Hugging Face's logo

htrbao
/
towel-fling

Safetensors
gr00t_n1_5
Model card Files
xet
 Community
htrbao commited on
Commit
b1cfa85
·
verified ·
1 Parent(s): 4043630

Upload folder using huggingface_hub

Browse files
Files changed (7) hide show
  1. config.json +64 -0
  2. experiment_cfg/metadata.json +299 -0
  3. model-00001-of-00002.safetensors +3 -0
  4. model-00002-of-00002.safetensors +3 -0
  5. model.safetensors.index.json +0 -0
  6. trainer_state.json +0 -0
  7. training_args.bin +3 -0
config.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_dim": 32,
3
+ "action_head_cfg": {
4
+ "action_dim": 32,
5
+ "action_horizon": 16,
6
+ "add_pos_embed": true,
7
+ "backbone_embedding_dim": 2048,
8
+ "diffusion_model_cfg": {
9
+ "attention_head_dim": 48,
10
+ "cross_attention_dim": 2048,
11
+ "dropout": 0.2,
12
+ "final_dropout": true,
13
+ "interleave_self_attention": true,
14
+ "norm_type": "ada_norm",
15
+ "num_attention_heads": 32,
16
+ "num_layers": 16,
17
+ "output_dim": 1024,
18
+ "positional_embeddings": null
19
+ },
20
+ "hidden_size": 1024,
21
+ "input_embedding_dim": 1536,
22
+ "max_action_dim": 32,
23
+ "max_state_dim": 64,
24
+ "model_dtype": "float32",
25
+ "noise_beta_alpha": 1.5,
26
+ "noise_beta_beta": 1.0,
27
+ "noise_s": 0.999,
28
+ "num_inference_timesteps": 4,
29
+ "num_target_vision_tokens": 32,
30
+ "num_timestep_buckets": 1000,
31
+ "tune_diffusion_model": true,
32
+ "tune_projector": true,
33
+ "use_vlln": true,
34
+ "vl_self_attention_cfg": {
35
+ "attention_head_dim": 64,
36
+ "dropout": 0.2,
37
+ "final_dropout": true,
38
+ "num_attention_heads": 32,
39
+ "num_layers": 4,
40
+ "positional_embeddings": null
41
+ }
42
+ },
43
+ "action_horizon": 16,
44
+ "architectures": [
45
+ "GR00T_N1_5"
46
+ ],
47
+ "attn_implementation": null,
48
+ "backbone_cfg": {
49
+ "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
50
+ "load_bf16": false,
51
+ "project_to_dim": null,
52
+ "reproject_vision": false,
53
+ "select_layer": 12,
54
+ "tune_llm": false,
55
+ "tune_visual": true,
56
+ "use_flash_attention": true
57
+ },
58
+ "compute_dtype": "bfloat16",
59
+ "hidden_size": 2048,
60
+ "model_dtype": "float32",
61
+ "model_type": "gr00t_n1_5",
62
+ "torch_dtype": "bfloat16",
63
+ "transformers_version": "4.51.3"
64
+ }
experiment_cfg/metadata.json ADDED
@@ -0,0 +1,299 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "new_embodiment": {
3
+ "statistics": {
4
+ "state": {
5
+ "left_arm": {
6
+ "max": [
7
+ 0.4279806613922119,
8
+ 0.872835099697113,
9
+ 1.2716701030731201,
10
+ 0.4632622003555298,
11
+ 1.5324468612670898,
12
+ 0.42644667625427246,
13
+ 1.656699299812317
14
+ ],
15
+ "min": [
16
+ -0.7853981852531433,
17
+ -1.369844913482666,
18
+ -0.977145791053772,
19
+ -0.7884661555290222,
20
+ 0.1672039031982422,
21
+ -1.2762720584869385,
22
+ 0.647339940071106
23
+ ],
24
+ "mean": [
25
+ -0.07310337573289871,
26
+ -0.12597468495368958,
27
+ 0.5643996000289917,
28
+ -0.08834120631217957,
29
+ 0.6283180117607117,
30
+ -0.1512291133403778,
31
+ 1.1632121801376343
32
+ ],
33
+ "std": [
34
+ 0.25454071164131165,
