mwrochna commited on Dec 19, 2025

Commit

f0f8dd7

verified ·

1 Parent(s): 76e9a51

Add files using upload-large-folder tool

Browse files

Files changed (50) hide show

cs_shelf_and_basic_2/10000/_CHECKPOINT_METADATA +1 -0
cs_shelf_and_basic_2/10000/assets/ur10e/norm_stats.json +113 -0
cs_shelf_and_basic_2/10000/params/_METADATA +1 -0
cs_shelf_and_basic_2/10000/params/_sharding +1 -0
cs_shelf_and_basic_2/10000/params/array_metadatas/process_0 +1 -0
cs_shelf_and_basic_2/10000/params/d/4ac660070a5553a60c482d61309b6b9d +0 -0
cs_shelf_and_basic_2/10000/params/manifest.ocdbt +0 -0
cs_shelf_and_basic_2/10000/params/ocdbt.process_0/d/2dd5f922f797f66bc222b1f8ea2b0ad4 +0 -0
cs_shelf_and_basic_2/10000/params/ocdbt.process_0/d/35f2ad4928c19bc8bccc1af9b053307b +0 -0
cs_shelf_and_basic_2/10000/params/ocdbt.process_0/d/6d9351e2b8de4b2cdd45ee53de56b429 +0 -0
cs_shelf_and_basic_2/10000/params/ocdbt.process_0/manifest.ocdbt +0 -0
cs_shelf_and_basic_2/15000/_CHECKPOINT_METADATA +1 -0
cs_shelf_and_basic_2/15000/assets/ur10e/norm_stats.json +113 -0
cs_shelf_and_basic_2/15000/params/_METADATA +1 -0
cs_shelf_and_basic_2/15000/params/_sharding +1 -0
cs_shelf_and_basic_2/15000/params/array_metadatas/process_0 +1 -0
cs_shelf_and_basic_2/15000/params/d/e1f70d7d94d88e1d68eed02cf4615b9a +0 -0
cs_shelf_and_basic_2/15000/params/manifest.ocdbt +0 -0
cs_shelf_and_basic_2/15000/params/ocdbt.process_0/d/3dd1e648c155372d1920956753b1a738 +0 -0
cs_shelf_and_basic_2/15000/params/ocdbt.process_0/d/44525700981dbf418ac8e97e8cdae030 +0 -0
cs_shelf_and_basic_2/15000/params/ocdbt.process_0/d/522c37dfd035c21ed8deb7a4f4602e61 +0 -0
cs_shelf_and_basic_2/15000/params/ocdbt.process_0/d/5d60b01412b6f762c274d6a5c20dfe4e +0 -0
cs_shelf_and_basic_2/15000/params/ocdbt.process_0/d/b5b04edb4dbd067c3952f36a1e08db34 +0 -0
cs_shelf_and_basic_2/15000/params/ocdbt.process_0/d/bb7ed451875d8fb7ed423d7db281c502 +0 -0
cs_shelf_and_basic_2/15000/params/ocdbt.process_0/manifest.ocdbt +0 -0
cs_shelf_and_basic_2/20000/_CHECKPOINT_METADATA +1 -0
cs_shelf_and_basic_2/20000/assets/ur10e/norm_stats.json +113 -0
cs_shelf_and_basic_2/20000/params/_METADATA +1 -0
cs_shelf_and_basic_2/20000/params/_sharding +1 -0
cs_shelf_and_basic_2/20000/params/array_metadatas/process_0 +1 -0
cs_shelf_and_basic_2/20000/params/d/f295324b1ca16575932489f03fcd1dc6 +0 -0
cs_shelf_and_basic_2/20000/params/manifest.ocdbt +0 -0
cs_shelf_and_basic_2/20000/params/ocdbt.process_0/d/2e0160668ed659d2cb0958574ceb1910 +0 -0
cs_shelf_and_basic_2/20000/params/ocdbt.process_0/d/3d6974341a939820a2e8f83688b38934 +0 -0
cs_shelf_and_basic_2/20000/params/ocdbt.process_0/d/7e9df99ba5a4a84b8c0f7f622fb102f7 +0 -0
cs_shelf_and_basic_2/20000/params/ocdbt.process_0/manifest.ocdbt +0 -0
cs_shelf_and_basic_2/25000/_CHECKPOINT_METADATA +1 -0
cs_shelf_and_basic_2/5000/_CHECKPOINT_METADATA +1 -0
cs_shelf_and_basic_2/5000/assets/ur10e/norm_stats.json +113 -0
cs_shelf_and_basic_2/5000/params/_METADATA +1 -0
cs_shelf_and_basic_2/5000/params/_sharding +1 -0
cs_shelf_and_basic_2/5000/params/array_metadatas/process_0 +1 -0
cs_shelf_and_basic_2/5000/params/d/5d4dd2a40a70318fcf88d4455320bb0b +0 -0
cs_shelf_and_basic_2/5000/params/manifest.ocdbt +0 -0
cs_shelf_and_basic_2/5000/params/ocdbt.process_0/d/252fa5f976fb8f7749dbcb480637d3e2 +0 -0
cs_shelf_and_basic_2/5000/params/ocdbt.process_0/d/45dc763547a918d88c2c45339d51713f +0 -0
cs_shelf_and_basic_2/5000/params/ocdbt.process_0/d/f270d65c47cd828a96282c92c9631f60 +0 -0
cs_shelf_and_basic_2/5000/params/ocdbt.process_0/manifest.ocdbt +0 -0
cs_shelf_and_basic_2/config.yaml +92 -0
cs_shelf_and_basic_2/wandb_id.txt +1 -0

cs_shelf_and_basic_2/10000/_CHECKPOINT_METADATA ADDED Viewed

	@@ -0,0 +1 @@

+ {"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1766116251710340734, "commit_timestamp_nsecs": 1766116269745384254, "custom_metadata": {}}

