Hugging Face's logo

sunLry
/
openpi-pt-converted

Safetensors
Model card Files
xet
 Community
sunLry commited on
Commit
767e09c
·
verified ·
1 Parent(s): c20e339

Add files using upload-large-folder tool

Browse files
Files changed (18) hide show
  1. base_10k/config.json +7 -0
  2. base_10k/model.safetensors +3 -0
  3. base_10k/physical-intelligence/libero/norm_stats.json +84 -0
  4. base_15k/config.json +7 -0
  5. base_15k/model.safetensors +3 -0
  6. base_15k/physical-intelligence/libero/norm_stats.json +84 -0
  7. base_20k/config.json +7 -0
  8. base_20k/model.safetensors +3 -0
  9. base_20k/physical-intelligence/libero/norm_stats.json +84 -0
  10. base_25k/config.json +7 -0
  11. base_25k/model.safetensors +3 -0
  12. base_25k/physical-intelligence/libero/norm_stats.json +84 -0
  13. base_29999/config.json +7 -0
  14. base_29999/model.safetensors +3 -0
  15. base_29999/physical-intelligence/libero/norm_stats.json +84 -0
  16. base_5k/config.json +7 -0
  17. base_5k/model.safetensors +3 -0
  18. base_5k/physical-intelligence/libero/norm_stats.json +84 -0
base_10k/config.json ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_dim": 32,
3
+ "action_horizon": 10,
4
+ "paligemma_variant": "gemma_2b",
5
+ "action_expert_variant": "gemma_300m",
6
+ "precision": "bfloat16"
7
+ }
base_10k/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d21f95ba76a9c938603dab9923d287c5c4e7da6f230c90c3c119c6831442a5e9
3
+ size 7233650408
base_10k/physical-intelligence/libero/norm_stats.json ADDED
@@ -0,0 +1,84 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "norm_stats": {
3
+ "state": {
4
+ "mean": [
5
+ -0.046515364199876785,
6
+ 0.03437928482890129,
7
+ 0.7644976377487183,
8
+ 2.972177743911743,
9
+ -0.22033743560314178,
10
+ -0.12564770877361298,
11
+ 0.02691822499036789,
12
+ -0.027194784954190254
13
+ ],
14
+ "std": [
15
+ 0.10494291037321091,
16
+ 0.15176796913146973,
17
+ 0.3785354495048523,
18
+ 0.34430304169654846,
19
+ 0.9069933891296387,
20
+ 0.3253868818283081,
21
+ 0.014174072071909904,
22
+ 0.014057019725441933
23
+ ],
24
+ "q01": [
25
+ -0.3992278680294752,
26
+ -0.2688781352341175,
27
+ 0.0380015922319144,
28
+ 1.5083277968406676,
29
+ -2.721004430627823,
30
+ -1.0813218128442763,
31
+ 0.00173520012809895,
32
+ -0.04004424215038307
33
+ ],
34
+ "q99": [
35
+ 0.13532010269463068,
36
+ 0.33566314613819126,
37
+ 1.270144051608257,
38
+ 3.2765059180259706,
39
+ 2.405436800289154,
40
+ 0.5971528978824616,
41
+ 0.04030334069116507,
42
+ -0.0017878379381960213
43
+ ]
44
+ },
45
+ "actions": {
46
+ "mean": [
47
+ 0.05508739501237869,
48
+ 0.08771197497844696,
49
+ -0.08736418187618256,
50
+ 0.0007126443670131266,
51
+ 0.005475438665598631,
52
+ -0.00553408358246088,
53
+ -0.0457155816257
54
+ ],
55
+ "std": [
56
+ 0.331815630197525,
57
+ 0.3758377134799957,
58
+ 0.44807112216949463,
59
+ 0.03933163732290268,
60
+ 0.06357798725366592,
