Upload folder using huggingface_hub
Browse files- checkpoint-10000/config.json +64 -0
- checkpoint-10000/experiment_cfg/metadata.json +195 -0
- checkpoint-10000/model-00001-of-00002.safetensors +3 -0
- checkpoint-10000/model-00002-of-00002.safetensors +3 -0
- checkpoint-10000/model.safetensors.index.json +0 -0
- checkpoint-10000/optimizer.pt +3 -0
- checkpoint-10000/rng_state.pth +3 -0
- checkpoint-10000/scheduler.pt +3 -0
- checkpoint-10000/trainer_state.json +0 -0
- config.json +64 -0
- model-00001-of-00002.safetensors +3 -0
- model-00002-of-00002.safetensors +3 -0
- model.safetensors.index.json +0 -0
- trainer_state.json +0 -0
- training_args.bin +3 -0
checkpoint-10000/config.json
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"action_dim": 32,
|
| 5 |
+
"action_horizon": 16,
|
| 6 |
+
"add_pos_embed": true,
|
| 7 |
+
"backbone_embedding_dim": 2048,
|
| 8 |
+
"diffusion_model_cfg": {
|
| 9 |
+
"attention_head_dim": 48,
|
| 10 |
+
"cross_attention_dim": 2048,
|
| 11 |
+
"dropout": 0.2,
|
| 12 |
+
"final_dropout": true,
|
| 13 |
+
"interleave_self_attention": true,
|
| 14 |
+
"norm_type": "ada_norm",
|
| 15 |
+
"num_attention_heads": 32,
|
| 16 |
+
"num_layers": 16,
|
| 17 |
+
"output_dim": 1024,
|
| 18 |
+
"positional_embeddings": null
|
| 19 |
+
},
|
| 20 |
+
"hidden_size": 1024,
|
| 21 |
+
"input_embedding_dim": 1536,
|
| 22 |
+
"max_action_dim": 32,
|
| 23 |
+
"max_state_dim": 64,
|
| 24 |
+
"model_dtype": "float32",
|
| 25 |
+
"noise_beta_alpha": 1.5,
|
| 26 |
+
"noise_beta_beta": 1.0,
|
| 27 |
+
"noise_s": 0.999,
|
| 28 |
+
"num_inference_timesteps": 4,
|
| 29 |
+
"num_target_vision_tokens": 32,
|
| 30 |
+
"num_timestep_buckets": 1000,
|
| 31 |
+
"tune_diffusion_model": true,
|
| 32 |
+
"tune_projector": true,
|
| 33 |
+
"use_vlln": true,
|
| 34 |
+
"vl_self_attention_cfg": {
|
| 35 |
+
"attention_head_dim": 64,
|
| 36 |
+
"dropout": 0.2,
|
| 37 |
+
"final_dropout": true,
|
| 38 |
+
"num_attention_heads": 32,
|
| 39 |
+
"num_layers": 4,
|
| 40 |
+
"positional_embeddings": null
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"action_horizon": 16,
|
| 44 |
+
"architectures": [
|
| 45 |
+
"GR00T_N1_5"
|
| 46 |
+
],
|
| 47 |
+
"attn_implementation": null,
|
| 48 |
+
"backbone_cfg": {
|
| 49 |
+
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
| 50 |
+
"load_bf16": false,
|
| 51 |
+
"project_to_dim": null,
|
| 52 |
+
"reproject_vision": false,
|
| 53 |
+
"select_layer": 12,
|
| 54 |
+
"tune_llm": false,
|
| 55 |
+
"tune_visual": true,
|
| 56 |
+
"use_flash_attention": true
|
| 57 |
+
},
|
| 58 |
+
"compute_dtype": "bfloat16",
|
| 59 |
+
"hidden_size": 2048,
|
| 60 |
+
"model_dtype": "float32",
|
| 61 |
+
"model_type": "gr00t_n1_5",
|
| 62 |
+
"torch_dtype": "bfloat16",
|
| 63 |
+
"transformers_version": "4.51.3"
|
| 64 |
+
}
|
