mateuszwyszynski commited on Sep 30, 2025

Commit

38fca19

verified ·

1 Parent(s): a29ec01

Add files using upload-large-folder tool

Browse files

Files changed (50) hide show

iso_multiple_full/10000/_CHECKPOINT_METADATA +1 -0
iso_multiple_full/10000/assets/ur10e/norm_stats.json +338 -0
iso_multiple_full/10000/params/_METADATA +1 -0
iso_multiple_full/10000/params/_sharding +1 -0
iso_multiple_full/10000/params/d/d2db9428f25627823032783ffc6d6087 +0 -0
iso_multiple_full/10000/params/manifest.ocdbt +0 -0
iso_multiple_full/10000/params/ocdbt.process_0/d/6456b15446b189d7502154911d5dc265 +0 -0
iso_multiple_full/10000/params/ocdbt.process_0/d/ea047260918ff0bdd001497585506614 +0 -0
iso_multiple_full/10000/params/ocdbt.process_0/d/eaf89ce1b68fad41cf67d16a3e5911d5 +0 -0
iso_multiple_full/10000/params/ocdbt.process_0/manifest.ocdbt +0 -0
iso_multiple_full/15000/_CHECKPOINT_METADATA +1 -0
iso_multiple_full/15000/assets/ur10e/norm_stats.json +338 -0
iso_multiple_full/15000/params/_METADATA +1 -0
iso_multiple_full/15000/params/_sharding +1 -0
iso_multiple_full/15000/params/d/c8eacec1f89707352605e331544f1025 +0 -0
iso_multiple_full/15000/params/manifest.ocdbt +0 -0
iso_multiple_full/15000/params/ocdbt.process_0/d/0ad084cfef74c19b0c210391dc5a61fe +0 -0
iso_multiple_full/15000/params/ocdbt.process_0/d/277e66c4478aa9b25b93f9b8c16ae7de +0 -0
iso_multiple_full/15000/params/ocdbt.process_0/d/2d67837ced615d53c611eea80aed543f +0 -0
iso_multiple_full/15000/params/ocdbt.process_0/d/bcb7a9408690307acb4cc2731f7c5f67 +0 -0
iso_multiple_full/15000/params/ocdbt.process_0/manifest.ocdbt +0 -0
iso_multiple_full/20000/_CHECKPOINT_METADATA +1 -0
iso_multiple_full/20000/assets/ur10e/norm_stats.json +338 -0
iso_multiple_full/20000/params/_METADATA +1 -0
iso_multiple_full/20000/params/_sharding +1 -0
iso_multiple_full/20000/params/d/5e8ca7a5ad1fe60391359484408ababd +0 -0
iso_multiple_full/20000/params/manifest.ocdbt +0 -0
iso_multiple_full/20000/params/ocdbt.process_0/d/29eb02db1b53985819d3428e6e58818b +0 -0
iso_multiple_full/20000/params/ocdbt.process_0/d/4f1d70a8c249eb32566b5d0d8fc27142 +0 -0
iso_multiple_full/20000/params/ocdbt.process_0/d/562f1e0093584295fc6b68a599bf9f64 +0 -0
iso_multiple_full/20000/params/ocdbt.process_0/d/d9d83e4febc40d8325297497e0f1a8e2 +0 -0
iso_multiple_full/20000/params/ocdbt.process_0/d/eca5724449498caa8281975d481121e1 +0 -0
iso_multiple_full/20000/params/ocdbt.process_0/manifest.ocdbt +0 -0
iso_multiple_full/25000/_CHECKPOINT_METADATA +1 -0
iso_multiple_full/25000/params/_sharding +1 -0
iso_multiple_full/29999/_CHECKPOINT_METADATA +1 -0
iso_multiple_full/5000/_CHECKPOINT_METADATA +1 -0
iso_multiple_full/5000/assets/ur10e/norm_stats.json +338 -0
iso_multiple_full/5000/params/_METADATA +1 -0
iso_multiple_full/5000/params/_sharding +1 -0
iso_multiple_full/5000/params/d/76c68cf3fa30c1298dfc024e8d07228a +0 -0
iso_multiple_full/5000/params/manifest.ocdbt +0 -0
iso_multiple_full/5000/params/ocdbt.process_0/d/17a80ac421308d8d2c072db7bfaf2d0d +0 -0
iso_multiple_full/5000/params/ocdbt.process_0/d/851160d30079c384b51f952c110f2f92 +0 -0
iso_multiple_full/5000/params/ocdbt.process_0/d/891ec1c91ec9bddb431d43710a3805f3 +0 -0
iso_multiple_full/5000/params/ocdbt.process_0/d/caef816a10c108bd86815c5da87b78a6 +0 -0
iso_multiple_full/5000/params/ocdbt.process_0/d/de0662a7007cd6c44d1f7f53a3823273 +0 -0
iso_multiple_full/5000/params/ocdbt.process_0/manifest.ocdbt +0 -0
iso_multiple_full/config.yaml +80 -0
iso_multiple_full/wandb_id.txt +1 -0

