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flux-3-action-droid

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Safetensors
droid
franka
flux
world-action-model
world-model
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black-forest-labs
flux-3
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sumith1896 commited on
Commit
473b276
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1 Parent(s): ea77cad

variants/gd, variants/sd: LeRobot config.json + config.native.json (same two-file layout as the root)

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The variant folders shipped the native PolicyConfig as config.json, so Flux3Policy.from_pretrained failed with "Missing 'type' field". Each now has the root's LeRobot config with the variant's sampler values (gd: guidance_scale 1.0; sd: guidance_scale 1.0, num_inference_steps 1), the native config as config.native.json, and a manifest listing both. fp8r variants are left standalone-only (no Flux3Config equivalent for quantization).

Files changed (6) hide show
  1. variants/gd/config.json +73 -35
  2. variants/gd/config.native.json +57 -0
  3. variants/gd/manifest.json +3 -2
  4. variants/sd/config.json +73 -35
  5. variants/sd/config.native.json +57 -0
  6. variants/sd/manifest.json +3 -2
variants/gd/config.json CHANGED
@@ -1,57 +1,95 @@
1
  {
2
- "action_dim": 8,
3
- "action_modality": "action_prediction_droid",
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
4
  "camera_layout": "droid",
5
  "camera_keys": [
6
- "images.wrist",
7
- "images.left",
8
- "images.right"
9
  ],
10
  "canvas_hw": [
11
  544,
12
  736
13
  ],
14
- "chunk_size": 32,
15
- "n_action_steps": 32,
16
- "fps": 15.0,
17
  "action_scale": 2.0,
18
  "gripper_flip_dims": [
19
  -1
20
  ],
21
- "action_parameterization": "absolute",
22
- "absolute_action_dims": [],
23
- "action_normalization": null,
24
- "state_normalization": null,
25
- "normalization_clip": 6.0,
26
- "camera_dropout": {},
27
- "trunk_weights": null,
 
 
 
28
  "video_vae_id": "black-forest-labs/flux-3-action-base:video_vae.safetensors@62878e2925e59b7a89ec14463ce89932624c490d",
29
  "text_encoder_id": "black-forest-labs/flux-3-action-base:text_encoder@62878e2925e59b7a89ec14463ce89932624c490d",
30
- "dit_config": {},
31
- "content_streams": [
32
- "video",
33
- "video_cond"
34
- ],
35
- "head_init_seed": 0,
36
- "torch_dtype": "bfloat16",
37
- "quantization": null,
38
  "attn_mode": "torch",
 
39
  "compile_model": false,
40
- "single_frame_encode": false,
41
- "inference_profile": "default",
42
  "sampler": "cosmos_unipc",
43
  "num_inference_steps": 4,
44
  "guidance_scale": 1.0,
45
  "guidance_scale_action": 1.0,
46
  "sampler_shift": 5.0,
47
- "inference_seed": 0,
48
- "train_timestep_width": 0.75,
49
- "train_timestep_shift": 42.0,
50
- "action_loss_weight": 50.0,
51
- "video_loss_weight": 1.0,
52
- "caption_dropout": 0.1,
53
- "augment": true,
54
- "vae_batch_windows": 8,
55
- "optimizer_lr": 0.000192,
56
- "optimizer_lr_heads_multiplier": 5.0
57
  }
 
1
  {
2
+ "type": "flux3",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.images.wrist_image_left": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 360,
10
+ 640
11
+ ]
12
+ },
13
+ "observation.images.exterior_image_1_left": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 360,
18
+ 640
19
+ ]
20
+ },
21
+ "observation.images.exterior_image_2_left": {
22
+ "type": "VISUAL",
23
+ "shape": [
24
+ 3,
25
+ 360,
26
+ 640
27
+ ]
28
+ },
29
+ "observation.state": {
30
+ "type": "STATE",
31
+ "shape": [
32
+ 8
33
+ ]
34
+ }
35
+ },
36
+ "output_features": {
37
+ "action": {
38
+ "type": "ACTION",
39
+ "shape": [
40
+ 8
41
+ ]
42
+ }
43
+ },
44
+ "device": "cuda",
45
+ "use_amp": false,
46
+ "use_peft": false,
47
+ "conditioning": "frame",
48
+ "packer": null,
49
+ "condition_on_past_actions": false,
50
+ "action_representation": "absolute",
51
+ "delta_absolute_dims": [],
52
+ "text_fixed_length": null,
53
+ "video_position_fps": null,
54
+ "history_snapshots": 1,
55
+ "chunk_size": 32,
56
+ "n_action_steps": 32,
57
+ "fps": 15.0,
58
  "camera_layout": "droid",
59
  "camera_keys": [
60
+ "observation.images.wrist_image_left",
61
+ "observation.images.exterior_image_1_left",
62
+ "observation.images.exterior_image_2_left"
63
  ],
64
  "canvas_hw": [
65
  544,
66
  736
67
  ],
68
+ "action_modality": "action_prediction_droid",
 