checkpoint-10000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,195 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"new_embodiment": {
|
| 3 |
+
"statistics": {
|
| 4 |
+
"state": {
|
| 5 |
+
"single_arm": {
|
| 6 |
+
"max": [
|
| 7 |
+
43.66752624511719,
|
| 8 |
+
83.36184692382812,
|
| 9 |
+
100.03512573242188,
|
| 10 |
+
100.11141967773438,
|
| 11 |
+
88.91751098632812
|
| 12 |
+
],
|
| 13 |
+
"min": [
|
| 14 |
+
-20.098533630371094,
|
| 15 |
+
-100.18029022216797,
|
| 16 |
+
-100.65483856201172,
|
| 17 |
+
-4.905372619628906,
|
| 18 |
+
-0.34287261962890625
|
| 19 |
+
],
|
| 20 |
+
"mean": [
|
| 21 |
+
7.095592975616455,
|
| 22 |
+
-16.884937286376953,
|
| 23 |
+
37.7063102722168,
|
| 24 |
+
40.742286682128906,
|
| 25 |
+
57.271751403808594
|
| 26 |
+
],
|
| 27 |
+
"std": [
|
| 28 |
+
17.371131896972656,
|
| 29 |
+
44.153709411621094,
|
| 30 |
+
36.84745788574219,
|
| 31 |
+
19.385345458984375,
|
| 32 |
+
13.344717025756836
|
| 33 |
+
],
|
| 34 |
+
"q01": [
|
| 35 |
+
-17.05407279968262,
|
| 36 |
+
-100.06150512695312,
|
| 37 |
+
-77.19435119628906,
|
| 38 |
+
-0.1095751190185547,
|
| 39 |
+
2.3144403076171876
|
| 40 |
+
],
|
| 41 |
+
"q99": [
|
| 42 |
+
42.416142578125005,
|
| 43 |
+
77.10135406494149,
|
| 44 |
+
100.00225723266601,
|
| 45 |
+
80.5276188659668,
|
| 46 |
+
85.55884002685549
|
| 47 |
+
]
|
| 48 |
+
},
|
| 49 |
+
"gripper": {
|
| 50 |
+
"max": [
|
| 51 |
+
67.10521697998047
|
| 52 |
+
],
|
| 53 |
+
"min": [
|
| 54 |
+
14.54438304901123
|
| 55 |
+
],
|
| 56 |
+
"mean": [
|
| 57 |
+
40.799041748046875
|
| 58 |
+
],
|
| 59 |
+
"std": [
|
| 60 |
+
12.403162002563477
|
| 61 |
+
],
|
| 62 |
+
"q01": [
|
| 63 |
+
14.995139532089233
|
| 64 |
+
],
|
| 65 |
+
"q99": [
|
| 66 |
+
61.345038146972655
|
| 67 |
+
]
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"action": {
|
| 71 |
+
"single_arm": {
|
| 72 |
+
"max": [
|
| 73 |
+
44.307525634765625,
|
| 74 |
+
296.898193359375,
|
| 75 |
+
104.83918762207031,
|
| 76 |
+
299.7656555175781,
|
| 77 |
+
89.47267150878906
|
| 78 |
+
],
|
| 79 |
+
"min": [
|
| 80 |
+
-21.199386596679688,
|
| 81 |
+
-147.47891235351562,
|
| 82 |
+
-547.3817749023438,
|
| 83 |
+
-8.95367431640625,
|
| 84 |
+
-0.677825927734375
|
| 85 |
+
],
|
| 86 |
+
"mean": [
|
| 87 |
+
6.86392879486084,
|
| 88 |
+
-17.345104217529297,
|
| 89 |
+
34.71533203125,
|
| 90 |
+
41.63603973388672,
|
| 91 |
+
57.63048553466797
|
| 92 |
+
],
|
| 93 |
+
"std": [
|
| 94 |
+
17.450546264648438,
|
| 95 |
+
49.39969253540039,
|
| 96 |
+
54.535701751708984,
|
| 97 |
+
26.55440902709961,
|
| 98 |
+
13.088640213012695
|
| 99 |
+
],
|
| 100 |
+
"q01": [
|
| 101 |
+
-17.21621192932129,
|
| 102 |
+
-108.37372406005859,
|
| 103 |
+
-96.04731567382814,
|
| 104 |
+
-0.8364151000976563,
|
| 105 |
+
5.950342178344727
|
| 106 |
+
],
|
| 107 |
+
"q99": [
|
| 108 |
+
42.37974792480469,
|
| 109 |
+
78.9247741699219,
