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Browse files- cumv2_r1.0/config.json +115 -0
- cumv2_r1.0/model.safetensors +3 -0
- cumv2_r2.0/config.json +115 -0
- cumv2_r2.0/model.safetensors +3 -0
- dino_dz/config.json +115 -0
- dino_dz/model.safetensors +3 -0
- geo_latent/config.json +120 -0
- geo_latent/model.safetensors +3 -0
- geo_latent_w15/config.json +120 -0
- geo_latent_w15/model.safetensors +3 -0
- siglip_abs/config.json +115 -0
- siglip_abs/model.safetensors +3 -0
- siglip_delta/config.json +115 -0
- siglip_delta/model.safetensors +3 -0
- vggt_none/config.json +115 -0
- vggt_none/model.safetensors +3 -0
- vggt_none_cum/config.json +115 -0
- vggt_none_cum/model.safetensors +3 -0
- vggt_sub/config.json +115 -0
- vggt_sub/model.safetensors +3 -0
- vggt_sub_cum/config.json +115 -0
- vggt_sub_cum/model.safetensors +3 -0
cumv2_r1.0/config.json
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{
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"action_dim": 32,
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"action_head_cfg": {
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"_convert_": "object",
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"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDM",
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"config": {
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"_recursive_": false,
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"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDMConfig",
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"action_dim": 32,
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"action_horizon": 16,
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"add_pos_embed": true,
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"add_seperator_token": true,
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"add_view_embed": true,
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"alpha_high": 2.0,
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"alpha_low": 0.0,
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"backbone_features_projector_cfg": null,
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"cum_loss_mode": "v2",
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"cum_ref_pos_mm": 60.0,
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"cum_ref_rot_deg": 6.0,
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"cum_w_pos": 1.0,
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"cum_w_rot": 1.0,
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| 22 |
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"diffusion_model_cfg": {
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"_target_": "gr00t.model.action_head.cross_attention_dit.DiT",
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"attention_head_dim": 64,
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"dropout": 0.2,
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"final_dropout": true,
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"interleave_self_attention": true,
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"norm_type": "ada_norm",
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"num_attention_heads": 16,
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"num_layers": 8,
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"output_dim": 1024,
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"positional_embeddings": null
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},
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"feature_mode": "delta",
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"geo_gate_slope": 1.0,
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"geo_gate_tau": 2.0,
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"geo_loss_mode": "none",
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"geo_ref_px": 20.0,
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"geo_track_res": 224,
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"group_loss_mode": "none",
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"group_std_grip": 0.0572,
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"group_std_pos": 0.1468,
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"group_std_rot": 0.0097,
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"hidden_size": 1024,
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"k_high": 1.5,
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"k_low": 0.5,
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"linear_aug_mode": "none",
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"max_action_dim": 32,
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"max_num_views": 6,
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"max_state_dim": 64,
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"mm_projector_cfg": {
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"_convert_": "object",
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"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjector",
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"config": {
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"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjectorConfig",
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"hidden_size": 1024,
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"mm_hidden_size": 1024,
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"mm_projector_type": "mlp_doubledownsample"
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}
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},
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"mm_vision_select_layer": -2,
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"model_dtype": "float32",
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"noise_beta_alpha": 1.5,
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"noise_beta_beta": 1.0,
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"noise_s": 0.999,
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| 66 |
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"null_aug_mode": "none",
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| 67 |
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"null_detach": true,
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| 68 |
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"num_inference_timesteps": 16,
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| 69 |
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"num_timestep_buckets": 1000,
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| 70 |
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"siglip_hidden_size": 1024,
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| 71 |
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"siglip_model_cfg": {
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| 72 |
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"_convert_": "object",
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| 73 |
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"_target_": "gr00t.model.action_head.siglip.SiglipModel.from_pretrained",
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| 74 |
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"pretrained_model_name_or_path": "${oc.env:SIGLIP_PATH,checkpoints/google/siglip2-large-patch16-256}"
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},
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"spatial_mask_mode": "none",
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"spatial_mask_sigma": 1.0,
