maybe last groot model?
Browse files- checkpoint-20000/config.json +65 -0
- checkpoint-20000/experiment_cfg/metadata.json +467 -0
- checkpoint-20000/model-00001-of-00002.safetensors +3 -0
- checkpoint-20000/model-00002-of-00002.safetensors +3 -0
- checkpoint-20000/model.safetensors.index.json +809 -0
- checkpoint-20000/optimizer.pt +3 -0
- checkpoint-20000/rng_state.pth +3 -0
- checkpoint-20000/scheduler.pt +3 -0
- checkpoint-20000/trainer_state.json +0 -0
- experiment_cfg/metadata.json +467 -0
checkpoint-20000/config.json
ADDED
@@ -0,0 +1,65 @@
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{
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"_name_or_path": "/home/ubuntu/.cache/huggingface/hub/models--nvidia--GR00T-N1-2B/snapshots/32e1fd2507f7739fad443e6b449c8188e0e02fcb",
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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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"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": 16,
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"output_dim": 1024,
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"positional_embeddings": null
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},
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"freeze_decode_layer": false,
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"hidden_size": 1024,
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"input_embedding_dim": 1536,
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"load_pretrained_det_decode_layer_path": null,
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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": 16,
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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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},
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"action_horizon": 16,
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"architectures": [
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"GR00T_N1"
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],
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"attn_implementation": null,
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"backbone_cfg": {
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"allow_reshape_visual": true,
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"load_pretrained_det_eagle_path": null,
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"model_name": "$GR00T_BACKBONE_PATH/eagle2_hg_model",
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"processor_cfg": {
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"max_input_tiles": 1,
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"model_path": "$GR00T_BACKBONE_PATH/eagle2_hg_model",
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"model_spec": {
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"num_image_token": 64,
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"template": "qwen2-chat"
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}
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},
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"projector_dim": 2048,
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"remove_llm": false,
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"reproject_vision": false,
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"scale_image_resolution": 1,
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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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},
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"compute_dtype": "bfloat16",
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"hidden_size": 1536,
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"model_dtype": "float32",
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"model_type": "gr00t_n1",
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"torch_dtype": "float32",
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"transformers_version": "4.45.2"
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}
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checkpoint-20000/experiment_cfg/metadata.json
ADDED
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{
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400 |
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|
401 |
+
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|
402 |
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},
|
403 |
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|
404 |
+
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|
405 |
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224,
|
406 |
+
224
|
407 |
+
],
|
408 |
+
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|
409 |
+
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|
410 |
+
}
|
411 |
+
},
|
412 |
+
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|
413 |
+
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|
414 |
+
"absolute": true,
|
415 |
+
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|
416 |
+
"shape": [
|
417 |
+
3
|
418 |
+
],
|
419 |
+
"continuous": true
|
420 |
+
},
|
421 |
+
"franka_eef_6d_rot": {
|
422 |
+
"absolute": true,
|
423 |
+
"rotation_type": null,
|
424 |
+
"shape": [
|
425 |
+
6
|
426 |
+
],
|
427 |
+
"continuous": true
|
428 |
+
},
|
429 |
+
"hand_joint_pos": {
|
430 |
+
"absolute": true,
|
431 |
+
"rotation_type": null,
|
432 |
+
"shape": [
|
433 |
+
16
|
434 |
+
],
|
435 |
+
"continuous": true
|
436 |
+
}
|
437 |
+
},
|
438 |
+
"action": {
|
439 |
+
"franka_eef_pos": {
|
440 |
+
"absolute": true,
|
441 |
+
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|
442 |
+
"shape": [
|
443 |
+
3
|
444 |
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],
|
445 |
+
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|
446 |
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},
|
447 |
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"franka_eef_6d_rot": {
|
448 |
+
"absolute": true,
|
449 |
+
"rotation_type": null,
|
450 |
+
"shape": [
|
451 |
+
6
|
452 |
+
],
|
453 |
+
"continuous": true
|
454 |
+
},
|
455 |
+
"hand_joint_pos": {
|
456 |
+
"absolute": true,
|
457 |
+
"rotation_type": null,
|
458 |
+
"shape": [
|
459 |
+
16
|
460 |
+
],
|
461 |
+
"continuous": true
|
462 |
+
}
|
463 |
+
}
|
464 |
+
},
|
465 |
+
"embodiment_tag": "new_embodiment"
|
466 |
+
}
|
467 |
+
}
|