Hugging Face's logo

qjuu
/
baseline_2D_move_15000

Safetensors
gr00t_n1_5
Model card Files
xet
 Community
qjuu commited on
Commit
73d3a37
·
verified ·
1 Parent(s): db87d3f

Upload folder using huggingface_hub

Browse files
Files changed (10) hide show
  1. config.json +64 -0
  2. experiment_cfg/metadata.json +871 -0
  3. model-00001-of-00002.safetensors +3 -0
  4. model-00002-of-00002.safetensors +3 -0
  5. model.safetensors.index.json +0 -0
  6. optimizer.pt +3 -0
  7. rng_state_0.pth +3 -0
  8. rng_state_1.pth +3 -0
  9. scheduler.pt +3 -0
  10. 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
+ 0.6496310234069824
8
+ ],
9
+ "min": [
10
+ -0.9639767408370972
11
+ ],
12
+ "mean": [
13
+ 0.044483911246061325
14
+ ],
15
+ "std": [
16
+ 0.0999426618218422
17
+ ],
18
+ "q01": [
19
+ -0.27526046097278595
20
+ ],
21
+ "q99": [
22
+ 0.327517292499542
23
+ ]
24
+ },
25
+ "joint_1": {
26
+ "max": [
27
+ 1.46053946018219
28
+ ],
29
+ "min": [
30
+ -0.9136478900909424
31
+ ],
32
+ "mean": [
33
+ 0.16886961460113525
34
+ ],
35
+ "std": [
36
+ 0.38491103053092957
37
+ ],
38
+ "q01": [
39
+ -0.4024548316001892
40
+ ],
41
+ "q99": [
42
+ 1.2657493710517878
43
+ ]
44
+ },
45
+ "joint_2": {
46
+ "max": [
47
+ 2.105637788772583
48
+ ],
49
+ "min": [
50
+ -0.4700113534927368
51
+ ],
52
+ "mean": [
53
+ 0.07717041671276093
54
+ ],
55
+ "std": [
56
+ 0.15786513686180115
57
+ ],
58
+ "q01": [
59
+ -0.16532911211252213
60
+ ],
61
+ "q99": [
62
+ 0.5408600354194619
63
+ ]
64
+ },
65
+ "joint_3": {
66
+ "max": [
67
+ -0.2700682580471039
68
+ ],
69
+ "min": [
70
+ -3.074201822280884
71
+ ],
72
+ "mean": [
73
+ -2.436213970184326
74
+ ],
75
+ "std": [
76
+ 0.582148551940918
77
+ ],
78
+ "q01": [
79
+ -3.0718610286712646
80
+ ],
81
+ "q99": [
82
+ -0.627995743751526
83
+ ]
84
+ },
85
+ "joint_4": {
86
+ "max": [
87
+ 2.0389418601989746
88
+ ],
89
+ "min": [
90
+ -1.960195779800415
91
+ ],
92
+ "mean": [
93
+ -0.02451225370168686
94
+ ],
95
+ "std": [
96
+ 0.24123579263687134
97
+ ],
98
+ "q01": [
99
+ -0.9198153495788575
100
+ ],
101
+ "q99": [
102
+ 0.7561260616779311
103
+ ]
104
+ },
105
+ "joint_5": {
106
+ "max": [
107
+ 3.4974782466888428
108
+ ],
109
+ "min": [
110
+ 1.61121666431427
111
+ ],
112
+ "mean": [
113
+ 2.551957368850708
114
+ ],
115
+ "std": [
116
+ 0.34135088324546814
117
+ ],
118
+ "q01": [
119
+ 1.77849449634552
120
+ ],
121
+ "q99": [
122
+ 3.2866127777099603
123
+ ]
124
+ },
125
+ "joint_6": {
126
+ "max": [
127
+ 2.899745464324951
128
+ ],
129
+ "min": [
130
+ -0.2936801314353943
131
+ ],
132
+ "mean": [
133
+ 1.0600395202636719
134
+ ],
135
+ "std": [
136
+ 0.2328496277332306
137
+ ],
138
+ "q01": [
139
+ 0.6224150049686432
140
+ ],
141
+ "q99": [
142
+ 1.9790556406974793
143
+ ]
144
+ },
145
+ "eef_pos": {
146
+ "max": [
147
+ 0.16063369810581207,