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"tune_vision_tower": true,
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"vggt_fusion_mode": "none",
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"vggt_mid_dim": 512,
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"vggt_num_heads": 8,
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"vggt_num_queries": 16,
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"vision_source": "dino",
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"vl_self_attention_cfg": {
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"_target_": "gr00t.model.action_head.cross_attention_dit.SelfAttentionTransformer",
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"attention_head_dim": 64,
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| 87 |
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"dropout": 0.2,
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"final_dropout": true,
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"num_attention_heads": 16,
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"num_layers": 4,
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| 91 |
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"positional_embeddings": null
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},
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| 93 |
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"w_fwd": 1.0,
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"w_geo": 0.05,
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"w_grip": 1.0,
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| 96 |
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"w_hom": 1.0,
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| 97 |
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"w_null": 1.0,
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| 98 |
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"w_pos": 1.0,
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| 99 |
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"w_rot": 1.0
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}
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},
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"action_horizon": 16,
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| 103 |
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"architectures": [
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"IDM"
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| 105 |
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],
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| 106 |
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"backbone_cfg": {
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| 107 |
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"_target_": "gr00t.model.backbone.IdentityBackbone"
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},
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| 109 |
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"compute_dtype": "bfloat16",
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| 110 |
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"hidden_size": 0,
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| 111 |
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"model_dtype": "float32",
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| 112 |
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"model_type": "idm",
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| 113 |
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"torch_dtype": "float32",
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| 114 |
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"transformers_version": "4.49.0"
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| 115 |
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}
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cumv2_r1.0/model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:29e45f5c10522556dd621a599a5c181386e0bbb3e8d0e2a65b21b17ff1d8ae2d
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size 1627530056
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cumv2_r2.0/config.json
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{
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"action_dim": 32,
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| 3 |
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"action_head_cfg": {
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| 4 |
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"_convert_": "object",
|
| 5 |
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"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDM",
|
| 6 |
+
"config": {
|
| 7 |
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"_recursive_": false,
|
| 8 |
+
"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDMConfig",
|
| 9 |
+
"action_dim": 32,
|
| 10 |
+
"action_horizon": 16,
|
| 11 |
+
"add_pos_embed": true,
|
| 12 |
+
"add_seperator_token": true,
|
| 13 |
+
"add_view_embed": true,
|
| 14 |
+
"alpha_high": 2.0,
|
| 15 |
+
"alpha_low": 0.0,
|
| 16 |
+
"backbone_features_projector_cfg": null,
|
| 17 |
+
"cum_loss_mode": "v2",
|
| 18 |
+
"cum_ref_pos_mm": 60.0,
|
| 19 |
+
"cum_ref_rot_deg": 6.0,
|
| 20 |
+
"cum_w_pos": 1.0,
|
| 21 |
+
"cum_w_rot": 2.0,
|
| 22 |
+
"diffusion_model_cfg": {
|
| 23 |
+
"_target_": "gr00t.model.action_head.cross_attention_dit.DiT",
|
| 24 |
+
"attention_head_dim": 64,
|
| 25 |
+
"dropout": 0.2,
|
| 26 |
+
"final_dropout": true,
|
| 27 |
+
"interleave_self_attention": true,
|
| 28 |
+
"norm_type": "ada_norm",
|
| 29 |
+
"num_attention_heads": 16,
|
| 30 |
+
"num_layers": 8,
|
| 31 |
+
"output_dim": 1024,
|
| 32 |
+
"positional_embeddings": null
|
| 33 |
+
},
|
| 34 |
+
"feature_mode": "delta",
|
| 35 |
+
"geo_gate_slope": 1.0,
|
| 36 |
+
"geo_gate_tau": 2.0,
|
| 37 |
+
"geo_loss_mode": "none",
|
| 38 |
+
"geo_ref_px": 20.0,
|
| 39 |
+
"geo_track_res": 224,
|
| 40 |
+
"group_loss_mode": "none",
|
| 41 |
+
"group_std_grip": 0.0572,
|
| 42 |
+
"group_std_pos": 0.1468,
|
| 43 |
+
"group_std_rot": 0.0097,
|
| 44 |
+
"hidden_size": 1024,
|
| 45 |
+
"k_high": 1.5,
|
| 46 |
+
"k_low": 0.5,
|
| 47 |
+
"linear_aug_mode": "none",
|
| 48 |
+
"max_action_dim": 32,
|
| 49 |
+
"max_num_views": 6,
|
| 50 |
+
"max_state_dim": 64,
|
| 51 |
+
"mm_projector_cfg": {
|
| 52 |
+
"_convert_": "object",
|
| 53 |
+
"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjector",
|
| 54 |
+
"config": {
|
| 55 |
+
"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjectorConfig",
|
| 56 |
+
"hidden_size": 1024,
|
| 57 |
+
"mm_hidden_size": 1024,
|
| 58 |
+
"mm_projector_type": "mlp_doubledownsample"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"mm_vision_select_layer": -2,
|
| 62 |
+
"model_dtype": "float32",
|
| 63 |
+
"noise_beta_alpha": 1.5,
|
| 64 |
+
"noise_beta_beta": 1.0,
|
| 65 |
+
"noise_s": 0.999,
|
| 66 |
+
"null_aug_mode": "none",
|
| 67 |
+
"null_detach": true,
|
| 68 |
+
"num_inference_timesteps": 16,
|
| 69 |
+
"num_timestep_buckets": 1000,
|
| 70 |
+
"siglip_hidden_size": 1024,
|
| 71 |
+
"siglip_model_cfg": {
|
| 72 |
+
"_convert_": "object",
|
| 73 |
+
"_target_": "gr00t.model.action_head.siglip.SiglipModel.from_pretrained",
|
| 74 |
+
"pretrained_model_name_or_path": "${oc.env:SIGLIP_PATH,checkpoints/google/siglip2-large-patch16-256}"
|
| 75 |
+
},
|
| 76 |
+
"spatial_mask_mode": "none",
|
| 77 |
+
"spatial_mask_sigma": 1.0,
|
| 78 |
+
"tune_vision_tower": true,
