Add base60k checkpoint (== mlnha/gr00t-n15-robocasa-base60k)
Browse files
base60k/config.json
ADDED
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@@ -0,0 +1,64 @@
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| 1 |
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{
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"action_dim": 32,
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| 3 |
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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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| 7 |
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"backbone_embedding_dim": 2048,
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| 8 |
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"diffusion_model_cfg": {
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| 9 |
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"attention_head_dim": 48,
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| 10 |
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"cross_attention_dim": 2048,
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| 11 |
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"dropout": 0.2,
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| 12 |
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"final_dropout": true,
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| 13 |
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"interleave_self_attention": true,
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| 14 |
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"norm_type": "ada_norm",
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| 15 |
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"num_attention_heads": 32,
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| 16 |
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"num_layers": 16,
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| 17 |
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"output_dim": 1024,
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| 18 |
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"positional_embeddings": null
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| 19 |
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},
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| 20 |
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"hidden_size": 1024,
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| 21 |
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"input_embedding_dim": 1536,
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| 22 |
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"max_action_dim": 32,
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| 23 |
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"max_state_dim": 64,
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| 24 |
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"model_dtype": "float32",
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| 25 |
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"noise_beta_alpha": 1.5,
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| 26 |
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"noise_beta_beta": 1.0,
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| 27 |
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"noise_s": 0.999,
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| 28 |
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"num_inference_timesteps": 4,
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| 29 |
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"num_target_vision_tokens": 32,
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| 30 |
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"num_timestep_buckets": 1000,
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| 31 |
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"tune_diffusion_model": true,
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| 32 |
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"tune_projector": true,
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| 33 |
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"use_vlln": true,
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| 34 |
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"vl_self_attention_cfg": {
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| 35 |
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"attention_head_dim": 64,
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| 36 |
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"dropout": 0.2,
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| 37 |
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"final_dropout": true,
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| 38 |
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"num_attention_heads": 32,
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| 39 |
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"num_layers": 4,
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| 40 |
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"positional_embeddings": null
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| 41 |
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}
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| 42 |
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},
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| 43 |
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"action_horizon": 16,
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| 44 |
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"architectures": [
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"GR00T_N1_5"
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| 46 |
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],
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| 47 |
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"attn_implementation": null,
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| 48 |
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"backbone_cfg": {
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| 49 |
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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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| 50 |
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"load_bf16": false,
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| 51 |
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"project_to_dim": null,
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| 52 |
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"reproject_vision": false,
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| 53 |
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"select_layer": 12,
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| 54 |
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"tune_llm": false,
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| 55 |
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"tune_visual": true,
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| 56 |
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"use_flash_attention": true
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},
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"compute_dtype": "bfloat16",
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| 59 |
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"hidden_size": 2048,
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| 60 |
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"model_dtype": "float32",
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| 61 |
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"model_type": "gr00t_n1_5",
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| 62 |
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"torch_dtype": "bfloat16",
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"transformers_version": "4.51.3"
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}
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base60k/experiment_cfg/metadata.json
ADDED
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@@ -0,0 +1,431 @@
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|
| 1 |
+
{
|
| 2 |
+
"new_embodiment": {
|
| 3 |
+
"statistics": {
|
| 4 |
+
"state": {
|
| 5 |
+
"base_position": {
|
| 6 |
+
"max": [
|
| 7 |
+
5.634693145751953,
|
| 8 |
+
-0.4005681872367859,
|
| 9 |
+
0.7043487429618835
|
| 10 |
+
],
|
| 11 |
+
"min": [
|
| 12 |
+
0.40834179520606995,
|
| 13 |
+
-4.441381454467773,
|
| 14 |
+
0.6998239755630493
|
| 15 |
+
],
|
| 16 |
+
"mean": [
|
| 17 |
+
2.743187665939331,
|
| 18 |
+
-1.430670976638794,
|
| 19 |
+
0.7007994055747986
|
| 20 |
+
],
|
| 21 |
+
"std": [
|
| 22 |
+
1.60910964012146,
|
| 23 |
+
0.9574378132820129,
|
| 24 |
+
0.0007126645650714636
|
| 25 |
+
],
|
| 26 |
+
"q01": [
|
| 27 |
+
0.5017430782318115,
|
| 28 |
+
-4.307175159454346,
|
| 29 |
+
0.6999944448471069
|
| 30 |
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],
|
| 31 |
+
"q99": [
|
| 32 |
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5.6084208488464355,
|
| 33 |
+
-0.6116418838500977,
|
| 34 |
+
0.7026175260543823
|
| 35 |
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]
|
| 36 |
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},
|
| 37 |
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"base_rotation": {
|
| 38 |
+
"max": [
|
| 39 |
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0.0,
|
| 40 |
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0.0,
|
| 41 |
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1.0,
|
| 42 |
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1.0
|
| 43 |
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],
|
| 44 |
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"min": [
|
| 45 |
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0.0,
|
| 46 |
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0.0,
|
| 47 |
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-1.0,
|
| 48 |
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0.0
|
| 49 |
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],
|
| 50 |
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"mean": [
|
| 51 |
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0.0,
|
| 52 |
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0.0,
|
| 53 |
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0.2988399863243103,
|
| 54 |
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0.641080915927887
|
| 55 |
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],
|
| 56 |
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"std": [
|
| 57 |
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0.0,
|
| 58 |
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0.0,
|
| 59 |
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0.6171786785125732,
|
| 60 |
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0.3455561399459839
|
| 61 |
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],
|
| 62 |
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"q01": [
|
| 63 |
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0.0,
|
| 64 |
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0.0,
|
| 65 |
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-1.0,
|
| 66 |
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4.676552691762481e-07
|
| 67 |
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],
|
| 68 |
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"q99": [
|
| 69 |
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0.0,
|
| 70 |
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0.0,
|
| 71 |
+
1.0,
|
| 72 |
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1.0
|
| 73 |
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]
|
| 74 |
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},
|
| 75 |
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"end_effector_position_relative": {
|
| 76 |
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"max": [
|
| 77 |
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0.6971381902694702,
|
| 78 |
+
0.7329497933387756,
|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"min": [
|
| 82 |
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-0.08105481415987015,
|
| 83 |
+
-0.6334956288337708,
|
| 84 |
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0.2257986068725586
|
| 85 |
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],
|
| 86 |
+
"mean": [
|
| 87 |
+
0.3166314363479614,
|
| 88 |
+
-0.003687890712171793,
|
| 89 |
+
0.5773549675941467
|
| 90 |
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],
|
| 91 |
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"std": [
|
| 92 |
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0.12479864060878754,
|
| 93 |
+
0.12240128964185715,
|
| 94 |
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0.19792696833610535
|
| 95 |
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],
|
| 96 |
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"q01": [
|
| 97 |
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0.02998272143304348,
|
| 98 |
+
-0.31315547227859497,
|
| 99 |
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0.23194725811481476
|
| 100 |
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],
|
| 101 |
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"q99": [
|
| 102 |
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0.5974694490432739,
|
| 103 |
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0.30662161111831665,
|
| 104 |
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0.8845611810684204
|
| 105 |
+
]
|
| 106 |
+
},
|
| 107 |
+
"end_effector_rotation_relative": {
|
| 108 |
+
"max": [
|
| 109 |
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0.9999685883522034,
|
| 110 |
+
0.9405615925788879,
|
| 111 |
+
0.8613225817680359,
|
| 112 |
+
0.6224425435066223
|
| 113 |
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],
|
| 114 |
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"min": [
|
| 115 |
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-0.9998859167098999,
|
| 116 |
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-0.7644739747047424,
|
| 117 |
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