cs_shelf_and_basic_2/10000/assets/ur10e/norm_stats.json ADDED Viewed

	@@ -0,0 +1,113 @@

+{
+  "norm_stats": {
+    "state": {
+      "mean": [
+        -0.07363896071910858,
+        -0.16497643291950226,
+        0.1947053223848343,
+        -0.4824243485927582,
+        0.07661060988903046,
+        0.020979318767786026,
+        0.4622369408607483
+      ],
+      "std": [
+        0.11944248527288437,
+        0.2025320827960968,
+        0.1455695778131485,
+        0.4145313799381256,
+        0.08471263945102692,
+        0.25056466460227966,
+        0.10814355313777924
+      ],
+      "q01": [
+        -0.3341048142433166,
+        -0.5102546817064285,
+        0.01362518325820565,
+        -1.2644055027008057,
+        -0.10144500529766082,
+        -0.6095906002640724,
+        0.011674506783485413
+      ],
+      "q99": [
+        0.2446815233707429,
+        0.40457215094566346,
+        0.532319462761283,
+        0.06221635551452631,
+        0.2804281365156174,
+        0.6368279955506324,
+        0.5882155340909958
+      ]
+    },
+    "actions": {
+      "mean": [
+        0.000024478056730004027,
+        9.871138900052756e-6,
+        0.000026335921575082466,
+        -4.9664245125313755e-6,
+        -0.000024093347747111693,
+        -0.00005328301267581992,
+        0.5086910724639893
+      ],
+      "std": [
+        0.0010299290297552943,
+        0.0023689595982432365,
+        0.0018175969598814845,
+        0.0019493942381814122,
+        0.0024430002085864544,
+        0.0023372559808194637,
+        0.14687803387641907
+      ],
+      "q01": [
+        -0.0029296794682741167,
+        -0.006485135105252266,
+        -0.004166487994231283,
+        -0.005624747198820116,
+        -0.008570346654951572,
+        -0.006728594966232775,
+        0.0132
+      ],
+      "q99": [
+        0.003242441225796937,
+        0.00676419612467289,
+        0.005071248904429377,
+        0.007354112455248831,
+        0.006180673374608162,
+        0.007374203719198703,
+        0.8434
+      ]
+    }
+  },
+  "sample_ratio": 0.05,
+  "dataset_infos": {
+    "robotgeneralist/cs__shelf_1": {
+      "commit_hash": "ff4e3d305b7e3c07bd584648b55f48d8d55a08b7",
+      "num_episodes": 56,
+      "num_frames": 123884
+    },
+    "robotgeneralist/cs__shelf_down_a": {
+      "commit_hash": "0950d6c1adb7aaf7325b32058619ff32bafa7d10",
+      "num_episodes": 15,
+      "num_frames": 26304
+    },
+    "robotgeneralist/cs__shelf_down_b": {
+      "commit_hash": "22c9bb366c7f80e32b7dfbb0edfdd3148f226884",
+      "num_episodes": 21,
+      "num_frames": 36917
+    },
+    "robotgeneralist/cs__shelf_up_a": {
+      "commit_hash": "686e5dad8286f716a5dfdd634644f7d898ee1ee5",
+      "num_episodes": 5,
+      "num_frames": 11490
+    },
+    "robotgeneralist/cs__shelf_up_b": {
+      "commit_hash": "5d728f32ab775d6e07760bb23193c991b91bc343",
+      "num_episodes": 31,
+      "num_frames": 100908
+    },
+    "robotgeneralist/cs__basic_1": {
+      "commit_hash": "4d88aae4956aa71fd3fd6008033b524ae3942100",
+      "num_episodes": 97,
+      "num_frames": 162400
+    }
+  }
+}