iso_multiple_full/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": 1759181311013789831, "commit_timestamp_nsecs": 1759181503216280248, "custom": {}}

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

	@@ -0,0 +1,338 @@

+{
+  "norm_stats": {
+    "state": {
+      "mean": [
+        -0.07714488357305527,
+        0.10410165041685104,
+        0.28376543521881104,
+        -0.15689034759998322,
+        1.381874918937683,
+        -0.11019328236579895,
+        0.40176573395729065,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "std": [
+        0.1379368156194687,
+        0.2103748917579651,
+        0.05772906169295311,
+        1.1995863914489746,
+        0.12547877430915833,
+        1.1619791984558105,
+        0.49025505781173706,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -0.38241056188941003,
+        -0.37521795920133594,
+        0.12578612251430749,
+        -3.048586104297638,
+        0.9372330918312073,
+        -3.027101500225067,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        0.24150332131981855,
+        0.5623099487185477,
+        0.42474568412192165,
+        3.0296736580371855,
+        1.5541013610601426,
+        3.008346918296814,
+        0.9998,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    },
+    "actions": {
+      "mean": [
+        -0.00015706242993474007,
+        -0.000023489132217946462,
+        -0.0001620672846911475,
+        -0.00001822988997446373,
+        -0.00036318437196314335,
+        -0.00012076067650923505,
+        0.4013514518737793,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "std": [
+        0.0019328175112605095,
+        0.0026730915997177362,
+        0.0018509235233068466,
+        0.0022481700871139765,
+        0.003052649786695838,
+        0.003110019024461508,
+        0.490171879529953,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -0.006082752579823136,
+        -0.0076462113142013455,
+        -0.006185560872219498,
+        -0.006978023531660438,
+        -0.010388011741638184,
+        -0.009983485598862168,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        0.004777925841137766,
+        0.008600614726543415,
+        0.0032964711971580976,
+        0.006997522535920148,
+        0.006022737145423895,
+        0.009259829924255614,
+        0.9998,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    }
+  },
+  "sample_ratio": 0.5,
+  "dataset_infos": {
+    "robotgeneralist/iso_1_item_drag_pt2": {
+      "commit_hash": "d478649def2f852a19c4ef85e22e41b70f78d37e",
+      "num_episodes": 150,
+      "num_frames": 55289
+    },
+    "robotgeneralist/iso_1_item_drag_day": {
+      "commit_hash": "63f49f2b37f871f09f9090f586a857b4ffe3f765",
+      "num_episodes": 146,
+      "num_frames": 48549
+    },
+    "eyefly2/iso_1_item_dishwasher": {
+      "commit_hash": "cb05cbe27f843c6dd299a471976aa968afa720e8",
+      "num_episodes": 33,
+      "num_frames": 11330
+    },
+    "eyefly2/iso_1_item_tissues_Tpaper": {
+      "commit_hash": "d5e3920d9b741668a25722cd9151c48155792223",
+      "num_episodes": 47,
+      "num_frames": 16154
+    },
+    "eyefly2/iso_1_item_jbl": {
+      "commit_hash": "11c6cb799bf3e0df8eced223b189f7fdf4e9d280",
+      "num_episodes": 55,
+      "num_frames": 21136
+    },
+    "eyefly2/iso_1_item_tonner": {
+      "commit_hash": "3d4bf6fee47c087171377fb8964b87ca4c349831",
+      "num_episodes": 60,
+      "num_frames": 25613
+    },
+    "eyefly2/iso_multiple_items": {
+      "commit_hash": "e1f5ad14e001834c291469f403a8ff12e7dedf9d",
+      "num_episodes": 76,
+      "num_frames": 31236
+    },
+    "eyefly2/iso_multiple_items_2": {
+      "commit_hash": "ab3dda3026a39d8092b04ee32e894d2a80b2a095",
+      "num_episodes": 34,
+      "num_frames": 12795
+    },
+    "eyefly2/iso_multiple_items_3": {
+      "commit_hash": "5cbd401374015451736c2cee0574cbbb12fc75d1",
+      "num_episodes": 64,
+      "num_frames": 21059
+    },
+    "eyefly2/iso_multiple_items_4": {
+      "commit_hash": "cc094456c675defb9bcf48c74eb1d0db856216b7",
+      "num_episodes": 24,
+      "num_frames": 6987
+    },
+    "eyefly2/iso_multiple_items_5": {
+      "commit_hash": "0d7bf795602f0773c292307c91522937ad0d6878",
+      "num_episodes": 32,
+      "num_frames": 10366
+    }
+  }
+}