148
+ 0.1120935007929802,
149
+ 0.32785332202911377
150
+ ],
151
+ "min": [
152
+ -0.4327600598335266,
153
+ -0.028196997940540314,
154
+ 0.038329899311065674
155
+ ],
156
+ "mean": [
157
+ -0.21095393598079681,
158
+ 0.04682313650846481,
159
+ 0.16528759896755219
160
+ ],
161
+ "std": [
162
+ 0.1461770236492157,
163
+ 0.022211413830518723,
164
+ 0.05843420326709747
165
+ ],
166
+ "q01": [
167
+ -0.38355196475982667,
168
+ -0.015252279452979562,
169
+ 0.046481488943099974
170
+ ],
171
+ "q99": [
172
+ 0.13432366728782646,
173
+ 0.10243941023945809,
174
+ 0.3027388620376587
175
+ ]
176
+ },
177
+ "eef_linvel": {
178
+ "max": [
179
+ 0.09864926338195801,
180
+ 0.06450794637203217,
181
+ 0.07083892822265625
182
+ ],
183
+ "min": [
184
+ -0.05875825881958008,
185
+ -0.04628092050552368,
186
+ -0.05145072937011719
187
+ ],
188
+ "mean": [
189
+ 0.010996667668223381,
190
+ 0.0009765780996531248,
191
+ -0.00547137763351202
192
+ ],
193
+ "std": [
194
+ 0.02571495622396469,
195
+ 0.006708216853439808,
196
+ 0.022701753303408623
197
+ ],
198
+ "q01": [
199
+ -0.036904150247573854,
200
+ -0.017179235816001892,
201
+ -0.04889788627624512
202
+ ],
203
+ "q99": [
204
+ 0.04785123996436595,
205
+ 0.02088476270437239,
206
+ 0.04927043914794921
207
+ ]
208
+ },
209
+ "gripper_left": {
210
+ "max": [
211
+ 0.04008983075618744
212
+ ],
213
+ "min": [
214
+ 0.00045902267447672784
215
+ ],
216
+ "mean": [
217
+ 0.013197304680943489
218
+ ],
219
+ "std": [
220
+ 0.016471130773425102
221
+ ],
222
+ "q01": [
223
+ 0.0016907924902625382
224
+ ],
225
+ "q99": [
226
+ 0.04000069297850132
227
+ ]
228
+ },
229
+ "gripper_right": {
230
+ "max": [
231
+ -0.0005403065006248653
232
+ ],
233
+ "min": [
234
+ -0.04001044109463692
235
+ ],
236
+ "mean": [
237
+ -0.013219043612480164
238
+ ],
239
+ "std": [
240
+ 0.016436180099844933
241
+ ],
242
+ "q01": [
243
+ -0.040001820772886276
244
+ ],
245
+ "q99": [
246
+ -0.001704727392643691
247
+ ]
248
+ },
249
+ "bowl_pos": {
250
+ "max": [
251
+ 0.1522165983915329,
252
+ 0.07604153454303741,
253
+ 0.2128540277481079
254
+ ],
255
+ "min": [
256
+ -0.4134359061717987,
257
+ -0.039548609405756,
258
+ 0.020281612873077393
259
+ ],
260
+ "mean": [
261
+ -0.22692149877548218,
262
+ 0.010305493138730526,
263
+ 0.0911320224404335
264
+ ],
265
+ "std": [
266
+ 0.15081828832626343,
267
+ 0.016746968030929565,
268
+ 0.05442032217979431
269
+ ],
270
+ "q01": [
271
+ -0.37607612550258634,
272
+ -0.025032046549022198,
273
+ 0.02320090889930725
274
+ ],
275
+ "q99": [
276
+ 0.13112756609916687,
277
+ 0.06321234792470924,
278
+ 0.19314260721206664
279
+ ]
280
+ },
281
+ "milk_pos": {
282
+ "max": [
283
+ -0.010009066201746464,
284
+ 0.4192114770412445,
285
+ 0.09500002861022949
286
+ ],
287
+ "min": [
288
+ -0.01950969733297825,
289
+ -0.41829827427864075,