cs_shelf_and_basic_2/10000/params/_METADATA ADDED Viewed

	@@ -0,0 +1 @@

+ {"tree_metadata": {"('params', 'PaliGemma', 'img', 'Transformer', 'encoder_norm', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoder_norm", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1152]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoder_norm', 'scale', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoder_norm", "key_type": 2}, {"key": "scale", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1152]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'LayerNorm_0', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 1152]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'LayerNorm_0', 'scale', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "LayerNorm_0", "key_type": 2}, {"key": "scale", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 1152]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'LayerNorm_1', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 1152]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'LayerNorm_1', 'scale', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "LayerNorm_1", "key_type": 2}, {"key": "scale", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 1152]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MlpBlock_0', 'Dense_0', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MlpBlock_0", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 4304]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MlpBlock_0', 'Dense_0', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MlpBlock_0", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 1152, 4304]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MlpBlock_0', 'Dense_1', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MlpBlock_0", "key_type": 2}, {"key": "Dense_1", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 1152]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MlpBlock_0', 'Dense_1', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MlpBlock_0", "key_type": 2}, {"key": "Dense_1", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 4304, 1152]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'key', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "key", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 16, 72]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'key', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "key", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 1152, 16, 72]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'out', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "out", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 1152]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'out', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "out", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 16, 72, 1152]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'query', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "query", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 16, 72]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'query', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "query", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 1152, 16, 72]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'value', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "value", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 16, 72]}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoderblock', 'MultiHeadDotProductAttention_0', 'value', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoderblock", "key_type": 2}, {"key": "MultiHeadDotProductAttention_0", "key_type": 2}, {"key": "value", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [27, 1152, 16, 72]}}, "('params', 'PaliGemma', 'img', 'embedding', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "embedding", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1152]}}, "('params', 'PaliGemma', 'img', 'embedding', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "embedding", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [14, 14, 3, 1152]}}, "('params', 'PaliGemma', 'img', 'head', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "head", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('params', 'PaliGemma', 'img', 'head', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "head", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1152, 2048]}}, "('params', 'PaliGemma', 'img', 'pos_embedding', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "pos_embedding", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1, 256, 1152]}}, "('params', 'PaliGemma', 'llm', 'embedder', 'input_embedding', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "embedder", "key_type": 2}, {"key": "input_embedding", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [257152, 2048]}}, "('params', 'PaliGemma', 'llm', 'final_norm', 'scale', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "final_norm", "key_type": 2}, {"key": "scale", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048]}}, "('params', 'PaliGemma', 'llm', 'final_norm_1', 'scale', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "final_norm_1", "key_type": 2}, {"key": "scale", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'attn_vec_einsum', 'w', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "attn_vec_einsum", "key_type": 2}, {"key": "w", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 8, 256, 2048]}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'attn_vec_einsum_1', 'w', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "attn_vec_einsum_1", "key_type": 2}, {"key": "w", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 8, 256, 1024]}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'kv_einsum', 'w', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "kv_einsum", "key_type": 2}, {"key": "w", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 2, 1, 2048, 256]}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'kv_einsum_1', 'w', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "kv_einsum_1", "key_type": 2}, {"key": "w", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 2, 1, 1024, 256]}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'q_einsum', 'w', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "q_einsum", "key_type": 2}, {"key": "w", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 8, 2048, 256]}}, "('params', 'PaliGemma', 'llm', 'layers', 'attn', 'q_einsum_1', 'w', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "attn", "key_type": 2}, {"key": "q_einsum_1", "key_type": 2}, {"key": "w", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 8, 1024, 256]}}, "('params', 'PaliGemma', 'llm', 'layers', 'mlp', 'gating_einsum', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "mlp", "key_type": 2}, {"key": "gating_einsum", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 2, 2048, 16384]}}, "('params', 'PaliGemma', 'llm', 'layers', 'mlp', 'linear', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "mlp", "key_type": 2}, {"key": "linear", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 16384, 2048]}}, "('params', 'PaliGemma', 'llm', 'layers', 'mlp_1', 'gating_einsum', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "mlp_1", "key_type": 2}, {"key": "gating_einsum", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 2, 1024, 4096]}}, "('params', 'PaliGemma', 'llm', 'layers', 'mlp_1', 'linear', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "mlp_1", "key_type": 2}, {"key": "linear", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 4096, 1024]}}, "('params', 'PaliGemma', 'llm', 'layers', 'pre_attention_norm', 'scale', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "pre_attention_norm", "key_type": 2}, {"key": "scale", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 2048]}}, "('params', 'PaliGemma', 'llm', 'layers', 'pre_attention_norm_1', 'scale', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "pre_attention_norm_1", "key_type": 2}, {"key": "scale", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 1024]}}, "('params', 'PaliGemma', 'llm', 'layers', 'pre_ffw_norm', 'scale', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "pre_ffw_norm", "key_type": 2}, {"key": "scale", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 2048]}}, "('params', 'PaliGemma', 'llm', 'layers', 'pre_ffw_norm_1', 'scale', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "llm", "key_type": 2}, {"key": "layers", "key_type": 2}, {"key": "pre_ffw_norm_1", "key_type": 2}, {"key": "scale", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [18, 1024]}}, "('params', 'action_in_proj', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "action_in_proj", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('params', 'action_in_proj', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "action_in_proj", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [32, 1024]}}, "('params', 'action_out_proj', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "action_out_proj", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [32]}}, "('params', 'action_out_proj', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "action_out_proj", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 32]}}, "('params', 'action_time_mlp_in', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "action_time_mlp_in", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('params', 'action_time_mlp_in', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "action_time_mlp_in", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [2048, 1024]}}, "('params', 'action_time_mlp_out', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "action_time_mlp_out", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('params', 'action_time_mlp_out', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "action_time_mlp_out", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024, 1024]}}, "('params', 'state_proj', 'bias', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "state_proj", "key_type": 2}, {"key": "bias", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [1024]}}, "('params', 'state_proj', 'kernel', 'value')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "state_proj", "key_type": 2}, {"key": "kernel", "key_type": 2}, {"key": "value", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false, "write_shape": [32, 1024]}}}, "use_zarr3": false, "store_array_data_equal_to_fill_value": true, "custom_metadata": null}