|
| 79 |
+
"vggt_fusion_mode": "none",
|
| 80 |
+
"vggt_mid_dim": 512,
|
| 81 |
+
"vggt_num_heads": 8,
|
| 82 |
+
"vggt_num_queries": 16,
|
| 83 |
+
"vision_source": "dino",
|
| 84 |
+
"vl_self_attention_cfg": {
|
| 85 |
+
"_target_": "gr00t.model.action_head.cross_attention_dit.SelfAttentionTransformer",
|
| 86 |
+
"attention_head_dim": 64,
|
| 87 |
+
"dropout": 0.2,
|
| 88 |
+
"final_dropout": true,
|
| 89 |
+
"num_attention_heads": 16,
|
| 90 |
+
"num_layers": 4,
|
| 91 |
+
"positional_embeddings": null
|
| 92 |
+
},
|
| 93 |
+
"w_fwd": 1.0,
|
| 94 |
+
"w_geo": 0.05,
|
| 95 |
+
"w_grip": 1.0,
|
| 96 |
+
"w_hom": 1.0,
|
| 97 |
+
"w_null": 1.0,
|
| 98 |
+
"w_pos": 1.0,
|
| 99 |
+
"w_rot": 1.0
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"action_horizon": 16,
|
| 103 |
+
"architectures": [
|
| 104 |
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"IDM"
|
| 105 |
+
],
|
| 106 |
+
"backbone_cfg": {
|
| 107 |
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"_target_": "gr00t.model.backbone.IdentityBackbone"
|
| 108 |
+
},
|
| 109 |
+
"compute_dtype": "bfloat16",
|
| 110 |
+
"hidden_size": 0,
|
| 111 |
+
"model_dtype": "float32",
|
| 112 |
+
"model_type": "idm",
|
| 113 |
+
"torch_dtype": "float32",
|
| 114 |
+
"transformers_version": "4.49.0"
|
| 115 |
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}
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cumv2_r2.0/model.safetensors
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version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0da58cba34ba11a4f016b742f6606eef725126f2c75a46b29fb070c6b73f9d71
|
| 3 |
+
size 1627530056
|
dino_dz/config.json
ADDED
|
@@ -0,0 +1,115 @@
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|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"_convert_": "object",
|
| 5 |
+
"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDM",
|
| 6 |
+
"config": {
|
| 7 |
+
"_recursive_": false,
|
| 8 |
+
"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDMConfig",
|
| 9 |
+
"action_dim": 32,
|
| 10 |
+
"action_horizon": 16,
|
| 11 |
+
"add_pos_embed": true,
|
| 12 |
+
"add_seperator_token": true,
|
| 13 |
+
"add_view_embed": true,
|
| 14 |
+
"alpha_high": 2.0,
|
| 15 |
+
"alpha_low": 0.0,
|
| 16 |
+
"backbone_features_projector_cfg": null,
|
| 17 |
+
"cum_loss_mode": "v1",
|
| 18 |
+
"cum_ref_pos_mm": 60.0,
|
| 19 |
+
"cum_ref_rot_deg": 6.0,
|
| 20 |
+
"cum_w_pos": 1.0,
|
| 21 |
+
"cum_w_rot": 1.0,
|
| 22 |
+
"diffusion_model_cfg": {
|
| 23 |
+
"_target_": "gr00t.model.action_head.cross_attention_dit.DiT",
|
| 24 |
+
"attention_head_dim": 64,
|
| 25 |
+
"dropout": 0.2,
|
| 26 |
+
"final_dropout": true,
|
| 27 |
+
"interleave_self_attention": true,
|
| 28 |
+
"norm_type": "ada_norm",
|
| 29 |
+
"num_attention_heads": 16,
|
| 30 |
+
"num_layers": 8,
|
| 31 |
+
"output_dim": 1024,
|
| 32 |
+
"positional_embeddings": null
|
| 33 |
+
},
|
| 34 |
+
"feature_mode": "delta",
|
| 35 |
+
"geo_gate_slope": 1.0,
|
| 36 |
+
"geo_gate_tau": 2.0,
|
| 37 |
+
"geo_loss_mode": "none",
|
| 38 |
+
"geo_ref_px": 20.0,
|
| 39 |
+
"geo_track_res": 224,
|
| 40 |
+
"group_loss_mode": "none",
|
| 41 |
+
"group_std_grip": 0.0572,
|
| 42 |
+
"group_std_pos": 0.1468,
|
| 43 |
+
"group_std_rot": 0.0097,
|
| 44 |
+
"hidden_size": 1024,
|
| 45 |
+
"k_high": 1.5,
|
| 46 |
+
"k_low": 0.5,
|
| 47 |
+
"linear_aug_mode": "none",
|
| 48 |
+
"max_action_dim": 32,
|
| 49 |
+
"max_num_views": 6,
|
| 50 |
+
"max_state_dim": 64,
|
| 51 |
+
"mm_projector_cfg": {
|
| 52 |
+
"_convert_": "object",
|
| 53 |
+
"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjector",
|
| 54 |
+
"config": {
|
| 55 |
+
"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjectorConfig",
|
| 56 |
+
"hidden_size": 1024,
|
| 57 |
+
"mm_hidden_size": 1024,
|
| 58 |
+
"mm_projector_type": "mlp_doubledownsample"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"mm_vision_select_layer": -2,
|
| 62 |
+
"model_dtype": "float32",
|
| 63 |
+
"noise_beta_alpha": 1.5,
|
| 64 |
+
"noise_beta_beta": 1.0,
|
| 65 |
+
"noise_s": 0.999,
|
| 66 |
+
"null_aug_mode": "none",
|
| 67 |
+
"null_detach": true,
|
| 68 |
+
"num_inference_timesteps": 16,
|
| 69 |
+
"num_timestep_buckets": 1000,
|
| 70 |
+
"siglip_hidden_size": 1024,
|
| 71 |
+
"siglip_model_cfg": {
|
| 72 |
+
"_convert_": "object",
|
| 73 |
+
"_target_": "gr00t.model.action_head.siglip.SiglipModel.from_pretrained",
|
| 74 |
+
"pretrained_model_name_or_path": "${oc.env:SIGLIP_PATH,checkpoints/google/siglip2-large-patch16-256}"
|
| 75 |
+
},
|
| 76 |
+
"spatial_mask_mode": "none",
|
| 77 |
+
"spatial_mask_sigma": 1.0,
|
| 78 |
+
"tune_vision_tower": true,
|
| 79 |
+
"vggt_fusion_mode": "none",
|
| 80 |
+
"vggt_mid_dim": 512,
|
| 81 |
+
"vggt_num_heads": 8,
|
| 82 |
+
"vggt_num_queries": 16,
|
| 83 |
+
"vision_source": "dino",
|
| 84 |
+
"vl_self_attention_cfg": {
|
| 85 |
+
"_target_": "gr00t.model.action_head.cross_attention_dit.SelfAttentionTransformer",
|
| 86 |
+
"attention_head_dim": 64,
|
| 87 |
+
"dropout": 0.2,
|
| 88 |
+
"final_dropout": true,
|
| 89 |
+
"num_attention_heads": 16,
|
| 90 |
+
"num_layers": 4,
|
| 91 |
+
"positional_embeddings": null
|
| 92 |
+
},
|
| 93 |
+
"w_fwd": 1.0,
|
| 94 |
+
"w_geo": 0.05,
|
| 95 |
+
"w_grip": 1.0,
|
| 96 |
+
"w_hom": 1.0,
|
| 97 |
+
"w_null": 1.0,
|
| 98 |
+
"w_pos": 1.0,
|
| 99 |
+
"w_rot": 1.0
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"action_horizon": 16,
|
| 103 |
+
"architectures": [
|
| 104 |
+
"IDM"
|
| 105 |
+
],
|
| 106 |
+
"backbone_cfg": {
|
| 107 |
+
"_target_": "gr00t.model.backbone.IdentityBackbone"
|
| 108 |
+
},
|
| 109 |
+
"compute_dtype": "bfloat16",
|
| 110 |
+
"hidden_size": 0,
|
| 111 |
+
"model_dtype": "float32",
|
| 112 |
+
"model_type": "idm",
|
| 113 |
+
"torch_dtype": "float32",
|
| 114 |
+
"transformers_version": "4.49.0"
|
| 115 |
+
}
|
dino_dz/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:822f67d04ad65c91fac8c894192d91c5b16c2438ee942d7661b1c4b9f94d6fa4
|
| 3 |
+
size 1627530056
|
geo_latent/config.json
ADDED
|
@@ -0,0 +1,120 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"_convert_": "object",
|
| 5 |
+
"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDM",
|
| 6 |
+
"config": {
|
| 7 |
+
"_recursive_": false,
|
| 8 |
+
"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDMConfig",
|
| 9 |
+
"action_dim": 32,
|
| 10 |
+
"action_horizon": 16,
|
| 11 |
+
"add_pos_embed": true,
|
| 12 |
+
"add_seperator_token": true,
|
| 13 |
+
"add_view_embed": true,
|
| 14 |
+
"alpha_high": 2.0,
|
| 15 |
+
"alpha_low": 0.0,
|
| 16 |
+
"backbone_features_projector_cfg": null,
|
| 17 |
+
"cum_loss_mode": "v2",
|
| 18 |
+
"cum_ref_pos_mm": 60.0,
|
| 19 |
+
"cum_ref_rot_deg": 6.0,
|
| 20 |
+
"cum_w_pos": 1.0,
|
| 21 |
+
"cum_w_rot": 1.0,
|
| 22 |
+
"diffusion_model_cfg": {
|
| 23 |
+
"_target_": "gr00t.model.action_head.cross_attention_dit.DiT",
|
| 24 |
+
"attention_head_dim": 64,
|
| 25 |
+
"dropout": 0.2,
|
| 26 |
+
"final_dropout": true,
|
| 27 |
+
"interleave_self_attention": true,
|
| 28 |
+
"norm_type": "ada_norm",
|
| 29 |
+
"num_attention_heads": 16,
|
| 30 |
+
"num_layers": 8,
|
| 31 |
+
"output_dim": 1024,
|
| 32 |
+
"positional_embeddings": null
|
| 33 |
+
},
|
| 34 |
+
"feature_mode": "frame",
|
| 35 |
+
"geo_gate_slope": 1.0,
|
| 36 |
+
"geo_gate_tau": 2.0,
|
| 37 |
+
"geo_keep_aspect": true,
|
| 38 |
+
"geo_loss_mode": "latent",
|
| 39 |
+
"geo_n_neg": 8,
|
| 40 |
+
"geo_nce_temp": 0.07,
|
| 41 |
+
"geo_neg_radius": 12.0,
|
| 42 |
+
"geo_ref_px": 20.0,
|
| 43 |
+
"geo_track_res": 224,
|
| 44 |
+
"group_loss_mode": "none",