iso_multiple_full/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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}, "('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}}}, "use_zarr3": false, "store_array_data_equal_to_fill_value": true, "custom_metadata": null}

iso_multiple_full/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}]]}}"}

iso_multiple_full/10000/params/d/d2db9428f25627823032783ffc6d6087 ADDED Viewed

Binary file (2.29 kB). View file

iso_multiple_full/10000/params/manifest.ocdbt ADDED Viewed

Binary file (117 Bytes). View file

iso_multiple_full/10000/params/ocdbt.process_0/d/6456b15446b189d7502154911d5dc265 ADDED Viewed

Binary file (213 Bytes). View file

iso_multiple_full/10000/params/ocdbt.process_0/d/ea047260918ff0bdd001497585506614 ADDED Viewed

Binary file (2.04 kB). View file

iso_multiple_full/10000/params/ocdbt.process_0/d/eaf89ce1b68fad41cf67d16a3e5911d5 ADDED Viewed

Binary file (5.37 kB). View file

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

Binary file (370 Bytes). View file

iso_multiple_full/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": 1759189656031869501, "commit_timestamp_nsecs": 1759189915667505726, "custom": {}}

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

	@@ -0,0 +1,338 @@

+{
+  "norm_stats": {
+    "state": {
+      "mean": [
+        -0.07714488357305527,
+        0.10410165041685104,
+        0.28376543521881104,
+        -0.15689034759998322,
+        1.381874918937683,
+        -0.11019328236579895,
+        0.40176573395729065,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "std": [
+        0.1379368156194687,
+        0.2103748917579651,
+        0.05772906169295311,
+        1.1995863914489746,
+        0.12547877430915833,
+        1.1619791984558105,
+        0.49025505781173706,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -0.38241056188941003,
+        -0.37521795920133594,
+        0.12578612251430749,
+        -3.048586104297638,
+        0.9372330918312073,
+        -3.027101500225067,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        0.24150332131981855,
+        0.5623099487185477,
+        0.42474568412192165,
+        3.0296736580371855,
+        1.5541013610601426,
+        3.008346918296814,
+        0.9998,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    },
+    "actions": {
+      "mean": [
+        -0.00015706242993474007,
+        -0.000023489132217946462,
+        -0.0001620672846911475,
+        -0.00001822988997446373,
+        -0.00036318437196314335,
+        -0.00012076067650923505,
+        0.4013514518737793,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "std": [
+        0.0019328175112605095,
+        0.0026730915997177362,
+        0.0018509235233068466,
+        0.0022481700871139765,
+        0.003052649786695838,
+        0.003110019024461508,
+        0.490171879529953,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -0.006082752579823136,
+        -0.0076462113142013455,
+        -0.006185560872219498,
+        -0.006978023531660438,
+        -0.010388011741638184,
+        -0.009983485598862168,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        0.004777925841137766,
+        0.008600614726543415,
+        0.0032964711971580976,
+        0.006997522535920148,
+        0.006022737145423895,
+        0.009259829924255614,
+        0.9998,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    }
+  },
+  "sample_ratio": 0.5,
+  "dataset_infos": {
+    "robotgeneralist/iso_1_item_drag_pt2": {
+      "commit_hash": "d478649def2f852a19c4ef85e22e41b70f78d37e",
+      "num_episodes": 150,
+      "num_frames": 55289
+    },
+    "robotgeneralist/iso_1_item_drag_day": {
+      "commit_hash": "63f49f2b37f871f09f9090f586a857b4ffe3f765",
+      "num_episodes": 146,
+      "num_frames": 48549
+    },
+    "eyefly2/iso_1_item_dishwasher": {
+      "commit_hash": "cb05cbe27f843c6dd299a471976aa968afa720e8",
+      "num_episodes": 33,
+      "num_frames": 11330
+    },
+    "eyefly2/iso_1_item_tissues_Tpaper": {
+      "commit_hash": "d5e3920d9b741668a25722cd9151c48155792223",
+      "num_episodes": 47,
+      "num_frames": 16154
+    },
+    "eyefly2/iso_1_item_jbl": {
+      "commit_hash": "11c6cb799bf3e0df8eced223b189f7fdf4e9d280",
+      "num_episodes": 55,
+      "num_frames": 21136
+    },
+    "eyefly2/iso_1_item_tonner": {
+      "commit_hash": "3d4bf6fee47c087171377fb8964b87ca4c349831",
+      "num_episodes": 60,
+      "num_frames": 25613
+    },
+    "eyefly2/iso_multiple_items": {
+      "commit_hash": "e1f5ad14e001834c291469f403a8ff12e7dedf9d",
+      "num_episodes": 76,
+      "num_frames": 31236
+    },
+    "eyefly2/iso_multiple_items_2": {
+      "commit_hash": "ab3dda3026a39d8092b04ee32e894d2a80b2a095",
+      "num_episodes": 34,
+      "num_frames": 12795
+    },
+    "eyefly2/iso_multiple_items_3": {
+      "commit_hash": "5cbd401374015451736c2cee0574cbbb12fc75d1",
+      "num_episodes": 64,
+      "num_frames": 21059
+    },
+    "eyefly2/iso_multiple_items_4": {
+      "commit_hash": "cc094456c675defb9bcf48c74eb1d0db856216b7",
+      "num_episodes": 24,
+      "num_frames": 6987
+    },
+    "eyefly2/iso_multiple_items_5": {
+      "commit_hash": "0d7bf795602f0773c292307c91522937ad0d6878",
+      "num_episodes": 32,
+      "num_frames": 10366
+    }
+  }
+}