cs_shelf_and_basic_2/10000/params/_sharding ADDED Viewed

	@@ -0,0 +1 @@

+ {"cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2Rlcl9ub3JtLmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2Rlcl9ub3JtLnNjYWxlLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk11bHRpSGVhZERvdFByb2R1Y3RBdHRlbnRpb25fMC52YWx1ZS5iaWFzLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk11bHRpSGVhZERvdFByb2R1Y3RBdHRlbnRpb25fMC52YWx1ZS5rZXJuZWwudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk11bHRpSGVhZERvdFByb2R1Y3RBdHRlbnRpb25fMC5rZXkuYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk11bHRpSGVhZERvdFByb2R1Y3RBdHRlbnRpb25fMC5rZXkua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk11bHRpSGVhZERvdFByb2R1Y3RBdHRlbnRpb25fMC5vdXQuYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk11bHRpSGVhZERvdFByb2R1Y3RBdHRlbnRpb25fMC5vdXQua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk11bHRpSGVhZERvdFByb2R1Y3RBdHRlbnRpb25fMC5xdWVyeS5iaWFzLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk11bHRpSGVhZERvdFByb2R1Y3RBdHRlbnRpb25fMC5xdWVyeS5rZXJuZWwudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk1scEJsb2NrXzAuRGVuc2VfMC5iaWFzLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk1scEJsb2NrXzAuRGVuc2VfMC5rZXJuZWwudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk1scEJsb2NrXzAuRGVuc2VfMS5iaWFzLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLk1scEJsb2NrXzAuRGVuc2VfMS5rZXJuZWwudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLkxheWVyTm9ybV8wLmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLkxheWVyTm9ybV8wLnNjYWxlLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLkxheWVyTm9ybV8xLmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuVHJhbnNmb3JtZXIuZW5jb2RlcmJsb2NrLkxheWVyTm9ybV8xLnNjYWxlLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuZW1iZWRkaW5nLmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuZW1iZWRkaW5nLmtlcm5lbC52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuaGVhZC5iaWFzLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcuaGVhZC5rZXJuZWwudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5pbWcucG9zX2VtYmVkZGluZy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0uZW1iZWRkZXIuaW5wdXRfZW1iZWRkaW5nLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0uZmluYWxfbm9ybS5zY2FsZS52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0uZmluYWxfbm9ybV8xLnNjYWxlLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLm1scC5nYXRpbmdfZWluc3VtLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLm1scC5saW5lYXIudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLm1scF8xLmdhdGluZ19laW5zdW0udmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLm1scF8xLmxpbmVhci52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLmF0dG4uYXR0bl92ZWNfZWluc3VtLncudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLmF0dG4uYXR0bl92ZWNfZWluc3VtXzEudy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLmF0dG4ua3ZfZWluc3VtLncudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLmF0dG4ua3ZfZWluc3VtXzEudy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLmF0dG4ucV9laW5zdW0udy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLmF0dG4ucV9laW5zdW1fMS53LnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLnByZV9hdHRlbnRpb25fbm9ybS5zY2FsZS52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLnByZV9hdHRlbnRpb25fbm9ybV8xLnNjYWxlLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLnByZV9mZndfbm9ybS5zY2FsZS52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLlBhbGlHZW1tYS5sbG0ubGF5ZXJzLnByZV9mZndfbm9ybV8xLnNjYWxlLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLmFjdGlvbl90aW1lX21scF9pbi5iaWFzLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLmFjdGlvbl90aW1lX21scF9pbi5rZXJuZWwudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLmFjdGlvbl90aW1lX21scF9vdXQuYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLmFjdGlvbl90aW1lX21scF9vdXQua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLmFjdGlvbl9pbl9wcm9qLmJpYXMudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLmFjdGlvbl9pbl9wcm9qLmtlcm5lbC52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLmFjdGlvbl9vdXRfcHJvai5iaWFzLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLmFjdGlvbl9vdXRfcHJvai5rZXJuZWwudmFsdWU=":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLnN0YXRlX3Byb2ouYmlhcy52YWx1ZQ==":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}","cGFyYW1zLnN0YXRlX3Byb2oua2VybmVsLnZhbHVl":"{\"sharding_type\": \"NamedSharding\", \"shape\": [1, 1], \"axis_names\": [\"batch\", \"fsdp\"], \"partition_spec\": [], \"device_mesh\": {\"mesh\": [[{\"id\": 0}]]}}"}

cs_shelf_and_basic_2/10000/params/array_metadatas/process_0 ADDED Viewed

	@@ -0,0 +1 @@

+ {"array_metadatas": [{"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoder_norm.bias.value", "write_shape": [1152], "chunk_shape": [1152], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoder_norm.scale.value", "write_shape": [1152], "chunk_shape": [1152], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.LayerNorm_0.bias.value", "write_shape": [27, 1152], "chunk_shape": [27, 1152], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.LayerNorm_0.scale.value", "write_shape": [27, 1152], "chunk_shape": [27, 1152], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.LayerNorm_1.bias.value", "write_shape": [27, 1152], "chunk_shape": [27, 1152], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.LayerNorm_1.scale.value", "write_shape": [27, 1152], "chunk_shape": [27, 1152], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MlpBlock_0.Dense_0.bias.value", "write_shape": [27, 4304], "chunk_shape": [27, 4304], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MlpBlock_0.Dense_0.kernel.value", "write_shape": [27, 1152, 4304], "chunk_shape": [27, 1152, 4304], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MlpBlock_0.Dense_1.bias.value", "write_shape": [27, 1152], "chunk_shape": [27, 1152], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MlpBlock_0.Dense_1.kernel.value", "write_shape": [27, 4304, 1152], "chunk_shape": [27, 4304, 1152], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MultiHeadDotProductAttention_0.key.bias.value", "write_shape": [27, 16, 72], "chunk_shape": [27, 16, 72], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MultiHeadDotProductAttention_0.key.kernel.value", "write_shape": [27, 1152, 16, 72], "chunk_shape": [27, 1152, 16, 72], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MultiHeadDotProductAttention_0.out.bias.value", "write_shape": [27, 1152], "chunk_shape": [27, 1152], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MultiHeadDotProductAttention_0.out.kernel.value", "write_shape": [27, 16, 72, 1152], "chunk_shape": [27, 16, 72, 1152], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MultiHeadDotProductAttention_0.query.bias.value", "write_shape": [27, 16, 72], "chunk_shape": [27, 16, 72], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MultiHeadDotProductAttention_0.query.kernel.value", "write_shape": [27, 1152, 16, 72], "chunk_shape": [27, 1152, 16, 72], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MultiHeadDotProductAttention_0.value.bias.value", "write_shape": [27, 16, 72], "chunk_shape": [27, 16, 72], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.Transformer.encoderblock.MultiHeadDotProductAttention_0.value.kernel.value", "write_shape": [27, 1152, 16, 72], "chunk_shape": [27, 1152, 16, 72], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.embedding.bias.value", "write_shape": [1152], "chunk_shape": [1152], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.embedding.kernel.value", "write_shape": [14, 14, 3, 1152], "chunk_shape": [14, 14, 3, 1152], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.head.bias.value", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.head.kernel.value", "write_shape": [1152, 2048], "chunk_shape": [1152, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.img.pos_embedding.value", "write_shape": [1, 256, 1152], "chunk_shape": [1, 256, 1152], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.embedder.input_embedding.value", "write_shape": [257152, 2048], "chunk_shape": [257152, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.final_norm.scale.value", "write_shape": [2048], "chunk_shape": [2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.final_norm_1.scale.value", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.attn.attn_vec_einsum.w.value", "write_shape": [18, 8, 256, 2048], "chunk_shape": [18, 8, 256, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.attn.attn_vec_einsum_1.w.value", "write_shape": [18, 8, 256, 1024], "chunk_shape": [18, 8, 256, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.attn.kv_einsum.w.value", "write_shape": [18, 2, 1, 2048, 256], "chunk_shape": [18, 2, 1, 2048, 256], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.attn.kv_einsum_1.w.value", "write_shape": [18, 2, 1, 1024, 256], "chunk_shape": [18, 2, 1, 1024, 256], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.attn.q_einsum.w.value", "write_shape": [18, 8, 2048, 256], "chunk_shape": [18, 8, 2048, 256], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.attn.q_einsum_1.w.value", "write_shape": [18, 8, 1024, 256], "chunk_shape": [18, 8, 1024, 256], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.mlp.gating_einsum.value", "write_shape": [18, 2, 2048, 16384], "chunk_shape": [18, 2, 2048, 4096], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.mlp.linear.value", "write_shape": [18, 16384, 2048], "chunk_shape": [18, 8192, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.mlp_1.gating_einsum.value", "write_shape": [18, 2, 1024, 4096], "chunk_shape": [18, 2, 1024, 4096], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.mlp_1.linear.value", "write_shape": [18, 4096, 1024], "chunk_shape": [18, 4096, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.pre_attention_norm.scale.value", "write_shape": [18, 2048], "chunk_shape": [18, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.pre_attention_norm_1.scale.value", "write_shape": [18, 1024], "chunk_shape": [18, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.pre_ffw_norm.scale.value", "write_shape": [18, 2048], "chunk_shape": [18, 2048], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.PaliGemma.llm.layers.pre_ffw_norm_1.scale.value", "write_shape": [18, 1024], "chunk_shape": [18, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.action_in_proj.bias.value", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.action_in_proj.kernel.value", "write_shape": [32, 1024], "chunk_shape": [32, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.action_out_proj.bias.value", "write_shape": [32], "chunk_shape": [32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.action_out_proj.kernel.value", "write_shape": [1024, 32], "chunk_shape": [1024, 32], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.action_time_mlp_in.bias.value", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.action_time_mlp_in.kernel.value", "write_shape": [2048, 1024], "chunk_shape": [2048, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.action_time_mlp_out.bias.value", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.action_time_mlp_out.kernel.value", "write_shape": [1024, 1024], "chunk_shape": [1024, 1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.state_proj.bias.value", "write_shape": [1024], "chunk_shape": [1024], "ext_metadata": null}}, {"array_metadata": {"param_name": "params.state_proj.kernel.value", "write_shape": [32, 1024], "chunk_shape": [32, 1024], "ext_metadata": null}}]}

