},
|
| 705 |
+
"joint_6": {
|
| 706 |
+
"absolute": true,
|
| 707 |
+
"rotation_type": null,
|
| 708 |
+
"shape": [
|
| 709 |
+
1
|
| 710 |
+
],
|
| 711 |
+
"continuous": true
|
| 712 |
+
},
|
| 713 |
+
"eef_pos": {
|
| 714 |
+
"absolute": true,
|
| 715 |
+
"rotation_type": null,
|
| 716 |
+
"shape": [
|
| 717 |
+
3
|
| 718 |
+
],
|
| 719 |
+
"continuous": true
|
| 720 |
+
},
|
| 721 |
+
"eef_linvel": {
|
| 722 |
+
"absolute": false,
|
| 723 |
+
"rotation_type": null,
|
| 724 |
+
"shape": [
|
| 725 |
+
3
|
| 726 |
+
],
|
| 727 |
+
"continuous": true
|
| 728 |
+
},
|
| 729 |
+
"gripper_left": {
|
| 730 |
+
"absolute": true,
|
| 731 |
+
"rotation_type": null,
|
| 732 |
+
"shape": [
|
| 733 |
+
1
|
| 734 |
+
],
|
| 735 |
+
"continuous": true
|
| 736 |
+
},
|
| 737 |
+
"gripper_right": {
|
| 738 |
+
"absolute": true,
|
| 739 |
+
"rotation_type": null,
|
| 740 |
+
"shape": [
|
| 741 |
+
1
|
| 742 |
+
],
|
| 743 |
+
"continuous": true
|
| 744 |
+
},
|
| 745 |
+
"bowl_pos": {
|
| 746 |
+
"absolute": true,
|
| 747 |
+
"rotation_type": null,
|
| 748 |
+
"shape": [
|
| 749 |
+
3
|
| 750 |
+
],
|
| 751 |
+
"continuous": true
|
| 752 |
+
},
|
| 753 |
+
"milk_pos": {
|
| 754 |
+
"absolute": true,
|
| 755 |
+
"rotation_type": null,
|
| 756 |
+
"shape": [
|
| 757 |
+
3
|
| 758 |
+
],
|
| 759 |
+
"continuous": true
|
| 760 |
+
},
|
| 761 |
+
"milk_linvel": {
|
| 762 |
+
"absolute": false,
|
| 763 |
+
"rotation_type": null,
|
| 764 |
+
"shape": [
|
| 765 |
+
3
|
| 766 |
+
],
|
| 767 |
+
"continuous": true
|
| 768 |
+
},
|
| 769 |
+
"orange_juice_pos": {
|
| 770 |
+
"absolute": true,
|
| 771 |
+
"rotation_type": null,
|
| 772 |
+
"shape": [
|
| 773 |
+
3
|
| 774 |
+
],
|
| 775 |
+
"continuous": true
|
| 776 |
+
},
|
| 777 |
+
"orange_juice_linvel": {
|
| 778 |
+
"absolute": false,
|
| 779 |
+
"rotation_type": null,
|
| 780 |
+
"shape": [
|
| 781 |
+
3
|
| 782 |
+
],
|
| 783 |
+
"continuous": true
|
| 784 |
+
},
|
| 785 |
+
"wine_bottle_pos": {
|
| 786 |
+
"absolute": true,
|
| 787 |
+
"rotation_type": null,
|
| 788 |
+
"shape": [
|
| 789 |
+
3
|
| 790 |
+
],
|
| 791 |
+
"continuous": true
|
| 792 |
+
},
|
| 793 |
+
"wine_bottle_linvel": {
|
| 794 |
+
"absolute": false,
|
| 795 |
+
"rotation_type": null,
|
| 796 |
+
"shape": [
|
| 797 |
+
3
|
| 798 |
+
],
|
| 799 |
+
"continuous": true
|
| 800 |
+
},
|
| 801 |
+
"timestamp": {
|
| 802 |
+
"absolute": true,
|
| 803 |
+
"rotation_type": null,
|
| 804 |
+
"shape": [
|
| 805 |
+
1
|
| 806 |
+
],
|
| 807 |
+
"continuous": true
|
| 808 |
+
}
|
| 809 |
+
},
|
| 810 |
+
"action": {
|
| 811 |
+
"x": {
|
| 812 |
+
"absolute": false,
|
| 813 |
+
"rotation_type": null,
|
| 814 |
+
"shape": [
|
| 815 |
+
1
|
| 816 |
+
],
|
| 817 |
+
"continuous": true
|
| 818 |
+
},
|
| 819 |
+
"y": {
|
| 820 |
+
"absolute": false,
|
| 821 |
+
"rotation_type": null,
|
| 822 |
+
"shape": [
|
| 823 |
+
1
|
| 824 |
+
],
|
| 825 |
+
"continuous": true
|
| 826 |
+
},