iso_multiple_full/15000/params/_METADATA ADDED Viewed

	@@ -0,0 +1 @@

iso_multiple_full/15000/params/_sharding ADDED Viewed

	@@ -0,0 +1 @@

iso_multiple_full/15000/params/d/c8eacec1f89707352605e331544f1025 ADDED Viewed

Binary file (2.35 kB). View file

iso_multiple_full/15000/params/manifest.ocdbt ADDED Viewed

Binary file (117 Bytes). View file

iso_multiple_full/15000/params/ocdbt.process_0/d/0ad084cfef74c19b0c210391dc5a61fe ADDED Viewed

Binary file (5.36 kB). View file

iso_multiple_full/15000/params/ocdbt.process_0/d/277e66c4478aa9b25b93f9b8c16ae7de ADDED Viewed

Binary file (213 Bytes). View file

iso_multiple_full/15000/params/ocdbt.process_0/d/2d67837ced615d53c611eea80aed543f ADDED Viewed

Binary file (2.33 kB). View file

iso_multiple_full/15000/params/ocdbt.process_0/d/bcb7a9408690307acb4cc2731f7c5f67 ADDED Viewed

Binary file (1.69 kB). View file

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

Binary file (497 Bytes). View file

iso_multiple_full/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": 1759196282284266163, "commit_timestamp_nsecs": 1759196329824463803, "custom": {}}