|
| 45 |
+
"group_std_grip": 0.0572,
|
| 46 |
+
"group_std_pos": 0.1468,
|
| 47 |
+
"group_std_rot": 0.0097,
|
| 48 |
+
"hidden_size": 1024,
|
| 49 |
+
"k_high": 1.5,
|
| 50 |
+
"k_low": 0.5,
|
| 51 |
+
"linear_aug_mode": "none",
|
| 52 |
+
"max_action_dim": 32,
|
| 53 |
+
"max_num_views": 6,
|
| 54 |
+
"max_state_dim": 64,
|
| 55 |
+
"mm_projector_cfg": {
|
| 56 |
+
"_convert_": "object",
|
| 57 |
+
"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjector",
|
| 58 |
+
"config": {
|
| 59 |
+
"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjectorConfig",
|
| 60 |
+
"hidden_size": 1024,
|
| 61 |
+
"mm_hidden_size": 1024,
|
| 62 |
+
"mm_projector_type": "mlp_doubledownsample"
|
| 63 |
+
}
|
| 64 |
+
},
|
| 65 |
+
"mm_vision_select_layer": -2,
|
| 66 |
+
"model_dtype": "float32",
|
| 67 |
+
"noise_beta_alpha": 1.5,
|
| 68 |
+
"noise_beta_beta": 1.0,
|
| 69 |
+
"noise_s": 0.999,
|
| 70 |
+
"null_aug_mode": "none",
|
| 71 |
+
"null_detach": true,
|
| 72 |
+
"num_inference_timesteps": 16,
|
| 73 |
+
"num_timestep_buckets": 1000,
|
| 74 |
+
"siglip_hidden_size": 1024,
|
| 75 |
+
"siglip_model_cfg": {
|
| 76 |
+
"_convert_": "object",
|
| 77 |
+
"_target_": "gr00t.model.action_head.siglip.SiglipModel.from_pretrained",
|
| 78 |
+
"pretrained_model_name_or_path": "${oc.env:SIGLIP_PATH,checkpoints/google/siglip2-large-patch16-256}"
|
| 79 |
+
},
|
| 80 |
+
"spatial_mask_mode": "none",
|
| 81 |
+
"spatial_mask_sigma": 1.0,
|
| 82 |
+
"tune_vision_tower": true,
|
| 83 |
+
"vggt_fusion_mode": "sub",
|
| 84 |
+
"vggt_mid_dim": 512,
|
| 85 |
+
"vggt_num_heads": 8,
|
| 86 |
+
"vggt_num_queries": 16,
|
| 87 |
+
"vision_source": "vggt",
|
| 88 |
+
"vl_self_attention_cfg": {
|
| 89 |
+
"_target_": "gr00t.model.action_head.cross_attention_dit.SelfAttentionTransformer",
|
| 90 |
+
"attention_head_dim": 64,
|
| 91 |
+
"dropout": 0.2,
|
| 92 |
+
"final_dropout": true,
|
| 93 |
+
"num_attention_heads": 16,
|
| 94 |
+
"num_layers": 4,
|
| 95 |
+
"positional_embeddings": null
|
| 96 |
+
},
|
| 97 |
+
"w_fwd": 1.0,
|
| 98 |
+
"w_geo": 0.05,
|
| 99 |
+
"w_geo_latent": 0.05,
|
| 100 |
+
"w_grip": 1.0,
|
| 101 |
+
"w_hom": 1.0,
|
| 102 |
+
"w_null": 1.0,
|
| 103 |
+
"w_pos": 1.0,
|
| 104 |
+
"w_rot": 1.0
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"action_horizon": 16,
|
| 108 |
+
"architectures": [
|
| 109 |
+
"IDM"
|
| 110 |
+
],
|
| 111 |
+
"backbone_cfg": {
|
| 112 |
+
"_target_": "gr00t.model.backbone.IdentityBackbone"
|
| 113 |
+
},
|
| 114 |
+
"compute_dtype": "bfloat16",
|
| 115 |
+
"hidden_size": 0,
|
| 116 |
+
"model_dtype": "float32",
|
| 117 |
+
"model_type": "idm",
|
| 118 |
+
"torch_dtype": "float32",
|
| 119 |
+
"transformers_version": "4.49.0"
|
| 120 |
+
}
|
geo_latent/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9ee0ae689b13f422ff64e8962517a7e66afd266f487c2136818ed16f4675a0be
|
| 3 |
+
size 4895104392
|
geo_latent_w15/config.json
ADDED
|
@@ -0,0 +1,120 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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"_convert_": "object",
|
| 5 |
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"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDM",
|
| 6 |
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"config": {
|
| 7 |
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"_recursive_": false,
|
| 8 |
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"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDMConfig",
|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
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| 16 |
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|
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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"_target_": "gr00t.model.action_head.cross_attention_dit.DiT",
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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"norm_type": "ada_norm",
|
| 29 |
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"num_attention_heads": 16,
|
| 30 |
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|
| 31 |
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"output_dim": 1024,
|
| 32 |
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|
| 33 |
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},
|
| 34 |
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"feature_mode": "frame",
|
| 35 |
+
"geo_gate_slope": 1.0,
|
| 36 |
+
"geo_gate_tau": 2.0,
|
| 37 |
+
"geo_keep_aspect": true,
|
| 38 |
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"geo_loss_mode": "latent",
|
| 39 |
+
"geo_n_neg": 8,
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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"hidden_size": 1024,
|
| 49 |
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"k_high": 1.5,
|
| 50 |
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"k_low": 0.5,
|
| 51 |
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"linear_aug_mode": "none",
|
| 52 |
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"max_action_dim": 32,
|
| 53 |
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"max_num_views": 6,
|
| 54 |
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|
| 55 |
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"mm_projector_cfg": {
|
| 56 |
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"_convert_": "object",
|
| 57 |
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"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjector",
|
| 58 |
+
"config": {
|
| 59 |
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"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjectorConfig",
|
| 60 |
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"hidden_size": 1024,
|
| 61 |
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"mm_hidden_size": 1024,
|
| 62 |
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"mm_projector_type": "mlp_doubledownsample"
|
| 63 |
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}
|
| 64 |
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},
|
| 65 |
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"mm_vision_select_layer": -2,
|
| 66 |
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"model_dtype": "float32",
|
| 67 |
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"noise_beta_alpha": 1.5,
|
| 68 |
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"noise_beta_beta": 1.0,
|
| 69 |
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"noise_s": 0.999,
|
| 70 |
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"null_aug_mode": "none",
|
| 71 |
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"null_detach": true,
|
| 72 |
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"num_inference_timesteps": 16,
|
| 73 |
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"num_timestep_buckets": 1000,
|
| 74 |
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"siglip_hidden_size": 1024,
|
| 75 |
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"siglip_model_cfg": {
|
| 76 |
+
"_convert_": "object",
|
| 77 |
+
"_target_": "gr00t.model.action_head.siglip.SiglipModel.from_pretrained",
|
| 78 |
+
"pretrained_model_name_or_path": "${oc.env:SIGLIP_PATH,checkpoints/google/siglip2-large-patch16-256}"
|
| 79 |
+
},
|
| 80 |
+
"spatial_mask_mode": "none",
|
| 81 |
+
"spatial_mask_sigma": 1.0,
|
| 82 |
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"tune_vision_tower": true,
|
| 83 |
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"vggt_fusion_mode": "sub",
|
| 84 |
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"vggt_mid_dim": 512,