 
69
  "action_scale": 2.0,
70
  "gripper_flip_dims": [
71
  -1
72
  ],
73
+ "use_relative_actions": false,
74
+ "relative_exclude_joints": [
75
+ "gripper"
76
+ ],
77
+ "action_feature_names": null,
78
+ "normalization_mapping": {
79
+ "VISUAL": "IDENTITY",
80
+ "STATE": "IDENTITY",
81
+ "ACTION": "IDENTITY"
82
+ },
83
  "video_vae_id": "black-forest-labs/flux-3-action-base:video_vae.safetensors@62878e2925e59b7a89ec14463ce89932624c490d",
84
  "text_encoder_id": "black-forest-labs/flux-3-action-base:text_encoder@62878e2925e59b7a89ec14463ce89932624c490d",
85
+ "dit_config": null,
 
 
 
 
 
 
 
86
  "attn_mode": "torch",
87
+ "dtype": "bfloat16",
88
  "compile_model": false,
 
 
89
  "sampler": "cosmos_unipc",
90
  "num_inference_steps": 4,
91
  "guidance_scale": 1.0,
92
  "guidance_scale_action": 1.0,
93
  "sampler_shift": 5.0,
94
+ "inference_seed": 0
 
 
 
 
 
 
 
 
 
95
  }
variants/gd/config.native.json ADDED
@@ -0,0 +1,57 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_dim": 8,
3
+ "action_modality": "action_prediction_droid",
4
+ "camera_layout": "droid",
5
+ "camera_keys": [
6
+ "images.wrist",
7
+ "images.left",
8
+ "images.right"
9
+ ],
10
+ "canvas_hw": [
11
+ 544,
12
+ 736
13
+ ],
14
+ "chunk_size": 32,
15
+ "n_action_steps": 32,
16
+ "fps": 15.0,
17
+ "action_scale": 2.0,
18
+ "gripper_flip_dims": [
19
+ -1
20
+ ],
21
+ "action_parameterization": "absolute",
22
+ "absolute_action_dims": [],
23
+ "action_normalization": null,
24
+ "state_normalization": null,
25
+ "normalization_clip": 6.0,
26
+ "camera_dropout": {},
27
+ "trunk_weights": null,
28
+ "video_vae_id": "black-forest-labs/flux-3-action-base:video_vae.safetensors@62878e2925e59b7a89ec14463ce89932624c490d",
29
+ "text_encoder_id": "black-forest-labs/flux-3-action-base:text_encoder@62878e2925e59b7a89ec14463ce89932624c490d",
30
+ "dit_config": {},
31
+ "content_streams": [
32
+ "video",
33
+ "video_cond"
34
+ ],
35
+ "head_init_seed": 0,
36
+ "torch_dtype": "bfloat16",
37
+ "quantization": null,
38
+ "attn_mode": "torch",
39
+ "compile_model": false,
40
+ "single_frame_encode": false,
41
+ "inference_profile": "default",
42
+ "sampler": "cosmos_unipc",
43
+ "num_inference_steps": 4,
44
+ "guidance_scale": 1.0,
45
+ "guidance_scale_action": 1.0,
46
+ "sampler_shift": 5.0,
47
+ "inference_seed": 0,
48
+ "train_timestep_width": 0.75,
49
+ "train_timestep_shift": 42.0,
50
+ "action_loss_weight": 50.0,
51
+ "video_loss_weight": 1.0,
52
+ "caption_dropout": 0.1,
53
+ "augment": true,
54
+ "vae_batch_windows": 8,
55
+ "optimizer_lr": 0.000192,
56
+ "optimizer_lr_heads_multiplier": 5.0
57
+ }
variants/gd/manifest.json CHANGED
@@ -3,7 +3,8 @@
3
  "kind": "policy_export",
4
  "weight_profile": "model",
5
  "sha256": {
6
- "config.json": "1484ac6ab2e5aabec46b595ca4fac95dbee1f34e15d882b4312c5ae71ed2b9c7",
7
- "model.safetensors": "3008582d8efde46d3722f254e680f91ca6aaaec26e2db96f2769e7f6e8464a56"
 