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

	@@ -0,0 +1,338 @@

+{
+  "norm_stats": {
+    "state": {
+      "mean": [
+        -0.07714488357305527,
+        0.10410165041685104,
+        0.28376543521881104,
+        -0.15689034759998322,
+        1.381874918937683,
+        -0.11019328236579895,
+        0.40176573395729065,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "std": [
+        0.1379368156194687,
+        0.2103748917579651,
+        0.05772906169295311,
+        1.1995863914489746,
+        0.12547877430915833,
+        1.1619791984558105,
+        0.49025505781173706,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -0.38241056188941003,
+        -0.37521795920133594,
+        0.12578612251430749,
+        -3.048586104297638,
+        0.9372330918312073,
+        -3.027101500225067,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        0.24150332131981855,
+        0.5623099487185477,
+        0.42474568412192165,
+        3.0296736580371855,
+        1.5541013610601426,
+        3.008346918296814,
+        0.9998,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    },
+    "actions": {
+      "mean": [
+        -0.00015706242993474007,
+        -0.000023489132217946462,
+        -0.0001620672846911475,
+        -0.00001822988997446373,
+        -0.00036318437196314335,
+        -0.00012076067650923505,
+        0.4013514518737793,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "std": [
+        0.0019328175112605095,
+        0.0026730915997177362,
+        0.0018509235233068466,
+        0.0022481700871139765,
+        0.003052649786695838,
+        0.003110019024461508,
+        0.490171879529953,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -0.006082752579823136,
+        -0.0076462113142013455,
+        -0.006185560872219498,
+        -0.006978023531660438,
+        -0.010388011741638184,
+        -0.009983485598862168,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        0.004777925841137766,
+        0.008600614726543415,
+        0.0032964711971580976,
+        0.006997522535920148,
+        0.006022737145423895,
+        0.009259829924255614,
+        0.9998,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    }
+  },
+  "sample_ratio": 0.5,
+  "dataset_infos": {
+    "robotgeneralist/iso_1_item_drag_pt2": {
+      "commit_hash": "d478649def2f852a19c4ef85e22e41b70f78d37e",
+      "num_episodes": 150,
+      "num_frames": 55289
+    },
+    "robotgeneralist/iso_1_item_drag_day": {
+      "commit_hash": "63f49f2b37f871f09f9090f586a857b4ffe3f765",
+      "num_episodes": 146,
+      "num_frames": 48549
+    },
+    "eyefly2/iso_1_item_dishwasher": {
+      "commit_hash": "cb05cbe27f843c6dd299a471976aa968afa720e8",
+      "num_episodes": 33,
+      "num_frames": 11330
+    },
+    "eyefly2/iso_1_item_tissues_Tpaper": {
+      "commit_hash": "d5e3920d9b741668a25722cd9151c48155792223",
+      "num_episodes": 47,
+      "num_frames": 16154
+    },
+    "eyefly2/iso_1_item_jbl": {
+      "commit_hash": "11c6cb799bf3e0df8eced223b189f7fdf4e9d280",
+      "num_episodes": 55,
+      "num_frames": 21136
+    },
+    "eyefly2/iso_1_item_tonner": {
+      "commit_hash": "3d4bf6fee47c087171377fb8964b87ca4c349831",
+      "num_episodes": 60,
+      "num_frames": 25613
+    },
+    "eyefly2/iso_multiple_items": {
+      "commit_hash": "e1f5ad14e001834c291469f403a8ff12e7dedf9d",
+      "num_episodes": 76,
+      "num_frames": 31236
+    },
+    "eyefly2/iso_multiple_items_2": {
+      "commit_hash": "ab3dda3026a39d8092b04ee32e894d2a80b2a095",
+      "num_episodes": 34,
+      "num_frames": 12795
+    },
+    "eyefly2/iso_multiple_items_3": {
+      "commit_hash": "5cbd401374015451736c2cee0574cbbb12fc75d1",
+      "num_episodes": 64,
+      "num_frames": 21059
+    },
+    "eyefly2/iso_multiple_items_4": {
+      "commit_hash": "cc094456c675defb9bcf48c74eb1d0db856216b7",
+      "num_episodes": 24,
+      "num_frames": 6987
+    },
+    "eyefly2/iso_multiple_items_5": {
+      "commit_hash": "0d7bf795602f0773c292307c91522937ad0d6878",
+      "num_episodes": 32,
+      "num_frames": 10366
+    }
+  }
+}

iso_multiple_full/20000/params/_METADATA ADDED Viewed

	@@ -0,0 +1 @@

iso_multiple_full/20000/params/_sharding ADDED Viewed

	@@ -0,0 +1 @@

iso_multiple_full/20000/params/d/5e8ca7a5ad1fe60391359484408ababd ADDED Viewed

Binary file (2.28 kB). View file

iso_multiple_full/20000/params/manifest.ocdbt ADDED Viewed

Binary file (117 Bytes). View file

iso_multiple_full/20000/params/ocdbt.process_0/d/29eb02db1b53985819d3428e6e58818b ADDED Viewed

Binary file (1.62 kB). View file

iso_multiple_full/20000/params/ocdbt.process_0/d/4f1d70a8c249eb32566b5d0d8fc27142 ADDED Viewed

Binary file (2.24 kB). View file

iso_multiple_full/20000/params/ocdbt.process_0/d/562f1e0093584295fc6b68a599bf9f64 ADDED Viewed