|
| 85 |
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|
| 86 |
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"vggt_num_queries": 16,
|
| 87 |
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"vision_source": "vggt",
|
| 88 |
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"vl_self_attention_cfg": {
|
| 89 |
+
"_target_": "gr00t.model.action_head.cross_attention_dit.SelfAttentionTransformer",
|
| 90 |
+
"attention_head_dim": 64,
|
| 91 |
+
"dropout": 0.2,
|
| 92 |
+
"final_dropout": true,
|
| 93 |
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"num_attention_heads": 16,
|
| 94 |
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"num_layers": 4,
|
| 95 |
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"positional_embeddings": null
|
| 96 |
+
},
|
| 97 |
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"w_fwd": 1.0,
|
| 98 |
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"w_geo": 0.05,
|
| 99 |
+
"w_geo_latent": 0.15,
|
| 100 |
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"w_grip": 1.0,
|
| 101 |
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"w_hom": 1.0,
|
| 102 |
+
"w_null": 1.0,
|
| 103 |
+
"w_pos": 1.0,
|
| 104 |
+
"w_rot": 1.0
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"action_horizon": 16,
|
| 108 |
+
"architectures": [
|
| 109 |
+
"IDM"
|
| 110 |
+
],
|
| 111 |
+
"backbone_cfg": {
|
| 112 |
+
"_target_": "gr00t.model.backbone.IdentityBackbone"
|
| 113 |
+
},
|
| 114 |
+
"compute_dtype": "bfloat16",
|
| 115 |
+
"hidden_size": 0,
|
| 116 |
+
"model_dtype": "float32",
|
| 117 |
+
"model_type": "idm",
|
| 118 |
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"torch_dtype": "float32",
|
| 119 |
+
"transformers_version": "4.49.0"
|
| 120 |
+
}
|
geo_latent_w15/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:51de0ce830bb341dd8b11b60a4723fcadc02d00552aa5250e45a98d9ef65a524
|
| 3 |
+
size 4895104392
|
siglip_abs/config.json
ADDED
|
@@ -0,0 +1,115 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"_convert_": "object",
|
| 5 |
+
"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDM",
|
| 6 |
+
"config": {
|
| 7 |
+
"_recursive_": false,
|
| 8 |
+
"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDMConfig",
|
| 9 |
+
"action_dim": 32,
|
| 10 |
+
"action_horizon": 16,
|
| 11 |
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"add_pos_embed": true,
|
| 12 |
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"add_seperator_token": true,
|
| 13 |
+
"add_view_embed": true,
|
| 14 |
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"alpha_high": 2.0,
|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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"diffusion_model_cfg": {
|
| 23 |
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"_target_": "gr00t.model.action_head.cross_attention_dit.DiT",
|
| 24 |
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"attention_head_dim": 64,
|
| 25 |
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"dropout": 0.2,
|
| 26 |
+
"final_dropout": true,
|
| 27 |
+
"interleave_self_attention": true,
|
| 28 |
+
"norm_type": "ada_norm",
|
| 29 |
+
"num_attention_heads": 16,
|
| 30 |
+
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|
| 31 |
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"output_dim": 1024,
|
| 32 |
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|
| 33 |
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},
|
| 34 |
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"feature_mode": "frame",
|
| 35 |
+
"geo_gate_slope": 1.0,
|
| 36 |
+
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|
| 37 |
+
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|
| 38 |
+
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|
| 39 |
+
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|
| 40 |
+
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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"k_high": 1.5,
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
+
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|
| 51 |
+
"mm_projector_cfg": {
|
| 52 |
+
"_convert_": "object",
|
| 53 |
+
"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjector",
|
| 54 |
+
"config": {
|
| 55 |
+
"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjectorConfig",
|
| 56 |
+
"hidden_size": 1024,
|
| 57 |
+
"mm_hidden_size": 1024,
|
| 58 |
+
"mm_projector_type": "mlp_doubledownsample"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"mm_vision_select_layer": -2,
|
| 62 |
+
"model_dtype": "float32",
|
| 63 |
+
"noise_beta_alpha": 1.5,
|
| 64 |
+
"noise_beta_beta": 1.0,
|
| 65 |
+
"noise_s": 0.999,
|
| 66 |
+
"null_aug_mode": "none",
|
| 67 |
+
"null_detach": true,
|
| 68 |
+
"num_inference_timesteps": 16,
|
| 69 |
+
"num_timestep_buckets": 1000,
|
| 70 |
+
"siglip_hidden_size": 1024,
|
| 71 |
+
"siglip_model_cfg": {
|
| 72 |
+
"_convert_": "object",
|
| 73 |
+
"_target_": "gr00t.model.action_head.siglip.SiglipModel.from_pretrained",
|
| 74 |
+
"pretrained_model_name_or_path": "${oc.env:SIGLIP_PATH,checkpoints/google/siglip2-large-patch16-256}"
|
| 75 |
+
},
|
| 76 |
+
"spatial_mask_mode": "none",
|
| 77 |
+
"spatial_mask_sigma": 1.0,
|
| 78 |
+
"tune_vision_tower": true,
|
| 79 |
+
"vggt_fusion_mode": "none",
|
| 80 |
+
"vggt_mid_dim": 512,
|
| 81 |
+
"vggt_num_heads": 8,
|
| 82 |
+
"vggt_num_queries": 16,
|
| 83 |
+
"vision_source": "siglip",
|
| 84 |
+
"vl_self_attention_cfg": {
|
| 85 |
+
"_target_": "gr00t.model.action_head.cross_attention_dit.SelfAttentionTransformer",
|
| 86 |
+
"attention_head_dim": 64,
|
| 87 |
+
"dropout": 0.2,
|
| 88 |
+
"final_dropout": true,
|
| 89 |
+
"num_attention_heads": 16,
|
| 90 |
+
"num_layers": 4,
|
| 91 |
+
"positional_embeddings": null
|
| 92 |
+
},
|
| 93 |
+
"w_fwd": 1.0,
|
| 94 |
+
"w_geo": 0.05,
|
| 95 |
+
"w_grip": 1.0,
|
| 96 |
+
"w_hom": 1.0,
|
| 97 |
+
"w_null": 1.0,
|
| 98 |
+
"w_pos": 1.0,
|
| 99 |
+
"w_rot": 1.0
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"action_horizon": 16,
|
| 103 |
+
"architectures": [
|
| 104 |
+
"IDM"
|
| 105 |
+
],
|
| 106 |
+
"backbone_cfg": {
|
| 107 |
+
"_target_": "gr00t.model.backbone.IdentityBackbone"
|
| 108 |
+
},
|
| 109 |
+
"compute_dtype": "bfloat16",
|
| 110 |
+
"hidden_size": 0,
|
| 111 |
+
"model_dtype": "float32",
|
| 112 |
+
"model_type": "idm",
|
| 113 |
+
"torch_dtype": "float32",
|
| 114 |
+
"transformers_version": "4.49.0"
|
| 115 |
+
}
|
siglip_abs/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fdf58b7f23526e2ab675b28b65b17b3dc4711498bfe2258fdd5bed8ac08a906e
|
| 3 |
+
size 2549650952
|
siglip_delta/config.json
ADDED
|
@@ -0,0 +1,115 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
|
|
| 1 |
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{
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| 2 |
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|
| 3 |
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| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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| 11 |
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|
| 20 |
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|
| 22 |
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| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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"_convert_": "object",
|
| 53 |
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"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjector",
|
| 54 |
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"config": {