cs_shelf_and_basic_2/10000/params/d/4ac660070a5553a60c482d61309b6b9d ADDED Viewed

Binary file (2.24 kB). View file

cs_shelf_and_basic_2/10000/params/manifest.ocdbt ADDED Viewed

Binary file (117 Bytes). View file

cs_shelf_and_basic_2/10000/params/ocdbt.process_0/d/2dd5f922f797f66bc222b1f8ea2b0ad4 ADDED Viewed

Binary file (5.4 kB). View file

cs_shelf_and_basic_2/10000/params/ocdbt.process_0/d/35f2ad4928c19bc8bccc1af9b053307b ADDED Viewed

Binary file (1.06 kB). View file

cs_shelf_and_basic_2/10000/params/ocdbt.process_0/d/6d9351e2b8de4b2cdd45ee53de56b429 ADDED Viewed

Binary file (213 Bytes). View file

cs_shelf_and_basic_2/10000/params/ocdbt.process_0/manifest.ocdbt ADDED Viewed

Binary file (139 Bytes). View file

cs_shelf_and_basic_2/15000/_CHECKPOINT_METADATA ADDED Viewed

	@@ -0,0 +1 @@

+ {"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1766124101644452250, "commit_timestamp_nsecs": 1766124121097242283, "custom_metadata": {}}

cs_shelf_and_basic_2/15000/assets/ur10e/norm_stats.json ADDED Viewed

	@@ -0,0 +1,113 @@

+{
+  "norm_stats": {
+    "state": {
+      "mean": [
+        -0.07363896071910858,
+        -0.16497643291950226,
+        0.1947053223848343,
+        -0.4824243485927582,
+        0.07661060988903046,
+        0.020979318767786026,
+        0.4622369408607483
+      ],
+      "std": [
+        0.11944248527288437,
+        0.2025320827960968,
+        0.1455695778131485,
+        0.4145313799381256,
+        0.08471263945102692,
+        0.25056466460227966,
+        0.10814355313777924
+      ],
+      "q01": [
+        -0.3341048142433166,
+        -0.5102546817064285,
+        0.01362518325820565,
+        -1.2644055027008057,
+        -0.10144500529766082,
+        -0.6095906002640724,
+        0.011674506783485413
+      ],
+      "q99": [
+        0.2446815233707429,
+        0.40457215094566346,
+        0.532319462761283,
+        0.06221635551452631,
+        0.2804281365156174,
+        0.6368279955506324,
+        0.5882155340909958
+      ]
+    },
+    "actions": {
+      "mean": [
+        0.000024478056730004027,
+        9.871138900052756e-6,
+        0.000026335921575082466,
+        -4.9664245125313755e-6,
+        -0.000024093347747111693,
+        -0.00005328301267581992,
+        0.5086910724639893
+      ],
+      "std": [
+        0.0010299290297552943,
+        0.0023689595982432365,
+        0.0018175969598814845,
+        0.0019493942381814122,
+        0.0024430002085864544,
+        0.0023372559808194637,
+        0.14687803387641907
+      ],
+      "q01": [
+        -0.0029296794682741167,
+        -0.006485135105252266,
+        -0.004166487994231283,
+        -0.005624747198820116,
+        -0.008570346654951572,
+        -0.006728594966232775,
+        0.0132
+      ],
+      "q99": [
+        0.003242441225796937,
+        0.00676419612467289,
+        0.005071248904429377,
+        0.007354112455248831,
+        0.006180673374608162,
+        0.007374203719198703,
+        0.8434
+      ]
+    }
+  },
+  "sample_ratio": 0.05,
+  "dataset_infos": {
+    "robotgeneralist/cs__shelf_1": {
+      "commit_hash": "ff4e3d305b7e3c07bd584648b55f48d8d55a08b7",
+      "num_episodes": 56,
+      "num_frames": 123884
+    },
+    "robotgeneralist/cs__shelf_down_a": {
+      "commit_hash": "0950d6c1adb7aaf7325b32058619ff32bafa7d10",
+      "num_episodes": 15,
+      "num_frames": 26304
+    },
+    "robotgeneralist/cs__shelf_down_b": {
+      "commit_hash": "22c9bb366c7f80e32b7dfbb0edfdd3148f226884",
+      "num_episodes": 21,
+      "num_frames": 36917
+    },
+    "robotgeneralist/cs__shelf_up_a": {
+      "commit_hash": "686e5dad8286f716a5dfdd634644f7d898ee1ee5",
+      "num_episodes": 5,
+      "num_frames": 11490
+    },
+    "robotgeneralist/cs__shelf_up_b": {
+      "commit_hash": "5d728f32ab775d6e07760bb23193c991b91bc343",
+      "num_episodes": 31,
+      "num_frames": 100908
+    },
+    "robotgeneralist/cs__basic_1": {
+      "commit_hash": "4d88aae4956aa71fd3fd6008033b524ae3942100",
+      "num_episodes": 97,
+      "num_frames": 162400
+    }
+  }
+}

