Upload groot_posttrain_ns78000_0824 checkpoint-5000
Browse files- groot_posttrain_ns78000_0824/checkpoint-5000/config.json +93 -0
- groot_posttrain_ns78000_0824/checkpoint-5000/embodiment_id.json +58 -0
- groot_posttrain_ns78000_0824/checkpoint-5000/model-00001-of-00002.safetensors +3 -0
- groot_posttrain_ns78000_0824/checkpoint-5000/model-00002-of-00002.safetensors +3 -0
- groot_posttrain_ns78000_0824/checkpoint-5000/model.safetensors.index.json +0 -0
- groot_posttrain_ns78000_0824/checkpoint-5000/processor_config.json +112 -0
- groot_posttrain_ns78000_0824/checkpoint-5000/statistics.json +450 -0
groot_posttrain_ns78000_0824/checkpoint-5000/config.json
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{
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"action_horizon": 30,
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"add_pos_embed": true,
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"apply_sincos_state_encoding": false,
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"architectures": [
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"Gr00tN1d7"
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],
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"attn_dropout": 0.2,
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"attn_implementation": null,
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"backbone_embedding_dim": 2048,
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"backbone_model_path": "/mnt/data/nieshen/models/Cosmos-Reason2-2B",
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"backbone_trainable_params_fp32": true,
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"color_jitter_params": {
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"brightness": 0.3,
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"contrast": 0.4,
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"hue": 0.08,
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"saturation": 0.5
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},
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"crop_fraction": 0.95,
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"diffusion_model_cfg": {
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"attention_head_dim": 48,
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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": 32,
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"num_layers": 32,
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"output_dim": 1024,
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"positional_embeddings": null
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},
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"dtype": "bfloat16",
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"exclude_state": false,
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"formalize_language": true,
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"hidden_size": 1024,
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"image_crop_size": [
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230,
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230
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],
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"image_target_size": [
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256,
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256
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],
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"letter_box_transform": false,
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"load_bf16": false,
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"max_action_dim": 40,
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"max_num_embodiments": 32,
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"max_seq_len": 1024,
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"max_state_dim": 29,
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"model_dtype": "bfloat16",
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"model_name": "nvidia/Cosmos-Reason2-2B",
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"model_type": "Gr00tN1d7",
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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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"num_inference_timesteps": 4,
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"num_timestep_buckets": 1000,
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"random_history_crop": true,
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"random_rotation_angle": 0,
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"reinitialize_action_io": true,
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"reproject_vision": false,
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"rtc_enabled": true,
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"rtc_max_delay_steps": 6,
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"rtc_ramp_rate": 6.0,
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"select_layer": 16,
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"shortest_image_edge": 256,
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"state_dropout_prob": 0.2,
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"state_gaussian_noise_std": 0.0,
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"transformers_version": "4.57.3",
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"tune_diffusion_model": true,
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"tune_linear": true,
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"tune_llm": true,
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"tune_projector": true,
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"tune_top_llm_layers": 0,
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"tune_visual": true,
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"tune_vlln": true,
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"use_albumentations": true,
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"use_alternate_vl_dit": true,
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"use_flash_attention": true,
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"use_future_tokens": false,
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"use_mean_std": false,
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"use_percentiles": true,
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"use_relative_action": false,
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"use_vl_self_attention": true,
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"use_vlln": true,
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"vl_self_attention_cfg": {
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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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"num_attention_heads": 32,
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"num_layers": 4,
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"positional_embeddings": null
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}
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}
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groot_posttrain_ns78000_0824/checkpoint-5000/embodiment_id.json
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{
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"robocasa_panda_omron": 13,
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"oxe_droid": 17,
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"oxe_fractal": 18,
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"oxe_language_table": 19,
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"oxe_bridge": 20,
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"unknown": 22,
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"gr1_unified": 20,
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"agibot": 26,
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"sim_behavior_r1_pro": 23,
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| 11 |
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"xdof": 24,
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"xdof_oss_data": 25,
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"unitree_g1_full_body_with_waist_height_nav_cmd": 25,
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"real_r1_pro_sharpa": 27,
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"real_r1_pro_sharpa_add_view": 27,
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"real_r1_pro_sharpa_relative_arm_joint": 26,
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"real_r1_pro_sharpa_delta_eef": 26,
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"real_r1_pro_sharpa_absolute_eef": 26,
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"real_r1_pro_sharpa_meanstd": 26,
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"real_r1_pro_sharpa_relative_eef": 26,
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| 21 |
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"real_r1_pro_sharpa_relative_eef_add_view": 26,
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| 22 |
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"real_r1_pro_sharpa_relative_eef_relative_hand": 26,
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| 23 |
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"real_r1_pro_sharpa_relative_eef_human": 26,
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| 24 |
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"real_r1_pro_sharpa_relative_eef_human_add_view": 26,
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| 25 |
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"real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
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| 26 |
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"real_r1_pro_sharpa_relative_eef_egodex": 26,
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| 27 |
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"real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