8
  }
9
  }
 
3
  "kind": "policy_export",
4
  "weight_profile": "model",
5
  "sha256": {
6
+ "model.safetensors": "3008582d8efde46d3722f254e680f91ca6aaaec26e2db96f2769e7f6e8464a56",
7
+ "config.native.json": "1484ac6ab2e5aabec46b595ca4fac95dbee1f34e15d882b4312c5ae71ed2b9c7",
8
+ "config.json": "2139b8772f4cbe74776b40a3d91c474191a96eb0a9c8d11e0979a8d7dbefecc7"
9
  }
10
  }
variants/sd/config.json CHANGED
@@ -1,57 +1,95 @@
1
  {
2
- "action_dim": 8,
3
- "action_modality": "action_prediction_droid",
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
4
  "camera_layout": "droid",
5
  "camera_keys": [
6
- "images.wrist",
7
- "images.left",
8
- "images.right"
9
  ],
10
  "canvas_hw": [
11
  544,
12
  736
13
  ],
14
- "chunk_size": 32,
15
- "n_action_steps": 32,
16
- "fps": 15.0,
17
  "action_scale": 2.0,
18
  "gripper_flip_dims": [
19
  -1
20
  ],
21
- "action_parameterization": "absolute",
22
- "absolute_action_dims": [],
23
- "action_normalization": null,
24
- "state_normalization": null,
25
- "normalization_clip": 6.0,
26
- "camera_dropout": {},
27
- "trunk_weights": null,
 
 
 
28
  "video_vae_id": "black-forest-labs/flux-3-action-base:video_vae.safetensors@62878e2925e59b7a89ec14463ce89932624c490d",
29
  "text_encoder_id": "black-forest-labs/flux-3-action-base:text_encoder@62878e2925e59b7a89ec14463ce89932624c490d",
30
- "dit_config": {},
31
- "content_streams": [
32
- "video",
33
- "video_cond"
34
- ],
35
- "head_init_seed": 0,
36
- "torch_dtype": "bfloat16",
37
- "quantization": null,
38
  "attn_mode": "torch",
 
39
  "compile_model": false,
40
- "single_frame_encode": false,
41
- "inference_profile": "default",
42
  "sampler": "cosmos_unipc",
43
  "num_inference_steps": 1,
44
  "guidance_scale": 1.0,
45
  "guidance_scale_action": 1.0,
46
  "sampler_shift": 5.0,
47
- "inference_seed": 0,
48
- "train_timestep_width": 0.75,
49
- "train_timestep_shift": 42.0,
50
- "action_loss_weight": 50.0,
51
- "video_loss_weight": 1.0,
52
- "caption_dropout": 0.1,
53
- "augment": true,
54
- "vae_batch_windows": 8,
55
- "optimizer_lr": 0.000192,
56
- "optimizer_lr_heads_multiplier": 5.0
57
  }
 
1
  {
2
+ "type": "flux3",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.images.wrist_image_left": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 360,
10
+ 640
11
+ ]
12
+ },
13
+ "observation.images.exterior_image_1_left": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 360,
18
+ 640
19
+ ]
20
+ },
21
+ "observation.images.exterior_image_2_left": {
22
+ "type": "VISUAL",
23
+ "shape": [
24
+ 3,
25
+ 360,
26
+ 640
27
+ ]
28
+ },
29
+ "observation.state": {
30
+ "type": "STATE",
31
+ "shape": [
32
+ 8
33
+ ]
34
+ }
35
+ },
36
+ "output_features": {
37
+ "action": {
38
+ "type": "ACTION",
39
+ "shape": [
40
+ 8
41
+ ]
42
+ }
43
+ },
44
+ "device": "cuda",
45
+ "use_amp": false,
46
+ "use_peft": false,
47
+ "conditioning": "frame",
48
+ "packer": null,
49
+ "condition_on_past_actions": false,
50
+ "action_representation": "absolute",
51
+ "delta_absolute_dims": [],
52
+ "text_fixed_length": null,
53
+ "video_position_fps": null,
54
+ "history_snapshots": 1,
55
+ "chunk_size": 32,
56
+ "n_action_steps": 32,
57
+ "fps": 15.0,
58
  "camera_layout": "droid",
59
  "camera_keys": [
60
+ "observation.images.wrist_image_left",
61
+ "observation.images.exterior_image_1_left",
62
+ "observation.images.exterior_image_2_left"
63
  ],
64
  "canvas_hw": [
65
  544,
66
  736
67
  ],
68
+ "action_modality": "action_prediction_droid",
 