61
+ 0.0785769671201706,
62
+ 0.9989544749259949
63
+ ],
64
+ "q01": [
65
+ -0.7072499999999999,
66
+ -0.7983750000000001,
67
+ -0.9375,
68
+ -0.11467779144644738,
69
+ -0.16410000000000002,
70
+ -0.2240490057706833,
71
+ -1.0
72
+ ],
73
+ "q99": [
74
+ 0.937125,
75
+ 0.86775,
76
+ 0.937125,
77
+ 0.13163035735487938,
78
+ 0.19169999999999998,
79
+ 0.33742949963808055,
80
+ 0.9996
81
+ ]
82
+ }
83
+ }
84
+ }
base_15k/config.json ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_dim": 32,
3
+ "action_horizon": 10,
4
+ "paligemma_variant": "gemma_2b",
5
+ "action_expert_variant": "gemma_300m",
6
+ "precision": "bfloat16"
7
+ }
base_15k/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a133fbe42f8cc7f2c6c310f272304522cf7eaad77d6d522620d9ed08058a83bb
3
+ size 7233650408
base_15k/physical-intelligence/libero/norm_stats.json ADDED
@@ -0,0 +1,84 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "norm_stats": {
3
+ "state": {
4
+ "mean": [
5
+ -0.046515364199876785,
6
+ 0.03437928482890129,
7
+ 0.7644976377487183,
8
+ 2.972177743911743,
9
+ -0.22033743560314178,
10
+ -0.12564770877361298,
11
+ 0.02691822499036789,
12
+ -0.027194784954190254
13
+ ],
14
+ "std": [
15
+ 0.10494291037321091,
16
+ 0.15176796913146973,
17
+ 0.3785354495048523,
18
+ 0.34430304169654846,
19
+ 0.9069933891296387,
20
+ 0.3253868818283081,
21
+ 0.014174072071909904,
22
+ 0.014057019725441933
23
+ ],
24
+ "q01": [
25
+ -0.3992278680294752,
26
+ -0.2688781352341175,
27
+ 0.0380015922319144,
28
+ 1.5083277968406676,
29
+ -2.721004430627823,
30
+ -1.0813218128442763,
31
+ 0.00173520012809895,
32
+ -0.04004424215038307
33
+ ],
34
+ "q99": [
35
+ 0.13532010269463068,
36
+ 0.33566314613819126,
37
+ 1.270144051608257,
38
+ 3.2765059180259706,
39
+ 2.405436800289154,
40
+ 0.5971528978824616,
41
+ 0.04030334069116507,
42
+ -0.0017878379381960213
43
+ ]
44
+ },
45
+ "actions": {
46
+ "mean": [
47
+ 0.05508739501237869,
48
+ 0.08771197497844696,
49
+ -0.08736418187618256,
50
+ 0.0007126443670131266,
51
+ 0.005475438665598631,
52
+ -0.00553408358246088,
53
+ -0.0457155816257
54
+ ],
55
+ "std": [
56
+ 0.331815630197525,
57
+ 0.3758377134799957,
58
+ 0.44807112216949463,
59
+ 0.03933163732290268,
60
+ 0.06357798725366592,
61
+ 0.0785769671201706,
62
+ 0.9989544749259949
63
+ ],
64
+ "q01": [
65
+ -0.7072499999999999,
66
+ -0.7983750000000001,
67
+ -0.9375,
68
+ -0.11467779144644738,
69
+ -0.16410000000000002,
70
+ -0.2240490057706833,
71
+ -1.0
72
+ ],
73
+ "q99": [
74
+ 0.937125,
75
+ 0.86775,
76
+ 0.937125,
77
+ 0.13163035735487938,
78
+ 0.19169999999999998,
79
+ 0.33742949963808055,
80
+ 0.9996
81
+ ]
82
+ }
83
+ }
84
+ }
base_20k/config.json ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_dim": 32,
3
+ "action_horizon": 10,
4
+ "paligemma_variant": "gemma_2b",
5
+ "action_expert_variant": "gemma_300m",
6
+ "precision": "bfloat16"
7
+ }
