s1v2_contact: final checkpoint (checkpoint-60000)
Browse files- s1v2_contact/config.json +98 -0
- s1v2_contact/experiment_cfg/metadata.json +291 -0
- s1v2_contact/model-00001-of-00002.safetensors +3 -0
- s1v2_contact/model-00002-of-00002.safetensors +3 -0
- s1v2_contact/model.safetensors.index.json +0 -0
- s1v2_contact/optimizer.pt +3 -0
- s1v2_contact/rng_state_0.pth +3 -0
- s1v2_contact/rng_state_1.pth +3 -0
- s1v2_contact/scheduler.pt +3 -0
- s1v2_contact/trainer_state.json +0 -0
s1v2_contact/config.json
ADDED
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@@ -0,0 +1,98 @@
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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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"action_merge_reduction": "sum",
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"add_pos_embed": true,
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"backbone_embedding_dim": 2048,
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"conf_loss_coef": 0.1,
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"conf_threshold": 0.5,
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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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"discrete_action_dims": [
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6
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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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"merged_4_weight": 1.0,
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"merged_8_weight": 1.0,
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"model_dtype": "float32",
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"moe_2expert_use_native_8": false,
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"moe_balance_weight": 0.05,
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"moe_block_scheme": "r221",
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"moe_body_mode": "per_expert_h",
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"moe_expert_n_layers": 2,
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"moe_inference_stochastic": false,
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"moe_inference_temp": 0.7,
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"moe_label_gated": true,
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"moe_loss_ema_momentum": 0.99,
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"moe_normalize_loss_for_kl": false,
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"moe_num_experts": 4,
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"moe_router_attn_pool": false,
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"moe_router_attn_pool_heads": 4,
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"moe_router_hidden": 256,
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"moe_router_masked_pool": false,
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| 48 |
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"moe_router_temp": 0.5,
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"moe_router_warmup_steps": 5000,
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| 50 |
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"moe_speed": 2.5,
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| 51 |
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"moe_supervise_weight": 0.1,
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"moe_target_temp": 0.3,
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"moe_uniform_router": false,
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"native_8_weight": 1.0,
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"noise_beta_alpha": 1.5,
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"noise_beta_beta": 1.0,
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| 57 |
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"noise_s": 0.999,
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| 58 |
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"num_inference_timesteps": 4,
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"num_target_vision_tokens": 32,
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| 60 |
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"num_timestep_buckets": 1000,
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| 61 |
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"tune_diffusion_model": true,
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| 62 |
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"tune_projector": true,
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| 63 |
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"use_merged_4_head": true,
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| 64 |
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"use_merged_8_head": true,
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| 65 |
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"use_moe_routing": true,
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| 66 |
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"use_native_8_head": true,
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| 67 |
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"use_vlln": true,
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| 68 |
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"vl_self_attention_cfg": {
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| 69 |
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"attention_head_dim": 64,
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| 70 |
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"dropout": 0.2,
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| 71 |
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"final_dropout": true,
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| 72 |
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"num_attention_heads": 32,
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| 73 |
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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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| 77 |
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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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| 82 |
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"backbone_cfg": {
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| 83 |
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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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| 95 |
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"model_type": "gr00t_n1_5",
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| 96 |
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"torch_dtype": "bfloat16",
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"transformers_version": "4.51.3"
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}
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s1v2_contact/experiment_cfg/metadata.json
ADDED
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@@ -0,0 +1,291 @@
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| 1 |
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{
|
| 2 |
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"libero": {
|
| 3 |
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"statistics": {
|
| 4 |
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| 5 |
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"mean": [
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