 
69
  "action_scale": 2.0,
70
  "gripper_flip_dims": [
71
  -1
72
  ],
73
+ "use_relative_actions": false,
74
+ "relative_exclude_joints": [
75
+ "gripper"
76
+ ],
77
+ "action_feature_names": null,
78
+ "normalization_mapping": {
79
+ "VISUAL": "IDENTITY",
80
+ "STATE": "IDENTITY",
81
+ "ACTION": "IDENTITY"
82
+ },
83
  "video_vae_id": "black-forest-labs/flux-3-action-base:video_vae.safetensors@62878e2925e59b7a89ec14463ce89932624c490d",
84
  "text_encoder_id": "black-forest-labs/flux-3-action-base:text_encoder@62878e2925e59b7a89ec14463ce89932624c490d",
85
+ "dit_config": null,
 
 
 
 
 
 
 
86
  "attn_mode": "torch",
87
+ "dtype": "bfloat16",
88
  "compile_model": false,
 
 
89
  "sampler": "cosmos_unipc",
90
  "num_inference_steps": 1,
91
  "guidance_scale": 1.0,
92
  "guidance_scale_action": 1.0,
93
  "sampler_shift": 5.0,
94
+ "inference_seed": 0
 
 
 
 
 
 
 
 
 
95
  }
variants/sd/config.native.json ADDED
@@ -0,0 +1,57 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_dim": 8,
3
+ "action_modality": "action_prediction_droid",
4
+ "camera_layout": "droid",
5
+ "camera_keys": [
6
+ "images.wrist",
7
+ "images.left",
8
+ "images.right"
9
+ ],
10
+ "canvas_hw": [
11
+ 544,
12
+ 736
13
+ ],
14
+ "chunk_size": 32,
15
+ "n_action_steps": 32,
16
+ "fps": 15.0,
17
+ "action_scale": 2.0,
18
+ "gripper_flip_dims": [
19
+ -1
20
+ ],
21
+ "action_parameterization": "absolute",
22
+ "absolute_action_dims": [],
23
+ "action_normalization": null,
24
+ "state_normalization": null,
25
+ "normalization_clip": 6.0,
26
+ "camera_dropout": {},
27
+ "trunk_weights": null,
28
+ "video_vae_id": "black-forest-labs/flux-3-action-base:video_vae.safetensors@62878e2925e59b7a89ec14463ce89932624c490d",
29
+ "text_encoder_id": "black-forest-labs/flux-3-action-base:text_encoder@62878e2925e59b7a89ec14463ce89932624c490d",
30
+ "dit_config": {},
31
+ "content_streams": [
32
+ "video",
33
+ "video_cond"
34
+ ],
35
+ "head_init_seed": 0,
36
+ "torch_dtype": "bfloat16",
37
+ "quantization": null,
38
+ "attn_mode": "torch",
39
+ "compile_model": false,
40
+ "single_frame_encode": false,
41
+ "inference_profile": "default",
42
+ "sampler": "cosmos_unipc",
43
+ "num_inference_steps": 1,
44
+ "guidance_scale": 1.0,
45
+ "guidance_scale_action": 1.0,
46
+ "sampler_shift": 5.0,
47
+ "inference_seed": 0,
48
+ "train_timestep_width": 0.75,
49
+ "train_timestep_shift": 42.0,
50
+ "action_loss_weight": 50.0,
51
+ "video_loss_weight": 1.0,
52
+ "caption_dropout": 0.1,
53
+ "augment": true,
54
+ "vae_batch_windows": 8,
55
+ "optimizer_lr": 0.000192,
56
+ "optimizer_lr_heads_multiplier": 5.0
57
+ }
variants/sd/manifest.json CHANGED
@@ -3,7 +3,8 @@
3
  "kind": "policy_export",
4
  "weight_profile": "model",
5
  "sha256": {
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- "config.json": "d86565c9d8385256f6939663e5fbffd0de5f368513f7efe093b31117ecf21281",
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- "model.safetensors": "8a143e95ff5465f2aa99032eaa1bab7590eb9dbaedcc2c6926d432147033fa94"
 
8
  }
9
  }
 
3
  "kind": "policy_export",
4
  "weight_profile": "model",
5
  "sha256": {
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+ "model.safetensors": "8a143e95ff5465f2aa99032eaa1bab7590eb9dbaedcc2c6926d432147033fa94",
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+ "config.native.json": "d86565c9d8385256f6939663e5fbffd0de5f368513f7efe093b31117ecf21281",
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+ "config.json": "0e02380ad0d6aea7da3f2dad46b6d30cd6dd5d3c6f34c02c9a50492dd73feeb8"
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  }
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  }