|
| 110 |
+
101.92901962280274,
|
| 111 |
+
91.89984893798828,
|
| 112 |
+
85.5534397888184
|
| 113 |
+
]
|
| 114 |
+
},
|
| 115 |
+
"gripper": {
|
| 116 |
+
"max": [
|
| 117 |
+
67.10650634765625
|
| 118 |
+
],
|
| 119 |
+
"min": [
|
| 120 |
+
14.985862731933594
|
| 121 |
+
],
|
| 122 |
+
"mean": [
|
| 123 |
+
40.35496139526367
|
| 124 |
+
],
|
| 125 |
+
"std": [
|
| 126 |
+
12.927154541015625
|
| 127 |
+
],
|
| 128 |
+
"q01": [
|
| 129 |
+
14.985862731933594
|
| 130 |
+
],
|
| 131 |
+
"q99": [
|
| 132 |
+
61.35721206665039
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"modalities": {
|
| 138 |
+
"video": {
|
| 139 |
+
"front": {
|
| 140 |
+
"resolution": [
|
| 141 |
+
640,
|
| 142 |
+
480
|
| 143 |
+
],
|
| 144 |
+
"channels": 3,
|
| 145 |
+
"fps": 30.0
|
| 146 |
+
},
|
| 147 |
+
"wrist": {
|
| 148 |
+
"resolution": [
|
| 149 |
+
640,
|
| 150 |
+
480
|
| 151 |
+
],
|
| 152 |
+
"channels": 3,
|
| 153 |
+
"fps": 30.0
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"state": {
|
| 157 |
+
"single_arm": {
|
| 158 |
+
"absolute": true,
|
| 159 |
+
"rotation_type": null,
|
| 160 |
+
"shape": [
|
| 161 |
+
5
|
| 162 |
+
],
|
| 163 |
+
"continuous": true
|
| 164 |
+
},
|
| 165 |
+
"gripper": {
|
| 166 |
+
"absolute": true,
|
| 167 |
+
"rotation_type": null,
|
| 168 |
+
"shape": [
|
| 169 |
+
1
|
| 170 |
+
],
|
| 171 |
+
"continuous": true
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"action": {
|
| 175 |
+
"single_arm": {
|
| 176 |
+
"absolute": true,
|
| 177 |
+
"rotation_type": null,
|
| 178 |
+
"shape": [
|
| 179 |
+
5
|
| 180 |
+
],
|
| 181 |
+
"continuous": true
|
| 182 |
+
},
|
| 183 |
+
"gripper": {
|
| 184 |
+
"absolute": true,
|
| 185 |
+
"rotation_type": null,
|
| 186 |
+
"shape": [
|
| 187 |
+
1
|
| 188 |
+
],
|
| 189 |
+
"continuous": true
|
| 190 |
+
}
|
| 191 |
+
}
|
| 192 |
+
},
|
| 193 |
+
"embodiment_tag": "new_embodiment"
|
| 194 |
+
}
|
| 195 |
+
}
|
checkpoint-10000/model-00001-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0e65895a7b6c052e58b679bdd68bff54a68694a81f38e23d3e03a92059b3600b
|
| 3 |
+
size 4999367032
|
checkpoint-10000/model-00002-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d31f13e40bf10a749e24f35c7bd663a90d31eb26952eac7c82e4c6aafd77c42c
|
| 3 |
+
size 2586705312
|
checkpoint-10000/model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
checkpoint-10000/optimizer.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a9c0b08c3fa6473723e5e2b505af916ac10e6bdc459cee7ff6029298af18a944
|
| 3 |
+
size 4147424698
|
checkpoint-10000/rng_state.pth
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4c876800bce433638500a15ee5ee88fc4f4b1577e27189db812a9c21f135c14c
|
| 3 |
+
size 14244
|
checkpoint-10000/scheduler.pt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:07356cb668b8efc440ddb2f7f81f7da3152060e81d0229922fa3b30df3313f82