|
| 55 |
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"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjectorConfig",
|
| 56 |
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"hidden_size": 1024,
|
| 57 |
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"mm_hidden_size": 1024,
|
| 58 |
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"mm_projector_type": "mlp_doubledownsample"
|
| 59 |
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}
|
| 60 |
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|
| 61 |
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"mm_vision_select_layer": -2,
|
| 62 |
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"model_dtype": "float32",
|
| 63 |
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"noise_beta_alpha": 1.5,
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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"num_timestep_buckets": 1000,
|
| 70 |
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"siglip_hidden_size": 1024,
|
| 71 |
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"siglip_model_cfg": {
|
| 72 |
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"_convert_": "object",
|
| 73 |
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"_target_": "gr00t.model.action_head.siglip.SiglipModel.from_pretrained",
|
| 74 |
+
"pretrained_model_name_or_path": "${oc.env:SIGLIP_PATH,checkpoints/google/siglip2-large-patch16-256}"
|
| 75 |
+
},
|
| 76 |
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"spatial_mask_mode": "none",
|
| 77 |
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"spatial_mask_sigma": 1.0,
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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"vision_source": "siglip",
|
| 84 |
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"vl_self_attention_cfg": {
|
| 85 |
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"_target_": "gr00t.model.action_head.cross_attention_dit.SelfAttentionTransformer",
|
| 86 |
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"attention_head_dim": 64,
|
| 87 |
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"dropout": 0.2,
|
| 88 |
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"final_dropout": true,
|
| 89 |
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"num_attention_heads": 16,
|
| 90 |
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|
| 91 |
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"positional_embeddings": null
|
| 92 |
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},
|
| 93 |
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"w_fwd": 1.0,
|
| 94 |
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"w_geo": 0.05,
|
| 95 |
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"w_grip": 1.0,
|
| 96 |
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"w_hom": 1.0,
|
| 97 |
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"w_null": 1.0,
|
| 98 |
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"w_pos": 1.0,
|
| 99 |
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"w_rot": 1.0
|
| 100 |
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}
|
| 101 |
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},
|
| 102 |
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"action_horizon": 16,
|
| 103 |
+
"architectures": [
|
| 104 |
+
"IDM"
|
| 105 |
+
],
|
| 106 |
+
"backbone_cfg": {
|
| 107 |
+
"_target_": "gr00t.model.backbone.IdentityBackbone"
|
| 108 |
+
},
|
| 109 |
+
"compute_dtype": "bfloat16",
|
| 110 |
+
"hidden_size": 0,
|
| 111 |
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"model_dtype": "float32",
|
| 112 |
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"model_type": "idm",
|
| 113 |
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"torch_dtype": "float32",
|
| 114 |
+
"transformers_version": "4.49.0"
|
| 115 |
+
}
|
siglip_delta/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
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|
|
|
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|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:d31b962d649e41def232ec8a8f6fab9b496be607b5649a38ab1f638cf6c50afe
|
| 3 |
+
size 2549650952
|
vggt_none/config.json
ADDED
|
@@ -0,0 +1,115 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
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|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
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|
| 4 |
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"_convert_": "object",
|
| 5 |
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"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDM",
|
| 6 |
+
"config": {
|
| 7 |
+
"_recursive_": false,
|
| 8 |
+
"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDMConfig",
|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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"_convert_": "object",
|
| 53 |
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"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjector",
|
| 54 |
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"config": {
|
| 55 |
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"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjectorConfig",
|
| 56 |
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|
| 57 |
+
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|
| 58 |
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"mm_projector_type": "mlp_doubledownsample"
|
| 59 |
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}
|
| 60 |
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},
|
| 61 |
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|
| 62 |
+
"model_dtype": "float32",
|
| 63 |
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|
| 64 |
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|
| 65 |
+
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|
| 66 |
+
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|
| 67 |
+
"null_detach": true,
|
| 68 |
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"num_inference_timesteps": 16,
|
| 69 |
+
"num_timestep_buckets": 1000,
|
| 70 |
+
"siglip_hidden_size": 1024,
|
| 71 |
+
"siglip_model_cfg": {
|
| 72 |
+
"_convert_": "object",
|
| 73 |
+
"_target_": "gr00t.model.action_head.siglip.SiglipModel.from_pretrained",
|
| 74 |
+
"pretrained_model_name_or_path": "${oc.env:SIGLIP_PATH,checkpoints/google/siglip2-large-patch16-256}"
|
| 75 |
+
},
|
| 76 |
+
"spatial_mask_mode": "none",
|
| 77 |
+
"spatial_mask_sigma": 1.0,
|
| 78 |
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|
| 79 |
+
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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"vision_source": "vggt",
|
| 84 |
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"vl_self_attention_cfg": {
|
| 85 |
+
"_target_": "gr00t.model.action_head.cross_attention_dit.SelfAttentionTransformer",
|
| 86 |
+
"attention_head_dim": 64,
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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"w_fwd": 1.0,
|
| 94 |
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"w_geo": 0.05,
|
| 95 |
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|
| 96 |
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|
| 97 |
+
"w_null": 1.0,
|
| 98 |
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"w_pos": 1.0,
|
| 99 |
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"w_rot": 1.0
|
| 100 |
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}
|
| 101 |
+
},