base_20k/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fb0d15be73c6311c9d7b7e259e09c3ccbb2c3f39de31288844e447497ffb80ea
3
+ size 7233650408
base_20k/physical-intelligence/libero/norm_stats.json ADDED
@@ -0,0 +1,84 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "norm_stats": {
3
+ "state": {
4
+ "mean": [
5
+ -0.046515364199876785,
6
+ 0.03437928482890129,
7
+ 0.7644976377487183,
8
+ 2.972177743911743,
9
+ -0.22033743560314178,
10
+ -0.12564770877361298,
11
+ 0.02691822499036789,
12
+ -0.027194784954190254
13
+ ],
14
+ "std": [
15
+ 0.10494291037321091,
16
+ 0.15176796913146973,
17
+ 0.3785354495048523,
18
+ 0.34430304169654846,
19
+ 0.9069933891296387,
20
+ 0.3253868818283081,
21
+ 0.014174072071909904,
22
+ 0.014057019725441933
23
+ ],
24
+ "q01": [
25
+ -0.3992278680294752,
26
+ -0.2688781352341175,
27
+ 0.0380015922319144,
28
+ 1.5083277968406676,
29
+ -2.721004430627823,
30
+ -1.0813218128442763,
31
+ 0.00173520012809895,
32
+ -0.04004424215038307
33
+ ],
34
+ "q99": [
35
+ 0.13532010269463068,
36
+ 0.33566314613819126,
37
+ 1.270144051608257,
38
+ 3.2765059180259706,
39
+ 2.405436800289154,
40
+ 0.5971528978824616,
41
+ 0.04030334069116507,
42
+ -0.0017878379381960213
43
+ ]
44
+ },
45
+ "actions": {
46
+ "mean": [
47
+ 0.05508739501237869,
48
+ 0.08771197497844696,
49
+ -0.08736418187618256,
50
+ 0.0007126443670131266,
51
+ 0.005475438665598631,
52
+ -0.00553408358246088,
53
+ -0.0457155816257
54
+ ],
55
+ "std": [
56
+ 0.331815630197525,
57
+ 0.3758377134799957,
58
+ 0.44807112216949463,
59
+ 0.03933163732290268,
60
+ 0.06357798725366592,
61
+ 0.0785769671201706,
62
+ 0.9989544749259949
63
+ ],
64
+ "q01": [
65
+ -0.7072499999999999,
66
+ -0.7983750000000001,
67
+ -0.9375,
68
+ -0.11467779144644738,
69
+ -0.16410000000000002,
70
+ -0.2240490057706833,
71
+ -1.0
72
+ ],
73
+ "q99": [
74
+ 0.937125,
75
+ 0.86775,
76
+ 0.937125,
77
+ 0.13163035735487938,
78
+ 0.19169999999999998,
79
+ 0.33742949963808055,
80
+ 0.9996
81
+ ]
82
+ }
83
+ }
84
+ }
base_25k/config.json ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_dim": 32,
3
+ "action_horizon": 10,
4
+ "paligemma_variant": "gemma_2b",
5
+ "action_expert_variant": "gemma_300m",
6
+ "precision": "bfloat16"
7
+ }
base_25k/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:605bd5243a06f91b67bebcdc37d65593991cb6b5da1816ca46febaa43a8f0044
3
+ size 7233650408
base_25k/physical-intelligence/libero/norm_stats.json ADDED
@@ -0,0 +1,84 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "norm_stats": {
3
+ "state": {
4
+ "mean": [
5
+ -0.046515364199876785,
6
+ 0.03437928482890129,
7
+ 0.7644976377487183,
8
+ 2.972177743911743,
9
+ -0.22033743560314178,
10
+ -0.12564770877361298,
11
+ 0.02691822499036789,
12
+ -0.027194784954190254
13
+ ],
14
+ "std": [
15
+ 0.10494291037321091,
16
+ 0.15176796913146973,
17
+ 0.3785354495048523,
18
+ 0.34430304169654846,
19
+ 0.9069933891296387,
20