cs_shelf_and_basic_2/15000/params/_METADATA ADDED Viewed

	@@ -0,0 +1 @@

cs_shelf_and_basic_2/15000/params/_sharding ADDED Viewed

	@@ -0,0 +1 @@

cs_shelf_and_basic_2/15000/params/array_metadatas/process_0 ADDED Viewed

	@@ -0,0 +1 @@

cs_shelf_and_basic_2/15000/params/d/e1f70d7d94d88e1d68eed02cf4615b9a ADDED Viewed

Binary file (2.25 kB). View file

cs_shelf_and_basic_2/15000/params/manifest.ocdbt ADDED Viewed

Binary file (117 Bytes). View file

cs_shelf_and_basic_2/15000/params/ocdbt.process_0/d/3dd1e648c155372d1920956753b1a738 ADDED Viewed

Binary file (213 Bytes). View file

cs_shelf_and_basic_2/15000/params/ocdbt.process_0/d/44525700981dbf418ac8e97e8cdae030 ADDED Viewed

Binary file (5.4 kB). View file

cs_shelf_and_basic_2/15000/params/ocdbt.process_0/d/522c37dfd035c21ed8deb7a4f4602e61 ADDED Viewed

Binary file (1.06 kB). View file

cs_shelf_and_basic_2/15000/params/ocdbt.process_0/d/5d60b01412b6f762c274d6a5c20dfe4e ADDED Viewed

Binary file (1.45 kB). View file

cs_shelf_and_basic_2/15000/params/ocdbt.process_0/d/b5b04edb4dbd067c3952f36a1e08db34 ADDED Viewed

Binary file (5.18 kB). View file

cs_shelf_and_basic_2/15000/params/ocdbt.process_0/d/bb7ed451875d8fb7ed423d7db281c502 ADDED Viewed

Binary file (978 Bytes). View file

cs_shelf_and_basic_2/15000/params/ocdbt.process_0/manifest.ocdbt ADDED Viewed

Binary file (322 Bytes). View file

cs_shelf_and_basic_2/20000/_CHECKPOINT_METADATA ADDED Viewed

	@@ -0,0 +1 @@

+ {"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1766131950231593534, "commit_timestamp_nsecs": 1766131971714058139, "custom_metadata": {}}

cs_shelf_and_basic_2/20000/assets/ur10e/norm_stats.json ADDED Viewed

	@@ -0,0 +1,113 @@

+{
+  "norm_stats": {
+    "state": {
+      "mean": [
+        -0.07363896071910858,
+        -0.16497643291950226,
+        0.1947053223848343,
+        -0.4824243485927582,
+        0.07661060988903046,
+        0.020979318767786026,
+        0.4622369408607483
+      ],
+      "std": [
+        0.11944248527288437,
+        0.2025320827960968,
+        0.1455695778131485,
+        0.4145313799381256,
+        0.08471263945102692,
+        0.25056466460227966,
+        0.10814355313777924
+      ],
+      "q01": [
+        -0.3341048142433166,
+        -0.5102546817064285,
+        0.01362518325820565,
+        -1.2644055027008057,
+        -0.10144500529766082,
+        -0.6095906002640724,
+        0.011674506783485413
+      ],
+      "q99": [
+        0.2446815233707429,
+        0.40457215094566346,
+        0.532319462761283,
+        0.06221635551452631,
+        0.2804281365156174,
+        0.6368279955506324,
+        0.5882155340909958
+      ]
+    },
+    "actions": {
+      "mean": [
+        0.000024478056730004027,
+        9.871138900052756e-6,
+        0.000026335921575082466,
+        -4.9664245125313755e-6,
+        -0.000024093347747111693,
+        -0.00005328301267581992,
+        0.5086910724639893
+      ],
+      "std": [
+        0.0010299290297552943,
+        0.0023689595982432365,
+        0.0018175969598814845,
+        0.0019493942381814122,
+        0.0024430002085864544,
+        0.0023372559808194637,
+        0.14687803387641907
+      ],
+      "q01": [
+        -0.0029296794682741167,
+        -0.006485135105252266,
+        -0.004166487994231283,
+        -0.005624747198820116,
+        -0.008570346654951572,
+        -0.006728594966232775,
+        0.0132
+      ],
+      "q99": [
+        0.003242441225796937,
+        0.00676419612467289,
+        0.005071248904429377,
+        0.007354112455248831,
+        0.006180673374608162,
+        0.007374203719198703,
+        0.8434
+      ]
+    }
+  },
+  "sample_ratio": 0.05,
+  "dataset_infos": {
+    "robotgeneralist/cs__shelf_1": {
+      "commit_hash": "ff4e3d305b7e3c07bd584648b55f48d8d55a08b7",
+      "num_episodes": 56,
+      "num_frames": 123884
+    },
+    "robotgeneralist/cs__shelf_down_a": {
+      "commit_hash": "0950d6c1adb7aaf7325b32058619ff32bafa7d10",
+      "num_episodes": 15,
+      "num_frames": 26304
+    },
+    "robotgeneralist/cs__shelf_down_b": {
+      "commit_hash": "22c9bb366c7f80e32b7dfbb0edfdd3148f226884",
+      "num_episodes": 21,
+      "num_frames": 36917
+    },
+    "robotgeneralist/cs__shelf_up_a": {
+      "commit_hash": "686e5dad8286f716a5dfdd634644f7d898ee1ee5",
+      "num_episodes": 5,
+      "num_frames": 11490
+    },
+    "robotgeneralist/cs__shelf_up_b": {
+      "commit_hash": "5d728f32ab775d6e07760bb23193c991b91bc343",
+      "num_episodes": 31,
+      "num_frames": 100908
+    },
+    "robotgeneralist/cs__basic_1": {
+      "commit_hash": "4d88aae4956aa71fd3fd6008033b524ae3942100",
+      "num_episodes": 97,
+      "num_frames": 162400
+    }
+  }
+}