35
+ 0.5312764644622803,
36
+ 0.4333164691925049,
37
+ 0.13849323987960815,
38
+ 0.27931180596351624,
39
+ 0.2967261075973511,
40
+ 0.40268316864967346
41
+ ],
42
+ "q01": [
43
+ -0.6580777764320374,
44
+ -1.257864236831665,
45
+ -0.6105243563652039,
46
+ -0.47093212604522705,
47
+ 0.20248547196388245,
48
+ -1.0431069135665894,
49
+ 0.6596117615699768
50
+ ],
51
+ "q99": [
52
+ 0.3021942377090454,
53
+ 0.7102331519126892,
54
+ 1.1949710845947266,
55
+ 0.20862139761447906,
56
+ 1.3591070175170898,
57
+ 0.33900976181030273,
58
+ 1.6459614038467407
59
+ ]
60
+ },
61
+ "right_arm": {
62
+ "max": [
63
+ 0.8084079027175903,
64
+ 0.5905826091766357,
65
+ 1.2363885641098022,
66
+ 0.7133010625839233,
67
+ 1.4266021251678467,
68
+ 1.2225826978683472,
69
+ 1.6459614038467407
70
+ ],
71
+ "min": [
72
+ -0.2208932340145111,
73
+ -1.4450099468231201,
74
+ -0.6105243563652039,
75
+ -0.4218447208404541,
76
+ 0.19481556117534637,
77
+ -0.23009712994098663,
78
+ 0.6197282671928406
79
+ ],
80
+ "mean": [
81
+ 0.15543965995311737,
82
+ -0.24397113919258118,
83
+ 0.7373047471046448,
84
+ -0.03004753217101097,
85
+ 0.6193850040435791,
86
+ 0.2867922782897949,
87
+ 1.1094379425048828
88
+ ],
89
+ "std": [
90
+ 0.2277396023273468,
91
+ 0.5032600164413452,
92
+ 0.3361820876598358,
93
+ 0.14110100269317627,
94
+ 0.24252988398075104,
95
+ 0.2468288689851761,
96
+ 0.38532108068466187
97
+ ],
98
+ "q01": [
99
+ -0.1672039031982422,
100
+ -1.2658869791030884,
101
+ -0.23316508531570435,
102
+ -0.3190680146217346,
103
+ 0.2822524607181549,
104
+ -0.05675728991627693,
105
+ 0.6427379846572876
106
+ ],
107
+ "q99": [
108
+ 0.7453919720649692,
109
+ 0.526155412197113,
110
+ 1.2011070251464844,
111
+ 0.39576706290245056,
112
+ 1.2793400287628174,
113
+ 1.020097255706787,
114
+ 1.6321556568145752
115
+ ]
116
+ }
117
+ },
118
+ "action": {
119
+ "left_arm": {
120
+ "max": [
121
+ 0.42951464653015137,
122
+ 0.8605632185935974,
123
+ 1.257864236831665,
124
+ 0.4663301706314087,
125
+ 1.5355148315429688,
126
+ 0.44025251269340515,
127
+ 1.689208745956421
128
+ ],
129
+ "min": [
130
+ -0.7884661555290222,
131
+ -1.3591070175170898,
132
+ -1.1290098428726196,
133
+ -0.7976700067520142,
134
+ 0.16413594782352448,
135
+ -1.2870099544525146,
136
+ 0.6040472984313965
137
+ ],
138
+ "mean": [
139
+ -0.07223290205001831,
140
+ -0.1412592977285385,
141
+ 0.5439637303352356,
142
+ -0.08859855681657791,
143
+ 0.6235434412956238,
144
+ -0.15054653584957123,
145
+ 1.1419589519500732
146
+ ],
147
+ "std": [
148
+ 0.2563156485557556,
149
+ 0.5203787684440613,
150
+ 0.43928757309913635,
151
+ 0.1394117921590805,
152
+ 0.2806692123413086,
153
+ 0.30012333393096924,
154
+ 0.43506041169166565
155
+ ],
156
+ "q01": [
157
+ -0.6611457467079163,
158
+ -1.2367413806915284,
159
+ -0.6817931270599364,
160
+ -0.47400006651878357,
161
+ 0.19788353145122528,
162
+ -1.055378794670105,
163
+ 0.6109923124313354
164
+ ],
165
+ "q99": [
166
+ 0.30526217818260193,
167
+ 0.6841554641723633,
168
+ 1.1750292778015137,
169
+ 0.21050818443298272,
170
+ 1.3591070175170898,
171
