Upload pi05_libero_pytorch checkpoint
Browse files- assets/physical-intelligence/libero/norm_stats.json +84 -0
- config.json +7 -0
- model.safetensors +3 -0
assets/physical-intelligence/libero/norm_stats.json
ADDED
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@@ -0,0 +1,84 @@
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{
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"norm_stats": {
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"state": {
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"mean": [
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-0.04363870248198509,
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0.03525487706065178,
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0.7637033462524414,
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2.9673683643341064,
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-0.2108035385608673,
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-0.1297520250082016,
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0.027788693085312843,
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-0.028010232374072075
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],
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"std": [
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0.10337679088115692,
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0.15188011527061462,
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0.38154250383377075,
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0.3545231223106384,
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0.929176390171051,
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0.330748051404953,
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0.014128931798040867,
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0.013960899785161018
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],
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"q01": [
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-0.3524468903720379,
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-0.26824864755272865,
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0.04083745917417109,
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1.5317653684616088,
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-2.7152330031871794,
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-1.076538143157959,
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0.001715825623134151,
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-0.04003722561979666
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],
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"q99": [
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0.13891278689503672,
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0.3251991607129573,
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1.2568962905768304,
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3.26276856803894,
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2.4437233173847197,
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0.5638469840288161,
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0.04030780866963323,
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-0.0017131616945378486
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]
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},
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"actions": {
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"mean": [
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0.026827840134501457,
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0.08886060863733292,
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-0.09983397275209427,
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0.00024006747116800398,
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0.0012838079128414392,
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-0.0029443209059536457,
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-0.1305243819952011
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],
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"std": [
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0.3311910927295685,
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0.37191954255104065,
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0.45225635170936584,
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0.03948824852705002,
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0.06278067082166672,
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0.07317619770765305,
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0.9914451241493225
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],
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"q01": [
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-0.747375,
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-0.796125,
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-0.9375,
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-0.11580300460159779,
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-0.16942972007393836,
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-0.194502209174633,
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-1.0
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],
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"q99": [
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0.937125,
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0.8594999999999999,
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0.937125,
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0.1402260055720806,
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0.18103543001413347,
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0.3115457148551941,
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0.9996
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]
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}
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}
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}
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config.json
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{
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"action_dim": 32,
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"action_horizon": 10,
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"paligemma_variant": "gemma_2b",
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"action_expert_variant": "gemma_300m",
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"precision": "bfloat16"
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}
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model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:407770ab14fd23bc79c4ae3dde42bf67da3847ed51a54a73fe6fc28da5a14b74
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size 7233650408
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