cs_shelf_and_basic_2/20000/params/_METADATA ADDED Viewed

	@@ -0,0 +1 @@

cs_shelf_and_basic_2/20000/params/_sharding ADDED Viewed

	@@ -0,0 +1 @@

cs_shelf_and_basic_2/20000/params/array_metadatas/process_0 ADDED Viewed

	@@ -0,0 +1 @@

cs_shelf_and_basic_2/20000/params/d/f295324b1ca16575932489f03fcd1dc6 ADDED Viewed

Binary file (2.19 kB). View file

cs_shelf_and_basic_2/20000/params/manifest.ocdbt ADDED Viewed

Binary file (117 Bytes). View file

cs_shelf_and_basic_2/20000/params/ocdbt.process_0/d/2e0160668ed659d2cb0958574ceb1910 ADDED Viewed

Binary file (213 Bytes). View file

cs_shelf_and_basic_2/20000/params/ocdbt.process_0/d/3d6974341a939820a2e8f83688b38934 ADDED Viewed

Binary file (1.06 kB). View file

cs_shelf_and_basic_2/20000/params/ocdbt.process_0/d/7e9df99ba5a4a84b8c0f7f622fb102f7 ADDED Viewed

Binary file (923 Bytes). View file

cs_shelf_and_basic_2/20000/params/ocdbt.process_0/manifest.ocdbt ADDED Viewed

Binary file (132 Bytes). View file

cs_shelf_and_basic_2/25000/_CHECKPOINT_METADATA ADDED Viewed

	@@ -0,0 +1 @@

+ {"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1766139806304098462, "commit_timestamp_nsecs": 1766139825667992696, "custom_metadata": {}}

cs_shelf_and_basic_2/5000/_CHECKPOINT_METADATA ADDED Viewed

	@@ -0,0 +1 @@

+ {"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1766108399101824553, "commit_timestamp_nsecs": 1766108419701223330, "custom_metadata": {}}

cs_shelf_and_basic_2/5000/assets/ur10e/norm_stats.json ADDED Viewed

	@@ -0,0 +1,113 @@

+{
+  "norm_stats": {
+    "state": {
+      "mean": [
+        -0.07363896071910858,
+        -0.16497643291950226,
+        0.1947053223848343,
+        -0.4824243485927582,
+        0.07661060988903046,
+        0.020979318767786026,
+        0.4622369408607483
+      ],
+      "std": [
+        0.11944248527288437,
+        0.2025320827960968,
+        0.1455695778131485,
+        0.4145313799381256,
+        0.08471263945102692,
+        0.25056466460227966,
+        0.10814355313777924
+      ],
+      "q01": [
+        -0.3341048142433166,
+        -0.5102546817064285,
+        0.01362518325820565,
+        -1.2644055027008057,
+        -0.10144500529766082,
+        -0.6095906002640724,
+        0.011674506783485413
+      ],
+      "q99": [
+        0.2446815233707429,
+        0.40457215094566346,
+        0.532319462761283,
+        0.06221635551452631,
+        0.2804281365156174,
+        0.6368279955506324,
+        0.5882155340909958
+      ]
+    },
+    "actions": {
+      "mean": [
+        0.000024478056730004027,
+        9.871138900052756e-6,
+        0.000026335921575082466,
+        -4.9664245125313755e-6,
+        -0.000024093347747111693,
+        -0.00005328301267581992,
+        0.5086910724639893
+      ],
+      "std": [
+        0.0010299290297552943,
+        0.0023689595982432365,
+        0.0018175969598814845,
+        0.0019493942381814122,
+        0.0024430002085864544,
+        0.0023372559808194637,
+        0.14687803387641907
+      ],
+      "q01": [
+        -0.0029296794682741167,
+        -0.006485135105252266,
+        -0.004166487994231283,
+        -0.005624747198820116,
+        -0.008570346654951572,
+        -0.006728594966232775,
+        0.0132
+      ],
+      "q99": [
+        0.003242441225796937,
+        0.00676419612467289,
+        0.005071248904429377,
+        0.007354112455248831,
+        0.006180673374608162,
+        0.007374203719198703,
+        0.8434
+      ]
+    }
+  },
+  "sample_ratio": 0.05,
+  "dataset_infos": {
+    "robotgeneralist/cs__shelf_1": {
+      "commit_hash": "ff4e3d305b7e3c07bd584648b55f48d8d55a08b7",
+      "num_episodes": 56,
+      "num_frames": 123884
+    },
+    "robotgeneralist/cs__shelf_down_a": {
+      "commit_hash": "0950d6c1adb7aaf7325b32058619ff32bafa7d10",
+      "num_episodes": 15,
+      "num_frames": 26304
+    },
+    "robotgeneralist/cs__shelf_down_b": {
+      "commit_hash": "22c9bb366c7f80e32b7dfbb0edfdd3148f226884",
+      "num_episodes": 21,
+      "num_frames": 36917
+    },
+    "robotgeneralist/cs__shelf_up_a": {
+      "commit_hash": "686e5dad8286f716a5dfdd634644f7d898ee1ee5",
+      "num_episodes": 5,
+      "num_frames": 11490
+    },
+    "robotgeneralist/cs__shelf_up_b": {
+      "commit_hash": "5d728f32ab775d6e07760bb23193c991b91bc343",
+      "num_episodes": 31,
+      "num_frames": 100908
+    },
+    "robotgeneralist/cs__basic_1": {
+      "commit_hash": "4d88aae4956aa71fd3fd6008033b524ae3942100",
+      "num_episodes": 97,
+      "num_frames": 162400
+    }
+  }
+}