|
| 102 |
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"action_horizon": 16,
|
| 103 |
+
"architectures": [
|
| 104 |
+
"IDM"
|
| 105 |
+
],
|
| 106 |
+
"backbone_cfg": {
|
| 107 |
+
"_target_": "gr00t.model.backbone.IdentityBackbone"
|
| 108 |
+
},
|
| 109 |
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"compute_dtype": "bfloat16",
|
| 110 |
+
"hidden_size": 0,
|
| 111 |
+
"model_dtype": "float32",
|
| 112 |
+
"model_type": "idm",
|
| 113 |
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"torch_dtype": "float32",
|
| 114 |
+
"transformers_version": "4.49.0"
|
| 115 |
+
}
|
vggt_none/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:f75cab6b7d9924832de407f09afd2dac2da45ba67e3361f3b132a8283ee449b5
|
| 3 |
+
size 4895104392
|
vggt_none_cum/config.json
ADDED
|
@@ -0,0 +1,115 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
+
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|
| 4 |
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"_convert_": "object",
|
| 5 |
+
"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDM",
|
| 6 |
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"config": {
|
| 7 |
+
"_recursive_": false,
|
| 8 |
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"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDMConfig",
|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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"_target_": "gr00t.model.action_head.cross_attention_dit.DiT",
|
| 24 |
+
"attention_head_dim": 64,
|
| 25 |
+
"dropout": 0.2,
|
| 26 |
+
"final_dropout": true,
|
| 27 |
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"interleave_self_attention": true,
|
| 28 |
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"norm_type": "ada_norm",
|
| 29 |
+
"num_attention_heads": 16,
|
| 30 |
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|
| 31 |
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"output_dim": 1024,
|
| 32 |
+
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|
| 33 |
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},
|
| 34 |
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"feature_mode": "frame",
|
| 35 |
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|
| 36 |
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|
| 37 |
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"geo_loss_mode": "none",
|
| 38 |
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"geo_ref_px": 20.0,
|
| 39 |
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"geo_track_res": 224,
|
| 40 |
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"group_loss_mode": "none",
|
| 41 |
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"group_std_grip": 0.0572,
|
| 42 |
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"group_std_pos": 0.1468,
|
| 43 |
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"group_std_rot": 0.0097,
|
| 44 |
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"hidden_size": 1024,
|
| 45 |
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"k_high": 1.5,
|
| 46 |
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"k_low": 0.5,
|
| 47 |
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"linear_aug_mode": "none",
|
| 48 |
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"max_action_dim": 32,
|
| 49 |
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"max_num_views": 6,
|
| 50 |
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"max_state_dim": 64,
|
| 51 |
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"mm_projector_cfg": {
|
| 52 |
+
"_convert_": "object",
|
| 53 |
+
"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjector",
|
| 54 |
+
"config": {
|
| 55 |
+
"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjectorConfig",
|
| 56 |
+
"hidden_size": 1024,
|
| 57 |
+
"mm_hidden_size": 1024,
|
| 58 |
+
"mm_projector_type": "mlp_doubledownsample"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
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"mm_vision_select_layer": -2,
|
| 62 |
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"model_dtype": "float32",
|
| 63 |
+
"noise_beta_alpha": 1.5,
|
| 64 |
+
"noise_beta_beta": 1.0,
|
| 65 |
+
"noise_s": 0.999,
|
| 66 |
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"null_aug_mode": "none",
|
| 67 |
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"null_detach": true,
|
| 68 |
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"num_inference_timesteps": 16,
|
| 69 |
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"num_timestep_buckets": 1000,
|
| 70 |
+
"siglip_hidden_size": 1024,
|
| 71 |
+
"siglip_model_cfg": {
|
| 72 |
+
"_convert_": "object",
|
| 73 |
+
"_target_": "gr00t.model.action_head.siglip.SiglipModel.from_pretrained",
|
| 74 |
+
"pretrained_model_name_or_path": "${oc.env:SIGLIP_PATH,checkpoints/google/siglip2-large-patch16-256}"
|
| 75 |
+
},
|
| 76 |
+
"spatial_mask_mode": "none",
|
| 77 |
+
"spatial_mask_sigma": 1.0,
|
| 78 |
+
"tune_vision_tower": true,
|
| 79 |
+
"vggt_fusion_mode": "none",
|
| 80 |
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|
| 81 |
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"vggt_num_heads": 8,
|
| 82 |
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"vggt_num_queries": 16,
|
| 83 |
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"vision_source": "vggt",
|
| 84 |
+
"vl_self_attention_cfg": {
|
| 85 |
+
"_target_": "gr00t.model.action_head.cross_attention_dit.SelfAttentionTransformer",
|
| 86 |
+
"attention_head_dim": 64,
|
| 87 |
+
"dropout": 0.2,
|
| 88 |
+
"final_dropout": true,
|
| 89 |
+
"num_attention_heads": 16,
|
| 90 |
+
"num_layers": 4,
|
| 91 |
+
"positional_embeddings": null
|
| 92 |
+
},
|
| 93 |
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"w_fwd": 1.0,
|
| 94 |
+
"w_geo": 0.05,
|
| 95 |
+
"w_grip": 1.0,
|
| 96 |
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"w_hom": 1.0,
|
| 97 |
+
"w_null": 1.0,
|
| 98 |
+
"w_pos": 1.0,
|
| 99 |
+
"w_rot": 1.0
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"action_horizon": 16,
|
| 103 |
+
"architectures": [
|
| 104 |
+
"IDM"
|
| 105 |
+
],
|
| 106 |
+
"backbone_cfg": {
|
| 107 |
+
"_target_": "gr00t.model.backbone.IdentityBackbone"
|
| 108 |
+
},
|
| 109 |
+
"compute_dtype": "bfloat16",
|
| 110 |
+
"hidden_size": 0,
|
| 111 |
+
"model_dtype": "float32",
|
| 112 |
+
"model_type": "idm",
|
| 113 |
+
"torch_dtype": "float32",
|
| 114 |
+
"transformers_version": "4.49.0"
|
| 115 |
+
}
|
vggt_none_cum/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:5d1f4fc57d4470569b4046db2ebd0f167e51565e2369223746073e040e1d97a2
|
| 3 |
+
size 4895104392
|
vggt_sub/config.json
ADDED
|
@@ -0,0 +1,115 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"_convert_": "object",
|
| 5 |
+
"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDM",
|
| 6 |
+
"config": {
|
| 7 |
+
"_recursive_": false,
|
| 8 |
+
"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDMConfig",
|
| 9 |
+
"action_dim": 32,
|
| 10 |
+
"action_horizon": 16,
|
| 11 |
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"add_pos_embed": true,
|
| 12 |
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|
| 13 |
+
"add_view_embed": true,
|
| 14 |
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"alpha_high": 2.0,
|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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"diffusion_model_cfg": {
|
| 23 |
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"_target_": "gr00t.model.action_head.cross_attention_dit.DiT",
|
| 24 |
+
"attention_head_dim": 64,