+ 0.3253868818283081,
21
+ 0.014174072071909904,
22
+ 0.014057019725441933
23
+ ],
24
+ "q01": [
25
+ -0.3992278680294752,
26
+ -0.2688781352341175,
27
+ 0.0380015922319144,
28
+ 1.5083277968406676,
29
+ -2.721004430627823,
30
+ -1.0813218128442763,
31
+ 0.00173520012809895,
32
+ -0.04004424215038307
33
+ ],
34
+ "q99": [
35
+ 0.13532010269463068,
36
+ 0.33566314613819126,
37
+ 1.270144051608257,
38
+ 3.2765059180259706,
39
+ 2.405436800289154,
40
+ 0.5971528978824616,
41
+ 0.04030334069116507,
42
+ -0.0017878379381960213
43
+ ]
44
+ },
45
+ "actions": {
46
+ "mean": [
47
+ 0.05508739501237869,
48
+ 0.08771197497844696,
49
+ -0.08736418187618256,
50
+ 0.0007126443670131266,
51
+ 0.005475438665598631,
52
+ -0.00553408358246088,
53
+ -0.0457155816257
54
+ ],
55
+ "std": [
56
+ 0.331815630197525,
57
+ 0.3758377134799957,
58
+ 0.44807112216949463,
59
+ 0.03933163732290268,
60
+ 0.06357798725366592,
61
+ 0.0785769671201706,
62
+ 0.9989544749259949
63
+ ],
64
+ "q01": [
65
+ -0.7072499999999999,
66
+ -0.7983750000000001,
67
+ -0.9375,
68
+ -0.11467779144644738,
69
+ -0.16410000000000002,
70
+ -0.2240490057706833,
71
+ -1.0
72
+ ],
73
+ "q99": [
74
+ 0.937125,
75
+ 0.86775,
76
+ 0.937125,
77
+ 0.13163035735487938,
78
+ 0.19169999999999998,
79
+ 0.33742949963808055,
80
+ 0.9996
81
+ ]
82
+ }
83
+ }
84
+ }
base_29999/config.json ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_dim": 32,
3
+ "action_horizon": 10,
4
+ "paligemma_variant": "gemma_2b",
5
+ "action_expert_variant": "gemma_300m",
6
+ "precision": "bfloat16"
7
+ }
base_29999/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2ef4fd4649c91f754769a0b52e55501348d6e98a67b8e027a7acf4c08390bafe
3
+ size 7233650408
base_29999/physical-intelligence/libero/norm_stats.json ADDED
@@ -0,0 +1,84 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "norm_stats": {
3
+ "state": {
4
+ "mean": [
5
+ -0.046515364199876785,
6
+ 0.03437928482890129,
7
+ 0.7644976377487183,
8
+ 2.972177743911743,
9
+ -0.22033743560314178,
10
+ -0.12564770877361298,
11
+ 0.02691822499036789,
12
+ -0.027194784954190254
13
+ ],
14
+ "std": [
15
+ 0.10494291037321091,
16
+ 0.15176796913146973,
17
+ 0.3785354495048523,
18
+ 0.34430304169654846,
19
+ 0.9069933891296387,
20
+ 0.3253868818283081,
21
+ 0.014174072071909904,
22
+ 0.014057019725441933
23
+ ],
24
+ "q01": [
25
+ -0.3992278680294752,
26
+ -0.2688781352341175,
27
+ 0.0380015922319144,
28
+ 1.5083277968406676,
29
+ -2.721004430627823,
30
+ -1.0813218128442763,
31
+ 0.00173520012809895,
32
+ -0.04004424215038307
33
+ ],
34
+ "q99": [
35
+ 0.13532010269463068,
36
+ 0.33566314613819126,
37
+ 1.270144051608257,
38
+ 3.2765059180259706,
39
+ 2.405436800289154,
40
+ 0.5971528978824616,
41
+ 0.04030334069116507,
42
+ -0.0017878379381960213
43
+ ]
44
+ },
45
+ "actions": {
46
+ "mean": [
47
+ 0.05508739501237869,
48
+ 0.08771197497844696,
49
+ -0.08736418187618256,