cs_shelf_and_basic_2/5000/params/_METADATA ADDED Viewed

	@@ -0,0 +1 @@

cs_shelf_and_basic_2/5000/params/_sharding ADDED Viewed

	@@ -0,0 +1 @@

cs_shelf_and_basic_2/5000/params/array_metadatas/process_0 ADDED Viewed

	@@ -0,0 +1 @@

cs_shelf_and_basic_2/5000/params/d/5d4dd2a40a70318fcf88d4455320bb0b ADDED Viewed

Binary file (2.2 kB). View file

cs_shelf_and_basic_2/5000/params/manifest.ocdbt ADDED Viewed

Binary file (117 Bytes). View file

cs_shelf_and_basic_2/5000/params/ocdbt.process_0/d/252fa5f976fb8f7749dbcb480637d3e2 ADDED Viewed

Binary file (910 Bytes). View file

cs_shelf_and_basic_2/5000/params/ocdbt.process_0/d/45dc763547a918d88c2c45339d51713f ADDED Viewed

Binary file (1.06 kB). View file

cs_shelf_and_basic_2/5000/params/ocdbt.process_0/d/f270d65c47cd828a96282c92c9631f60 ADDED Viewed

Binary file (213 Bytes). View file

cs_shelf_and_basic_2/5000/params/ocdbt.process_0/manifest.ocdbt ADDED Viewed

Binary file (782 Bytes). View file

cs_shelf_and_basic_2/config.yaml ADDED Viewed

	@@ -0,0 +1,92 @@

+!!python/object:openpi.training.config.TrainConfig
+name: cs_shelf_and_basic
+project_name: openpi
+exp_name: cs_shelf_and_basic_2
+model: !!python/object:openpi.models.pi0_config.Pi0Config
+    action_dim: 32
+    action_horizon: 50
+    max_token_len: 48
+    dtype: bfloat16
+    paligemma_variant: gemma_2b
+    action_expert_variant: gemma_300m
+    img_variant: So400m/14
+    pi05: false
+    discrete_state_input: false
+weight_loader: !!python/object:openpi.training.weight_loaders.CheckpointWeightLoader
+    local_dir: null
+    repo_id: robotgeneralist/openpi_checkpoint_mirrors
+    revision: main
+    checkpoint_path: pi0_base
+pytorch_weight_path: null
+pytorch_training_precision: bfloat16
+lr_schedule: !!python/object:openpi.training.optimizer.CosineDecaySchedule
+    warmup_steps: 1000
+    peak_lr: 2.5e-05
+    decay_steps: 30000
+    decay_lr: 2.5e-06
+optimizer: !!python/object:openpi.training.optimizer.AdamW
+    b1: 0.9
+    b2: 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-10
+    clip_gradient_norm: 1.0
+ema_decay: 0.99
+freeze_filter: !!python/name:flax.nnx.filterlib.Nothing ''
+data: !!python/object:openpi.training.config.LeRobotNomagicURXDataConfig
+    repo_ids: !!python/tuple
+    - robotgeneralist/cs__shelf_1
+    - robotgeneralist/cs__shelf_down_a
+    - robotgeneralist/cs__shelf_down_b
+    - robotgeneralist/cs__shelf_up_a
+    - robotgeneralist/cs__shelf_up_b
+    - robotgeneralist/cs__basic_1
+    assets: !!python/object:openpi.training.config.AssetsConfig
+        assets_dir: null
+        asset_id: ur10e
+    norm_stats_sample_ratio: 0.05
+    base_config: !!python/object:openpi.training.config.DataConfig
+        repo_ids: null
+        asset_id: null
+        norm_stats_data: null
+        norm_stats_sample_ratio: 1.0
+        norm_stats_dir: null
+        tolerance_s: 0.0001
+        repack_transforms: !!python/object:openpi.transforms.Group
+            inputs: !!python/tuple []
+            outputs: !!python/tuple []
+        data_transforms: !!python/object:openpi.transforms.Group
+            inputs: !!python/tuple []
+            outputs: !!python/tuple []
+        model_transforms: !!python/object:openpi.transforms.Group
+            inputs: !!python/tuple []
+            outputs: !!python/tuple []
+        use_quantile_norm: false
+        action_sequence_keys: !!python/tuple
+        - actions
+        fourier_config: null
+        prompt_from_task: true
+        rlds_data_dir: null
+        action_space: null
+        filter_dict_path: null
+    default_prompt: null
+    use_poses: true
+    end_effector_frame: false
+    fourier_config: null
+    tolerance_s: 0.001
+assets_base_dir: ./assets
+checkpoint_base_dir: /storage_nvme_1/robotgeneralist/checkpoints
+seed: 42
+batch_size: 32
+num_workers: 2
+num_train_steps: 25001
+log_interval: 100
+save_interval: 1000
+keep_period: 5000
+overwrite: false
+resume: true
+wandb_enabled: true
+policy_metadata: null
+fsdp_devices: 1
+test_split_ratio: 0.05
+test_eval_interval: 1000
+test_eval_use_train_mode: false

cs_shelf_and_basic_2/wandb_id.txt ADDED Viewed

	@@ -0,0 +1 @@


1	+ onrwqqg4