290
+ 0.09500002861022949
291
+ ],
292
+ "mean": [
293
+ -0.01411496102809906,
294
+ -0.058095648884773254,
295
+ 0.09497591853141785
296
+ ],
297
+ "std": [
298
+ 0.002790626836940646,
299
+ 0.2798943519592285,
300
+ 2.411128480162006e-05
301
+ ],
302
+ "q01": [
303
+ -0.01950969733297825,
304
+ -0.4112951457500458,
305
+ 0.09500002861022949
306
+ ],
307
+ "q99": [
308
+ -0.010009066201746464,
309
+ 0.410428637266159,
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
+ -0.011083114892244339,
327
+ 0.0
328
+ ],
329
+ "std": [
330
+ 0.0,
331
+ 0.07238487154245377,
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
+ -0.09504546970129013,
348
+ 0.41434475779533386,
349
+ 0.09500002861022949
350
+ ],
351
+ "min": [
352
+ -0.10446638613939285,
353
+ -0.4148590862751007,
354
+ 0.09500002861022949
355
+ ],
356
+ "mean": [
357
+ -0.09911934286355972,
358
+ 0.04378765821456909,
359
+ 0.09497591853141785
360
+ ],
361
+ "std": [
362
+ 0.002814270555973053,
363
+ 0.2765709161758423,
364
+ 2.411128480162006e-05
365
+ ],
366
+ "q01": [
367
+ -0.10446638613939285,
368
+ -0.40407559275627136,
369
+ 0.09500002861022949
370
+ ],
371
+ "q99": [
372
+ -0.09504546970129013,
373
+ 0.4086388868093489,
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
+ -0.015507765114307404,
391
+ 0.0
392
+ ],
393
+ "std": [
394
+ 0.0,
395
+ 0.07323553413152695,
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
+ -0.17501655220985413,
412
+ 0.41403481364250183,
413
+ 0.09500002861022949
414
+ ],
415
+ "min": [
416
+ -0.1848653256893158,
417
+ -0.4149322509765625,
418
+ 0.09500002861022949
419
+ ],
420
+ "mean": [
421
+ -0.17945563793182373,
422
+ 0.006365460343658924,
423
+ 0.09497591853141785
424
+ ],
425
+ "std": [
426
+ 0.0028879365418106318,
427
+ 0.2874157726764679,
428
+ 2.411128480162006e-05
429
+ ],
430
+ "q01": [
431
+ -0.1848653256893158,
432
+ -0.40775492787361145,
433
+ 0.09500002861022949
434
+ ],
435
+ "q99": [
436
+ -0.17501655220985413,
437
+ 0.4064154982566833,
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
+ -0.0019704720471054316,
455
+ 0.0
456
+ ],
457
+ "std": [
458
+ 0.0,
459
+ 0.05463440343737602,
460
+ 0.0
461
+ ],
462
+ "q01": [
463
+ 0.0,
464
+ -0.0785057544708252,
465
+ 0.0
466
+ ],
467
+ "q99": [
468
+ 0.0,
469
+ 0.07844521105289459,
470
+ 0.0
471
+ ]
472
+ },
473
+ "timestamp": {
474
+ "max": [
475
+ 45.04999923706055
476
+ ],
477
+ "min": [
478
+ 0.0
479
+ ],
480
+ "mean": [
481
+ 15.81752872467041
482
+ ],
483
+ "std": [
484
+ 9.303466796875
485
+ ],
486
+ "q01": [
487
+ 0.30000001192092896
488
+ ],
489
+ "q99": [
490
+ 35.25
491
+ ]
492
+ }
493
+ },
494
+ "action": {
495
+ "x": {
496
+ "max": [
497
+ 0.1875
498
+ ],
499
+ "min": [
500
+ -0.1875
501
+ ],
502
+ "mean": [
503
+ 0.04847446829080582
504
+ ],
505
+ "std": [
506