|
| 25 |
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"dropout": 0.2,
|
| 26 |
+
"final_dropout": true,
|
| 27 |
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"interleave_self_attention": true,
|
| 28 |
+
"norm_type": "ada_norm",
|
| 29 |
+
"num_attention_heads": 16,
|
| 30 |
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"num_layers": 8,
|
| 31 |
+
"output_dim": 1024,
|
| 32 |
+
"positional_embeddings": null
|
| 33 |
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},
|
| 34 |
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"feature_mode": "frame",
|
| 35 |
+
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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"mm_projector_cfg": {
|
| 52 |
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"_convert_": "object",
|
| 53 |
+
"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjector",
|
| 54 |
+
"config": {
|
| 55 |
+
"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjectorConfig",
|
| 56 |
+
"hidden_size": 1024,
|
| 57 |
+
"mm_hidden_size": 1024,
|
| 58 |
+
"mm_projector_type": "mlp_doubledownsample"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"mm_vision_select_layer": -2,
|
| 62 |
+
"model_dtype": "float32",
|
| 63 |
+
"noise_beta_alpha": 1.5,
|
| 64 |
+
"noise_beta_beta": 1.0,
|
| 65 |
+
"noise_s": 0.999,
|
| 66 |
+
"null_aug_mode": "none",
|
| 67 |
+
"null_detach": true,
|
| 68 |
+
"num_inference_timesteps": 16,
|
| 69 |
+
"num_timestep_buckets": 1000,
|
| 70 |
+
"siglip_hidden_size": 1024,
|
| 71 |
+
"siglip_model_cfg": {
|
| 72 |
+
"_convert_": "object",
|
| 73 |
+
"_target_": "gr00t.model.action_head.siglip.SiglipModel.from_pretrained",
|
| 74 |
+
"pretrained_model_name_or_path": "${oc.env:SIGLIP_PATH,checkpoints/google/siglip2-large-patch16-256}"
|
| 75 |
+
},
|
| 76 |
+
"spatial_mask_mode": "none",
|
| 77 |
+
"spatial_mask_sigma": 1.0,
|
| 78 |
+
"tune_vision_tower": true,
|
| 79 |
+
"vggt_fusion_mode": "sub",
|
| 80 |
+
"vggt_mid_dim": 512,
|
| 81 |
+
"vggt_num_heads": 8,
|
| 82 |
+
"vggt_num_queries": 16,
|
| 83 |
+
"vision_source": "vggt",
|
| 84 |
+
"vl_self_attention_cfg": {
|
| 85 |
+
"_target_": "gr00t.model.action_head.cross_attention_dit.SelfAttentionTransformer",
|
| 86 |
+
"attention_head_dim": 64,
|
| 87 |
+
"dropout": 0.2,
|
| 88 |
+
"final_dropout": true,
|
| 89 |
+
"num_attention_heads": 16,
|
| 90 |
+
"num_layers": 4,
|
| 91 |
+
"positional_embeddings": null
|
| 92 |
+
},
|
| 93 |
+
"w_fwd": 1.0,
|
| 94 |
+
"w_geo": 0.05,
|
| 95 |
+
"w_grip": 1.0,
|
| 96 |
+
"w_hom": 1.0,
|
| 97 |
+
"w_null": 1.0,
|
| 98 |
+
"w_pos": 1.0,
|
| 99 |
+
"w_rot": 1.0
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"action_horizon": 16,
|
| 103 |
+
"architectures": [
|
| 104 |
+
"IDM"
|
| 105 |
+
],
|
| 106 |
+
"backbone_cfg": {
|
| 107 |
+
"_target_": "gr00t.model.backbone.IdentityBackbone"
|
| 108 |
+
},
|
| 109 |
+
"compute_dtype": "bfloat16",
|
| 110 |
+
"hidden_size": 0,
|
| 111 |
+
"model_dtype": "float32",
|
| 112 |
+
"model_type": "idm",
|
| 113 |
+
"torch_dtype": "float32",
|
| 114 |
+
"transformers_version": "4.49.0"
|
| 115 |
+
}
|
vggt_sub/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a58616c8d404c071138ca3440327fcdce12b7a3830df7e6e499a75e787fdc512
|
| 3 |
+
size 4895104392
|
vggt_sub_cum/config.json
ADDED
|
@@ -0,0 +1,115 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"_convert_": "object",
|
| 5 |
+
"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDM",
|
| 6 |
+
"config": {
|
| 7 |
+
"_recursive_": false,
|
| 8 |
+
"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDMConfig",
|
| 9 |
+
"action_dim": 32,
|
| 10 |
+
"action_horizon": 16,
|
| 11 |
+
"add_pos_embed": true,
|
| 12 |
+
"add_seperator_token": true,
|
| 13 |
+
"add_view_embed": true,
|
| 14 |
+
"alpha_high": 2.0,
|
| 15 |
+
"alpha_low": 0.0,
|
| 16 |
+
"backbone_features_projector_cfg": null,
|
| 17 |
+
"cum_loss_mode": "v2",
|
| 18 |
+
"cum_ref_pos_mm": 60.0,
|
| 19 |
+
"cum_ref_rot_deg": 6.0,
|
| 20 |
+
"cum_w_pos": 1.0,
|
| 21 |
+
"cum_w_rot": 1.0,
|
| 22 |
+
"diffusion_model_cfg": {
|
| 23 |
+
"_target_": "gr00t.model.action_head.cross_attention_dit.DiT",
|
| 24 |
+
"attention_head_dim": 64,
|
| 25 |
+
"dropout": 0.2,
|
| 26 |
+
"final_dropout": true,
|
| 27 |
+
"interleave_self_attention": true,
|
| 28 |
+
"norm_type": "ada_norm",
|
| 29 |
+
"num_attention_heads": 16,
|
| 30 |
+
"num_layers": 8,
|
| 31 |
+
"output_dim": 1024,
|
| 32 |
+
"positional_embeddings": null
|
| 33 |
+
},
|
| 34 |
+
"feature_mode": "frame",
|
| 35 |
+
"geo_gate_slope": 1.0,
|
| 36 |
+
"geo_gate_tau": 2.0,
|
| 37 |
+
"geo_loss_mode": "none",
|
| 38 |
+
"geo_ref_px": 20.0,
|
| 39 |
+
"geo_track_res": 224,
|
| 40 |
+
"group_loss_mode": "none",
|
| 41 |
+
"group_std_grip": 0.0572,
|
| 42 |
+
"group_std_pos": 0.1468,
|
| 43 |
+
"group_std_rot": 0.0097,
|
| 44 |
+
"hidden_size": 1024,
|
| 45 |
+
"k_high": 1.5,
|
| 46 |
+
"k_low": 0.5,
|
| 47 |
+
"linear_aug_mode": "none",
|
| 48 |
+
"max_action_dim": 32,
|
| 49 |
+
"max_num_views": 6,
|
| 50 |
+
"max_state_dim": 64,
|
| 51 |
+
"mm_projector_cfg": {
|
| 52 |
+
"_convert_": "object",
|
| 53 |
+
"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjector",
|
| 54 |
+
"config": {
|
| 55 |
+
"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjectorConfig",
|
| 56 |
+
"hidden_size": 1024,
|
| 57 |
+
"mm_hidden_size": 1024,
|
| 58 |
+
"mm_projector_type": "mlp_doubledownsample"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"mm_vision_select_layer": -2,
|
| 62 |
+
"model_dtype": "float32",
|
| 63 |
+
"noise_beta_alpha": 1.5,
|
| 64 |
+
"noise_beta_beta": 1.0,
|
| 65 |
+
"noise_s": 0.999,
|
| 66 |
+
"null_aug_mode": "none",
|
| 67 |
+
"null_detach": true,
|
| 68 |
+
"num_inference_timesteps": 16,
|
| 69 |
+
"num_timestep_buckets": 1000,
|
| 70 |
+
"siglip_hidden_size": 1024,
|
| 71 |
+
"siglip_model_cfg": {
|
| 72 |
+
"_convert_": "object",
|
| 73 |
+
"_target_": "gr00t.model.action_head.siglip.SiglipModel.from_pretrained",
|
| 74 |
+
"pretrained_model_name_or_path": "${oc.env:SIGLIP_PATH,checkpoints/google/siglip2-large-patch16-256}"
|
| 75 |
+
},
|
| 76 |
+
"spatial_mask_mode": "none",
|
| 77 |
+
"spatial_mask_sigma": 1.0,
|
| 78 |
+
"tune_vision_tower": true,
|
| 79 |
+
"vggt_fusion_mode": "sub",
|
| 80 |
+
"vggt_mid_dim": 512,
|
| 81 |
+
"vggt_num_heads": 8,
|
| 82 |
+
"vggt_num_queries": 16,
|
| 83 |
+
"vision_source": "vggt",
|
| 84 |
+
"vl_self_attention_cfg": {
|
| 85 |
+
"_target_": "gr00t.model.action_head.cross_attention_dit.SelfAttentionTransformer",
|
| 86 |
+
"attention_head_dim": 64,
|
| 87 |
+
"dropout": 0.2,
|
| 88 |
+
"final_dropout": true,
|
| 89 |
+
"num_attention_heads": 16,
|
| 90 |
+
"num_layers": 4,
|
| 91 |
+
"positional_embeddings": null
|
| 92 |
+
},
|
| 93 |
+
"w_fwd": 1.0,
|
| 94 |
+
"w_geo": 0.05,
|
| 95 |
+
"w_grip": 1.0,
|
| 96 |
+
"w_hom": 1.0,
|
| 97 |
+
"w_null": 1.0,
|
| 98 |
+
"w_pos": 1.0,
|
| 99 |
+
"w_rot": 1.0
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"action_horizon": 16,
|
| 103 |
+
"architectures": [
|
| 104 |
+
"IDM"
|
| 105 |
+
],
|
| 106 |
+
"backbone_cfg": {
|
| 107 |
+
"_target_": "gr00t.model.backbone.IdentityBackbone"
|
| 108 |
+
},
|
| 109 |
+
"compute_dtype": "bfloat16",
|
| 110 |
+
"hidden_size": 0,
|
| 111 |
+
"model_dtype": "float32",
|
| 112 |
+
"model_type": "idm",
|
| 113 |
+
"torch_dtype": "float32",
|
| 114 |
+
"transformers_version": "4.49.0"
|
| 115 |
+
}
|
vggt_sub_cum/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1bf902285be05ae5b0ad8f8342a259ed5a542f405e9ae161f8a058ecfd8b926e
|
| 3 |
+
size 4895104392
|