50
+ 0.0007126443670131266,
51
+ 0.005475438665598631,
52
+ -0.00553408358246088,
53
+ -0.0457155816257
54
+ ],
55
+ "std": [
56
+ 0.331815630197525,
57
+ 0.3758377134799957,
58
+ 0.44807112216949463,
59
+ 0.03933163732290268,
60
+ 0.06357798725366592,
61
+ 0.0785769671201706,
62
+ 0.9989544749259949
63
+ ],
64
+ "q01": [
65
+ -0.7072499999999999,
66
+ -0.7983750000000001,
67
+ -0.9375,
68
+ -0.11467779144644738,
69
+ -0.16410000000000002,
70
+ -0.2240490057706833,
71
+ -1.0
72
+ ],
73
+ "q99": [
74
+ 0.937125,
75
+ 0.86775,
76
+ 0.937125,
77
+ 0.13163035735487938,
78
+ 0.19169999999999998,
79
+ 0.33742949963808055,
80
+ 0.9996
81
+ ]
82
+ }
83
+ }
84
+ }
base_5k/config.json ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_dim": 32,
3
+ "action_horizon": 10,
4
+ "paligemma_variant": "gemma_2b",
5
+ "action_expert_variant": "gemma_300m",
6
+ "precision": "bfloat16"
7
+ }
base_5k/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b279dfcb5619692e83f67132235acfc273be0b817e593941422f788746016c0e
3
+ size 7233650408
base_5k/physical-intelligence/libero/norm_stats.json ADDED
@@ -0,0 +1,84 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "norm_stats": {
3
+ "state": {
4
+ "mean": [
5
+ -0.046515364199876785,
6
+ 0.03437928482890129,
7
+ 0.7644976377487183,
8
+ 2.972177743911743,
9
+ -0.22033743560314178,
10
+ -0.12564770877361298,
11
+ 0.02691822499036789,
12
+ -0.027194784954190254
13
+ ],
14
+ "std": [
15
+ 0.10494291037321091,
16
+ 0.15176796913146973,
17
+ 0.3785354495048523,
18
+ 0.34430304169654846,
19
+ 0.9069933891296387,
20
+ 0.3253868818283081,
21
+ 0.014174072071909904,
22
+ 0.014057019725441933
23
+ ],
24
+ "q01": [
25
+ -0.3992278680294752,
26
+ -0.2688781352341175,
27
+ 0.0380015922319144,
28
+ 1.5083277968406676,
29
+ -2.721004430627823,
30
+ -1.0813218128442763,
31
+ 0.00173520012809895,
32
+ -0.04004424215038307
33
+ ],
34
+ "q99": [
35
+ 0.13532010269463068,
36
+ 0.33566314613819126,
37
+ 1.270144051608257,
38
+ 3.2765059180259706,
39
+ 2.405436800289154,
40
+ 0.5971528978824616,
41
+ 0.04030334069116507,
42
+ -0.0017878379381960213
43
+ ]
44
+ },
45
+ "actions": {
46
+ "mean": [
47
+ 0.05508739501237869,
48
+ 0.08771197497844696,
49
+ -0.08736418187618256,
50
+ 0.0007126443670131266,
51
+ 0.005475438665598631,
52
+ -0.00553408358246088,
53
+ -0.0457155816257
54
+ ],
55
+ "std": [
56
+ 0.331815630197525,
57
+ 0.3758377134799957,
58
+ 0.44807112216949463,
59
+ 0.03933163732290268,
60
+ 0.06357798725366592,
61
+ 0.0785769671201706,
62
+ 0.9989544749259949
63
+ ],
64
+ "q01": [
65
+ -0.7072499999999999,
66
+ -0.7983750000000001,
67
+ -0.9375,
68
+ -0.11467779144644738,
69
+ -0.16410000000000002,
70
+ -0.2240490057706833,
71
+ -1.0
72
+ ],
73
+ "q99": [
74
+ 0.937125,
75
+ 0.86775,
76
+ 0.937125,
77
+ 0.13163035735487938,
78
+ 0.19169999999999998,
79
+ 0.33742949963808055,
80
+ 0.9996
81
+ ]
82
+ }
83
+ }
84
+ }