|
| 3 |
+
size 1064
|
checkpoint-10000/trainer_state.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
config.json
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"action_dim": 32,
|
| 5 |
+
"action_horizon": 16,
|
| 6 |
+
"add_pos_embed": true,
|
| 7 |
+
"backbone_embedding_dim": 2048,
|
| 8 |
+
"diffusion_model_cfg": {
|
| 9 |
+
"attention_head_dim": 48,
|
| 10 |
+
"cross_attention_dim": 2048,
|
| 11 |
+
"dropout": 0.2,
|
| 12 |
+
"final_dropout": true,
|
| 13 |
+
"interleave_self_attention": true,
|
| 14 |
+
"norm_type": "ada_norm",
|
| 15 |
+
"num_attention_heads": 32,
|
| 16 |
+
"num_layers": 16,
|
| 17 |
+
"output_dim": 1024,
|
| 18 |
+
"positional_embeddings": null
|
| 19 |
+
},
|
| 20 |
+
"hidden_size": 1024,
|
| 21 |
+
"input_embedding_dim": 1536,
|
| 22 |
+
"max_action_dim": 32,
|
| 23 |
+
"max_state_dim": 64,
|
| 24 |
+
"model_dtype": "float32",
|
| 25 |
+
"noise_beta_alpha": 1.5,
|
| 26 |
+
"noise_beta_beta": 1.0,
|
| 27 |
+
"noise_s": 0.999,
|
| 28 |
+
"num_inference_timesteps": 4,
|
| 29 |
+
"num_target_vision_tokens": 32,
|
| 30 |
+
"num_timestep_buckets": 1000,
|
| 31 |
+
"tune_diffusion_model": true,
|
| 32 |
+
"tune_projector": true,
|
| 33 |
+
"use_vlln": true,
|
| 34 |
+
"vl_self_attention_cfg": {
|
| 35 |
+
"attention_head_dim": 64,
|
| 36 |
+
"dropout": 0.2,
|
| 37 |
+
"final_dropout": true,
|
| 38 |
+
"num_attention_heads": 32,
|
| 39 |
+
"num_layers": 4,
|
| 40 |
+
"positional_embeddings": null
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"action_horizon": 16,
|
| 44 |
+
"architectures": [
|
| 45 |
+
"GR00T_N1_5"
|
| 46 |
+
],
|
| 47 |
+
"attn_implementation": null,
|
| 48 |
+
"backbone_cfg": {
|
| 49 |
+
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
| 50 |
+
"load_bf16": false,
|
| 51 |
+
"project_to_dim": null,
|
| 52 |
+
"reproject_vision": false,
|
| 53 |
+
"select_layer": 12,
|
| 54 |
+
"tune_llm": false,
|
| 55 |
+
"tune_visual": true,
|
| 56 |
+
"use_flash_attention": true
|
| 57 |
+
},
|
| 58 |
+
"compute_dtype": "bfloat16",
|
| 59 |
+
"hidden_size": 2048,
|
| 60 |
+
"model_dtype": "float32",
|
| 61 |
+
"model_type": "gr00t_n1_5",
|
| 62 |
+
"torch_dtype": "bfloat16",
|
| 63 |
+
"transformers_version": "4.51.3"
|
| 64 |
+
}
|
model-00001-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0e65895a7b6c052e58b679bdd68bff54a68694a81f38e23d3e03a92059b3600b
|
| 3 |
+
size 4999367032
|
model-00002-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d31f13e40bf10a749e24f35c7bd663a90d31eb26952eac7c82e4c6aafd77c42c
|
| 3 |
+
size 2586705312
|
model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
trainer_state.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
training_args.bin
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9dbeb4c4fedf2c070fc478fa74bb9f35f9726c62cc4a2854fc18ed6c158df2d8
|
| 3 |
+
size 5368
|