Upload folder using huggingface_hub
Browse files- config.json +64 -0
- experiment_cfg/metadata.json +207 -0
- model-00001-of-00002.safetensors +3 -0
- model-00002-of-00002.safetensors +3 -0
- model.safetensors.index.json +701 -0
- trainer_state.json +0 -0
- training_args.bin +3 -0
config.json
ADDED
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{
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"action_dim": 32,
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"action_head_cfg": {
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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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"backbone_embedding_dim": 2048,
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"diffusion_model_cfg": {
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"attention_head_dim": 48,
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"cross_attention_dim": 2048,
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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": 16,
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"output_dim": 1024,
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"positional_embeddings": null
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},
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"hidden_size": 1024,
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"input_embedding_dim": 1536,
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"max_action_dim": 32,
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"max_state_dim": 64,
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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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"num_inference_timesteps": 4,
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"num_target_vision_tokens": 32,
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"num_timestep_buckets": 1000,
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"tune_diffusion_model": true,
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"tune_projector": 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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"action_horizon": 16,
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"architectures": [
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"GR00T_N1_5"
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],
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"attn_implementation": null,
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"backbone_cfg": {
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"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
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"load_bf16": false,
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"project_to_dim": null,
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"reproject_vision": false,
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"select_layer": 12,
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"tune_llm": false,
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"tune_visual": true,
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"use_flash_attention": true
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},
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"compute_dtype": "bfloat16",
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"hidden_size": 2048,
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"model_dtype": "float32",
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"model_type": "gr00t_n1_5",
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"torch_dtype": "bfloat16",
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"transformers_version": "4.51.3"
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}
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experiment_cfg/metadata.json
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{
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"new_embodiment": {
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"mean": [
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"std": [
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"continuous": true
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"gripper": {
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"shape": [
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"continuous": true
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},
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"action": {
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"joint_state": {
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"absolute": true,
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"shape": [
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"continuous": true
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},
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"gripper": {
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"absolute": true,
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"shape": [
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1
|
| 200 |
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"continuous": true
|
| 202 |
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}
|
| 203 |
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}
|
| 204 |
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},
|
| 205 |
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"embodiment_tag": "new_embodiment"
|
| 206 |
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}
|
| 207 |
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}
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model-00001-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1505515f42cf9d94b89adaef0d321f0db09709ce43b53423500a9f5d5d7b6262
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| 3 |
+
size 4986654728
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model-00002-of-00002.safetensors
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a11c2d8d49b2ac55a9edf4a0699c961bee3f7a5b63ed616a7cd36f85c36ff892
|
| 3 |
+
size 610580880
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model.safetensors.index.json
ADDED
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|
| 1 |
+
{
|
| 2 |
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"metadata": {
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| 3 |
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"total_size": 5597131136
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"weight_map": {
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training_args.bin
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