|
| 827 |
+
"z": {
|
| 828 |
+
"absolute": false,
|
| 829 |
+
"rotation_type": null,
|
| 830 |
+
"shape": [
|
| 831 |
+
1
|
| 832 |
+
],
|
| 833 |
+
"continuous": true
|
| 834 |
+
},
|
| 835 |
+
"roll": {
|
| 836 |
+
"absolute": false,
|
| 837 |
+
"rotation_type": null,
|
| 838 |
+
"shape": [
|
| 839 |
+
1
|
| 840 |
+
],
|
| 841 |
+
"continuous": true
|
| 842 |
+
},
|
| 843 |
+
"pitch": {
|
| 844 |
+
"absolute": false,
|
| 845 |
+
"rotation_type": null,
|
| 846 |
+
"shape": [
|
| 847 |
+
1
|
| 848 |
+
],
|
| 849 |
+
"continuous": true
|
| 850 |
+
},
|
| 851 |
+
"yaw": {
|
| 852 |
+
"absolute": false,
|
| 853 |
+
"rotation_type": null,
|
| 854 |
+
"shape": [
|
| 855 |
+
1
|
| 856 |
+
],
|
| 857 |
+
"continuous": true
|
| 858 |
+
},
|
| 859 |
+
"gripper": {
|
| 860 |
+
"absolute": false,
|
| 861 |
+
"rotation_type": null,
|
| 862 |
+
"shape": [
|
| 863 |
+
1
|
| 864 |
+
],
|
| 865 |
+
"continuous": true
|
| 866 |
+
}
|
| 867 |
+
}
|
| 868 |
+
},
|
| 869 |
+
"embodiment_tag": "new_embodiment"
|
| 870 |
+
}
|
| 871 |
+
}
|
model-00001-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8fce101353eb85cbaa37078b3935c357fba72de2a07b91d7baa35dcacecc4d0c
|
| 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:b492abddbbb90ab33078856900e0cf5b2b47d8f91a74ff311775f18649ad54f3
|
| 3 |
+
size 2599313540
|
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 sha256:9021a5f7f558de65930dc59950f55af29e1e1159cc7943ef85e49b060d29f048
|
| 3 |
+
size 8575938362
|
rng_state_0.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:854190befd7127d3ab1d97b0ff3d3973e6341af8cc8e47e68267e8372ea71269
|
| 3 |
+
size 15984
|
rng_state_1.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3a6e90eb0f3294eecd4dfce961dfcb7965b12ccf7a870e7b4e020c6790862c47
|
| 3 |
+
size 15984
|
rng_state_2.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:002448639919dd920fdb9621ac0c090edde4fc23a811ab797f0f073b03f2c669
|
| 3 |
+
size 15984
|
rng_state_3.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4a39e49b62905753f7d2877480d27003d0058ab1415b9f09b0e98a53574ee2b9
|
| 3 |
+
size 15984
|
rng_state_4.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e05b31e1263e6cec055ec49b103147e116df932565f00387d0d8cb3d3713f0d2
|
| 3 |
+
size 15984
|
rng_state_5.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9472c057cc05c29247b2b019f530f8f9479ce9439d0486b7d7f558ebaf0019d7
|
| 3 |
+
size 15984
|
rng_state_6.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a5bd3b30213db3a9ee0c0892b1115968279ff871b85aed7f1d65077aba11d35f
|
| 3 |
+
size 15984
|
rng_state_7.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e23ca0b153b02cb5a9999fd67a1f4aced5158bdfd30c6216b472b0a51e0c4497
|
| 3 |
+
size 15984
|
scheduler.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:96dedd731c018af5121e5a6273b315a5ea44ce825ed023675cb4a9716b4911be
|
| 3 |
+
size 1064
|
trainer_state.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|