+ 0.10485203564167023
507
+ ],
508
+ "q01": [
509
+ -0.14678572118282318
510
+ ],
511
+ "q99": [
512
+ 0.1875
513
+ ]
514
+ },
515
+ "y": {
516
+ "max": [
517
+ 0.13232143223285675
518
+ ],
519
+ "min": [
520
+ -0.1473214328289032
521
+ ],
522
+ "mean": [
523
+ 0.00470120832324028
524
+ ],
525
+ "std": [
526
+ 0.025029664859175682
527
+ ],
528
+ "q01": [
529
+ -0.06535714119672775
530
+ ],
531
+ "q99": [
532
+ 0.0771428570151329
533
+ ]
534
+ },
535
+ "z": {
536
+ "max": [
537
+ 0.1875
538
+ ],
539
+ "min": [
540
+ -0.1875
541
+ ],
542
+ "mean": [
543
+ -0.01601315103471279
544
+ ],
545
+ "std": [
546
+ 0.09021250903606415
547
+ ],
548
+ "q01": [
549
+ -0.1875
550
+ ],
551
+ "q99": [
552
+ 0.1875
553
+ ]
554
+ },
555
+ "roll": {
556
+ "max": [
557
+ 0.036642856895923615
558
+ ],
559
+ "min": [
560
+ -0.03342857211828232
561
+ ],
562
+ "mean": [
563
+ -0.001277485047467053
564
+ ],
565
+ "std": [
566
+ 0.004471344407647848
567
+ ],
568
+ "q01": [
569
+ -0.014999999664723873
570
+ ],
571
+ "q99": [
572
+ 0.014142856933176517
573
+ ]
574
+ },
575
+ "pitch": {
576
+ "max": [
577
+ 0.056785713881254196
578
+ ],
579
+ "min": [
580
+ -0.07371428608894348
581
+ ],
582
+ "mean": [
583
+ 0.0020951181650161743
584
+ ],
585
+ "std": [
586
+ 0.008444244042038918
587
+ ],
588
+ "q01": [
589
+ -0.01671428605914116
590
+ ],
591
+ "q99": [
592
+ 0.030642857775092125
593
+ ]
594
+ },
595
+ "yaw": {
596
+ "max": [
597
+ 0.07500000298023224
598
+ ],
599
+ "min": [
600
+ -0.05249999836087227
601
+ ],
602
+ "mean": [
603
+ -0.0031855348497629166
604
+ ],
605
+ "std": [
606
+ 0.00761361513286829
607
+ ],
608
+ "q01": [
609
+ -0.024214286357164383
610
+ ],
611
+ "q99": [
612
+ 0.02207142859697342
613
+ ]
614
+ },
615
+ "gripper": {
616
+ "max": [
617
+ 1.0
618
+ ],
619
+ "min": [
620
+ -1.0
621
+ ],
622
+ "mean": [
623
+ 0.42169976234436035
624
+ ],
625
+ "std": [
626
+ 0.9066391587257385
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 sha256:03846a1c1962f46662cd8dd837d0d5af393c28d1b80cc51340223ba53a456593
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:d9921749a1f904c206ac75f74dd0a4c0af1853916116298d7a17a3d28e9f2ff1
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 sha256:0a1f9f7edc6a73a305e53e024d64aade28f23387b27b625df5381f4077ea549a
3
+ size 8550720062
rng_state_0.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:46adc810612617317eed5df8ba28b8f8b760248d9e2d42e55c633bb312c6bac8
3
+ size 15984
rng_state_1.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8eba3be52a19a5dccf52194c0d409b33e6e94bd2973d09b24188f761696bcb22
3
+ size 15984
scheduler.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:adf5bf452761c234e3daa85a999070bcf12b7ea957b65555b14a80fc069fa45d
3
+ size 1064
trainer_state.json ADDED
The diff for this file is too large to render. See raw diff