Binary file (5.36 kB). View file

iso_multiple_full/20000/params/ocdbt.process_0/d/d9d83e4febc40d8325297497e0f1a8e2 ADDED Viewed

Binary file (213 Bytes). View file

iso_multiple_full/20000/params/ocdbt.process_0/d/eca5724449498caa8281975d481121e1 ADDED Viewed

Binary file (1.1 kB). View file

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

Binary file (457 Bytes). View file

iso_multiple_full/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": 1759203099453541938, "commit_timestamp_nsecs": 1759203311210685046, "custom": {}}

iso_multiple_full/25000/params/_sharding ADDED Viewed

	@@ -0,0 +1 @@

iso_multiple_full/29999/_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": 1759210176984345447, "commit_timestamp_nsecs": 1759210433000589273, "custom": {}}

iso_multiple_full/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": 1759174309784789393, "commit_timestamp_nsecs": 1759174571065364435, "custom": {}}

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

	@@ -0,0 +1,338 @@

+{
+  "norm_stats": {
+    "state": {
+      "mean": [
+        -0.07714488357305527,
+        0.10410165041685104,
+        0.28376543521881104,
+        -0.15689034759998322,
+        1.381874918937683,
+        -0.11019328236579895,
+        0.40176573395729065,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "std": [
+        0.1379368156194687,
+        0.2103748917579651,
+        0.05772906169295311,
+        1.1995863914489746,
+        0.12547877430915833,
+        1.1619791984558105,
+        0.49025505781173706,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -0.38241056188941003,
+        -0.37521795920133594,
+        0.12578612251430749,
+        -3.048586104297638,
+        0.9372330918312073,
+        -3.027101500225067,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        0.24150332131981855,
+        0.5623099487185477,
+        0.42474568412192165,
+        3.0296736580371855,
+        1.5541013610601426,
+        3.008346918296814,
+        0.9998,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    },
+    "actions": {
+      "mean": [
+        -0.00015706242993474007,
+        -0.000023489132217946462,
+        -0.0001620672846911475,
+        -0.00001822988997446373,
+        -0.00036318437196314335,
+        -0.00012076067650923505,
+        0.4013514518737793,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "std": [
+        0.0019328175112605095,
+        0.0026730915997177362,
+        0.0018509235233068466,
+        0.0022481700871139765,
+        0.003052649786695838,
+        0.003110019024461508,
+        0.490171879529953,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -0.006082752579823136,
+        -0.0076462113142013455,
+        -0.006185560872219498,
+        -0.006978023531660438,
+        -0.010388011741638184,
+        -0.009983485598862168,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        0.004777925841137766,
+        0.008600614726543415,
+        0.0032964711971580976,
+        0.006997522535920148,
+        0.006022737145423895,
+        0.009259829924255614,
+        0.9998,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0
+      ]
+    }
+  },
+  "sample_ratio": 0.5,
+  "dataset_infos": {
+    "robotgeneralist/iso_1_item_drag_pt2": {
+      "commit_hash": "d478649def2f852a19c4ef85e22e41b70f78d37e",
+      "num_episodes": 150,
+      "num_frames": 55289
+    },
+    "robotgeneralist/iso_1_item_drag_day": {
+      "commit_hash": "63f49f2b37f871f09f9090f586a857b4ffe3f765",
+      "num_episodes": 146,
+      "num_frames": 48549
+    },
+    "eyefly2/iso_1_item_dishwasher": {
+      "commit_hash": "cb05cbe27f843c6dd299a471976aa968afa720e8",
+      "num_episodes": 33,
+      "num_frames": 11330
+    },
+    "eyefly2/iso_1_item_tissues_Tpaper": {
+      "commit_hash": "d5e3920d9b741668a25722cd9151c48155792223",
+      "num_episodes": 47,
+      "num_frames": 16154
+    },
+    "eyefly2/iso_1_item_jbl": {
+      "commit_hash": "11c6cb799bf3e0df8eced223b189f7fdf4e9d280",
+      "num_episodes": 55,
+      "num_frames": 21136
+    },
+    "eyefly2/iso_1_item_tonner": {
+      "commit_hash": "3d4bf6fee47c087171377fb8964b87ca4c349831",
+      "num_episodes": 60,
+      "num_frames": 25613
+    },
+    "eyefly2/iso_multiple_items": {
+      "commit_hash": "e1f5ad14e001834c291469f403a8ff12e7dedf9d",
+      "num_episodes": 76,
+      "num_frames": 31236
+    },
+    "eyefly2/iso_multiple_items_2": {
+      "commit_hash": "ab3dda3026a39d8092b04ee32e894d2a80b2a095",
+      "num_episodes": 34,
+      "num_frames": 12795
+    },
+    "eyefly2/iso_multiple_items_3": {
+      "commit_hash": "5cbd401374015451736c2cee0574cbbb12fc75d1",
+      "num_episodes": 64,
+      "num_frames": 21059
+    },
+    "eyefly2/iso_multiple_items_4": {
+      "commit_hash": "cc094456c675defb9bcf48c74eb1d0db856216b7",
+      "num_episodes": 24,
+      "num_frames": 6987
+    },
+    "eyefly2/iso_multiple_items_5": {
+      "commit_hash": "0d7bf795602f0773c292307c91522937ad0d6878",
+      "num_episodes": 32,
+      "num_frames": 10366
+    }
+  }
+}