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| 28 |
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"real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
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| 29 |
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"real_r1_pro_sharpa_relative_eef_maxinsights": 26,
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| 30 |
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"real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
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| 31 |
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"real_r1_pro_sharpa_relative_eef_mecka": 26,
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| 32 |
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"real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
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| 33 |
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"real_g1_relative_eef_absolute_joints": 25,
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| 34 |
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"real_g1_relative_eef_absolute_joints_wrist_cam": 25,
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| 35 |
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"real_g1_relative_eef_relative_joints": 25,
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| 36 |
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"real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
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| 37 |
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"real_r1_pro_sharpa_relative_joint": 29,
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| 38 |
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"oxe_droid_relative_eef_relative_joint": 24,
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| 39 |
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"oxe_droid_relative_eef_relative_joint_swapped": 24,
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| 40 |
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"oxe_droid_relative_eef_relative_joint_upweight_z": 24,
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| 41 |
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"oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
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| 42 |
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"oxe_droid_relative_eef_relative_joint_3view": 24,
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| 43 |
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"oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
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| 44 |
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"oxe_droid_relative_eef": 24,
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| 45 |
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"oxe_droid_joint_position_relative": 24,
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| 46 |
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"xdof_relative_eef_relative_joint": 27,
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| 47 |
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"xdof_relative_eef_relative_joint_subtask": 27,
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| 48 |
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"xdof_relative_eef": 27,
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| 49 |
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"xdof_relative_joint": 28,
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| 50 |
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"simpler_env_google": 0,
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| 51 |
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"simpler_env_widowx": 1,
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| 52 |
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"libero_sim": 2,
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| 53 |
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"droid_sim": 3,
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| 54 |
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"new_embodiment": 10,
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| 55 |
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"robocasa_gr1_tabletop": 10,
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| 56 |
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"unitree_g1_sonic": 11,
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| 57 |
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"g1_heft": 12
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| 58 |
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}
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groot_posttrain_ns78000_0824/checkpoint-5000/model-00001-of-00002.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:30b4ad751b66b1fbbaff9a7e9e1864cfc1e2a0eadce0b2aff27464f07f4c15a7
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size 4990519232
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groot_posttrain_ns78000_0824/checkpoint-5000/model-00002-of-00002.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:995a3c0a17c9d6717fb282a35efc79a37c068b571d60778a125e67b144be6494
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size 1898150792
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groot_posttrain_ns78000_0824/checkpoint-5000/model.safetensors.index.json
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groot_posttrain_ns78000_0824/checkpoint-5000/processor_config.json
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{
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| 2 |
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"processor_class": "Gr00tN1d7Processor",
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| 3 |
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"processor_kwargs": {
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| 4 |
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"modality_configs": {
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| 5 |
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"g1_heft": {
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| 6 |
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"video": {
|
| 7 |
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"delta_indices": [
|
| 8 |
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0
|
| 9 |
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],
|
| 10 |
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"modality_keys": [
|
| 11 |
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"ego_view",
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| 12 |
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"left_wrist",
|
| 13 |
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"right_wrist"
|
| 14 |
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],
|
| 15 |
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"sin_cos_embedding_keys": null,
|
| 16 |
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"mean_std_embedding_keys": null,
|
| 17 |
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"action_configs": null
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| 18 |
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},
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| 19 |
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"state": {
|
| 20 |
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"delta_indices": [
|
| 21 |
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| 22 |
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],
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| 23 |
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"modality_keys": [
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| 24 |
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"joint_position"
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| 25 |
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],
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| 26 |
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"sin_cos_embedding_keys": null,
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| 27 |
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| 28 |
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"action_configs": null
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| 29 |
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},
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| 30 |
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"action": {
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| 31 |
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"delta_indices": [
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| 32 |
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| 33 |
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],
|
| 63 |
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"modality_keys": [
|
| 64 |
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"root_local"
|
| 65 |
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],
|
| 66 |
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"sin_cos_embedding_keys": null,
|
| 67 |
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"mean_std_embedding_keys": null,
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| 68 |
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"action_configs": [
|
| 69 |
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{
|
| 70 |
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"rep": "ABSOLUTE",
|
| 71 |
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"type": "NON_EEF",
|
| 72 |
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"format": "DEFAULT",
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| 89 |
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|
groot_posttrain_ns78000_0824/checkpoint-5000/statistics.json
ADDED
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@@ -0,0 +1,450 @@
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