+ 0.3466796576976776,
172
+ 1.6475385427474976
173
+ ]
174
+ },
175
+ "right_arm": {
176
+ "max": [
177
+ 0.8099418878555298,
178
+ 0.5767768025398254,
179
+ 1.2087769508361816,
180
+ 0.7102331519126892,
181
+ 1.4296700954437256,
182
+ 1.2302526235580444,
183
+ 1.67705500125885
184
+ ],
185
+ "min": [
186
+ -0.2208932340145111,
187
+ -1.4266021251678467,
188
+ -0.7332428097724915,
189
+ -0.424912691116333,
190
+ 0.18867963552474976,
191
+ -0.2346990704536438,
192
+ 0.600574791431427
193
+ ],
194
+ "mean": [
195
+ 0.15457499027252197,
196
+ -0.2566179931163788,
197
+ 0.7154860496520996,
198
+ -0.03061407245695591,
199
+ 0.6140519380569458,
200
+ 0.2874588966369629,
201
+ 1.0906380414962769
202
+ ],
203
+ "std": [
204
+ 0.2299758344888687,
205
+ 0.4941006302833557,
206
+ 0.34176114201545715,
207
+ 0.14191928505897522,
208
+ 0.24362295866012573,
209
+ 0.24771174788475037,
210
+ 0.4140511155128479
211
+ ],
212
+ "q01": [
213
+ -0.16873788833618164,
214
+ -1.2340262269973754,
215
+ -0.3037281930446625,
216
+ -0.3206019997596741,
217
+ 0.27765053510665894,
218
+ -0.05675728991627693,
219
+ 0.6023110151290894
220
+ ],
221
+ "q99": [
222
+ 0.7562525272369385,
223
+ 0.5138835906982422,
224
+ 1.178450064659118,
225
+ 0.39730104804039,
226
+ 1.2793400287628174,
227
+ 1.020097255706787,
228
+ 1.63364839553833
229
+ ]
230
+ }
231
+ }
232
+ },
233
+ "modalities": {
234
+ "video": {
235
+ "cam_high": {
236
+ "resolution": [
237
+ 640,
238
+ 480
239
+ ],
240
+ "channels": 3,
241
+ "fps": 15.0
242
+ },
243
+ "cam_wrist_right": {
244
+ "resolution": [
245
+ 640,
246
+ 480
247
+ ],
248
+ "channels": 3,
249
+ "fps": 15.0
250
+ },
251
+ "cam_wrist_left": {
252
+ "resolution": [
253
+ 640,
254
+ 480
255
+ ],
256
+ "channels": 3,
257
+ "fps": 15.0
258
+ }
259
+ },
260
+ "state": {
261
+ "left_arm": {
262
+ "absolute": true,
263
+ "rotation_type": null,
264
+ "shape": [
265
+ 7
266
+ ],
267
+ "continuous": true
268
+ },
269
+ "right_arm": {
270
+ "absolute": true,
271
+ "rotation_type": null,
272
+ "shape": [
273
+ 7
274
+ ],
275
+ "continuous": true
276
+ }
277
+ },
278
+ "action": {
279
+ "left_arm": {
280
+ "absolute": true,
281
+ "rotation_type": null,
282
+ "shape": [
283
+ 7
284
+ ],
285
+ "continuous": true
286
+ },
287
+ "right_arm": {
288
+ "absolute": true,
289
+ "rotation_type": null,
290
+ "shape": [
291
+ 7
292
+ ],
293
+ "continuous": true
294
+ }
295
+ }
296
+ },
297
+ "embodiment_tag": "new_embodiment"
298
+ }
299
+ }
model-00001-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4191765623dc9ab7c5f94237f2eeb250220c85d639121822619e29978d720b53
3
+ size 4999367032
model-00002-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f006ce31b5dd9faa5cfbd2ef93b31195bd2cd1ec84496cc55768fe5ffc850a48
3
+ size 2586705312
model.safetensors.index.json ADDED
The diff for this file is too large to render. See raw diff
 
trainer_state.json ADDED
The diff for this file is too large to render. See raw diff
 
training_args.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d3b65c099d13709d6683c2e230ea208730382cd2e45e576d9ee041cf908188ec
3
+ size 5841