iso_multiple_full/5000/params/_METADATA ADDED Viewed

	@@ -0,0 +1 @@

iso_multiple_full/5000/params/_sharding ADDED Viewed

	@@ -0,0 +1 @@

iso_multiple_full/5000/params/d/76c68cf3fa30c1298dfc024e8d07228a ADDED Viewed

Binary file (2.31 kB). View file

iso_multiple_full/5000/params/manifest.ocdbt ADDED Viewed

Binary file (117 Bytes). View file

iso_multiple_full/5000/params/ocdbt.process_0/d/17a80ac421308d8d2c072db7bfaf2d0d ADDED Viewed

Binary file (1.06 kB). View file

iso_multiple_full/5000/params/ocdbt.process_0/d/851160d30079c384b51f952c110f2f92 ADDED Viewed

Binary file (2.26 kB). View file

iso_multiple_full/5000/params/ocdbt.process_0/d/891ec1c91ec9bddb431d43710a3805f3 ADDED Viewed

Binary file (230 Bytes). View file

iso_multiple_full/5000/params/ocdbt.process_0/d/caef816a10c108bd86815c5da87b78a6 ADDED Viewed

Binary file (5.19 kB). View file

iso_multiple_full/5000/params/ocdbt.process_0/d/de0662a7007cd6c44d1f7f53a3823273 ADDED Viewed

Binary file (902 Bytes). View file

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

Binary file (499 Bytes). View file

iso_multiple_full/config.yaml ADDED Viewed

	@@ -0,0 +1,80 @@

+!!python/object:openpi.training.config.TrainConfig
+name: iso_multiple
+project_name: openpi
+exp_name: iso_multiple_full
+model: !!python/object:openpi.models.pi0.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
+weight_loader: !!python/object:openpi.training.weight_loaders.CheckpointWeightLoader
+    params_path: s3://openpi-assets/checkpoints/pi0_base/params
+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.LeRobotNomagicURXDataWithFtConfig
+    repo_ids: !!python/tuple
+    - robotgeneralist/iso_1_item_drag_pt2
+    - robotgeneralist/iso_1_item_drag_day
+    - eyefly2/iso_1_item_dishwasher
+    - eyefly2/iso_1_item_tissues_Tpaper
+    - eyefly2/iso_1_item_jbl
+    - eyefly2/iso_1_item_tonner
+    - eyefly2/iso_multiple_items
+    - eyefly2/iso_multiple_items_2
+    - eyefly2/iso_multiple_items_3
+    - eyefly2/iso_multiple_items_4
+    - eyefly2/iso_multiple_items_5
+    assets: !!python/object:openpi.training.config.AssetsConfig
+        assets_dir: null
+        asset_id: ur10e
+    norm_stats_sample_ratio: 0.5
+    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
+        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
+        prompt_from_task: true
+    default_prompt: null
+    use_poses: true
+    end_effector_frame: true
+assets_base_dir: ./assets
+checkpoint_base_dir: /storage_nvme_1/robotgeneralist/checkpoints
+seed: 42
+batch_size: 32
+num_workers: 2
+num_train_steps: 30000
+log_interval: 100
+save_interval: 1000
+keep_period: 5000
+overwrite: false
+resume: true
+wandb_enabled: true
+policy_metadata: null
+fsdp_devices: 1

iso_multiple_full/wandb_id.txt ADDED Viewed

	@@ -0,0 +1 @@


1	+ r0z7bkmd