Upload g1_heft_rtc_20260824_144446 checkpoint-5000

g1_heft_rtc_20260824_144446/checkpoint-5000/config.json

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+{
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+  "backbone_model_path": "/mnt/data/nieshen/models/Cosmos-Reason2-2B",
+  "backbone_trainable_params_fp32": true,
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+  "diffusion_model_cfg": {
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+    "dropout": 0.2,
+    "final_dropout": true,
+    "interleave_self_attention": true,
+    "norm_type": "ada_norm",
+    "num_attention_heads": 32,
+    "num_layers": 32,
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+  "formalize_language": true,
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+  "model_dtype": "bfloat16",
+  "model_name": "nvidia/Cosmos-Reason2-2B",
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+  "num_inference_timesteps": 4,
+  "num_timestep_buckets": 1000,
+  "random_history_crop": true,
+  "random_rotation_angle": 0,
+  "reinitialize_action_io": true,
+  "reproject_vision": false,
+  "rtc_enabled": true,
+  "rtc_max_delay_steps": 6,
+  "rtc_ramp_rate": 6.0,
+  "select_layer": 16,
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+  "state_dropout_prob": 0.2,
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+  "tune_linear": true,
+  "tune_llm": true,
+  "tune_projector": true,
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+  "tune_visual": true,
+  "tune_vlln": true,
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+  "use_vl_self_attention": true,
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+  "vl_self_attention_cfg": {
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+    "dropout": 0.2,
+    "final_dropout": true,
+    "num_attention_heads": 32,
+    "num_layers": 4,
+    "positional_embeddings": null
+  }
+}

g1_heft_rtc_20260824_144446/checkpoint-5000/embodiment_id.json

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+  "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
+  "real_r1_pro_sharpa": 27,
+  "real_r1_pro_sharpa_add_view": 27,
+  "real_r1_pro_sharpa_relative_arm_joint": 26,
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+  "real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
+  "real_r1_pro_sharpa_relative_eef_egodex": 26,
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+  "real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
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+  "real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
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+  "real_g1_relative_eef_absolute_joints_wrist_cam": 25,
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+  "oxe_droid_relative_eef": 24,
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+}

g1_heft_rtc_20260824_144446/checkpoint-5000/model-00001-of-00002.safetensors

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g1_heft_rtc_20260824_144446/checkpoint-5000/model-00002-of-00002.safetensors

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g1_heft_rtc_20260824_144446/checkpoint-5000/processor_config.json

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g1_heft_rtc_20260824_144446/checkpoint-5000/statistics.json

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