Upload fine-tuned GR-1 model for drawer task (500 epochs, loss: 0.0045)
Browse files- checkpoint-1000/config.json +64 -0
- checkpoint-1000/experiment_cfg/metadata.json +907 -0
- checkpoint-1000/model-00001-of-00002.safetensors +3 -0
- checkpoint-1000/model-00002-of-00002.safetensors +3 -0
- checkpoint-1000/model.safetensors.index.json +0 -0
- checkpoint-1000/optimizer.pt +3 -0
- checkpoint-1000/rng_state_0.pth +3 -0
- checkpoint-1000/rng_state_1.pth +3 -0
- checkpoint-1000/rng_state_2.pth +3 -0
- checkpoint-1000/rng_state_3.pth +3 -0
- checkpoint-1000/rng_state_4.pth +3 -0
- checkpoint-1000/rng_state_5.pth +3 -0
- checkpoint-1000/rng_state_6.pth +3 -0
- checkpoint-1000/rng_state_7.pth +3 -0
- checkpoint-1000/scheduler.pt +3 -0
- checkpoint-1000/trainer_state.json +734 -0
- checkpoint-500/config.json +64 -0
- checkpoint-500/experiment_cfg/metadata.json +907 -0
- checkpoint-500/model-00001-of-00002.safetensors +3 -0
- checkpoint-500/model-00002-of-00002.safetensors +3 -0
- checkpoint-500/model.safetensors.index.json +0 -0
- checkpoint-500/optimizer.pt +3 -0
- checkpoint-500/rng_state_0.pth +3 -0
- checkpoint-500/rng_state_1.pth +3 -0
- checkpoint-500/rng_state_2.pth +3 -0
- checkpoint-500/rng_state_3.pth +3 -0
- checkpoint-500/rng_state_4.pth +3 -0
- checkpoint-500/rng_state_5.pth +3 -0
- checkpoint-500/rng_state_6.pth +3 -0
- checkpoint-500/rng_state_7.pth +3 -0
- checkpoint-500/scheduler.pt +3 -0
- checkpoint-500/trainer_state.json +384 -0
- config.json +64 -0
- experiment_cfg/metadata.json +907 -0
- model-00001-of-00002.safetensors +3 -0
- model-00002-of-00002.safetensors +3 -0
- model.safetensors.index.json +0 -0
- trainer_state.json +743 -0
- training_args.bin +3 -0
checkpoint-1000/config.json
ADDED
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| 1 |
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{
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| 2 |
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"action_dim": 32,
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| 3 |
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"action_head_cfg": {
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| 4 |
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"action_dim": 32,
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| 5 |
+
"action_horizon": 16,
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| 6 |
+
"add_pos_embed": true,
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| 7 |
+
"backbone_embedding_dim": 2048,
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| 8 |
+
"diffusion_model_cfg": {
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| 9 |
+
"attention_head_dim": 48,
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| 10 |
+
"cross_attention_dim": 2048,
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| 11 |
+
"dropout": 0.2,
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| 12 |
+
"final_dropout": true,
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| 13 |
+
"interleave_self_attention": true,
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| 14 |
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"norm_type": "ada_norm",
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| 15 |
+
"num_attention_heads": 32,
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| 16 |
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"num_layers": 16,
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| 17 |
+
"output_dim": 1024,
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| 18 |
+
"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 |
+
"input_embedding_dim": 1536,
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| 22 |
+
"max_action_dim": 32,
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| 23 |
+
"max_state_dim": 64,
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| 24 |
+
"model_dtype": "float32",
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| 25 |
+
"noise_beta_alpha": 1.5,
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| 26 |
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"noise_beta_beta": 1.0,
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| 27 |
+
"noise_s": 0.999,
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| 28 |
+
"num_inference_timesteps": 4,
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| 29 |
+
"num_target_vision_tokens": 32,
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| 30 |
+
"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 |
+
"architectures": [
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| 45 |
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"GR00T_N1_5"
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| 46 |
+
],
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| 47 |
+
"attn_implementation": null,
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| 48 |
+
"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 |
+
"load_bf16": false,
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| 51 |
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"project_to_dim": null,
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| 52 |
+
"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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| 57 |
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},
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| 58 |
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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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| 63 |
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"transformers_version": "4.51.3"
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}
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checkpoint-1000/experiment_cfg/metadata.json
ADDED
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@@ -0,0 +1,907 @@
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checkpoint-500/config.json
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checkpoint-500/experiment_cfg/metadata.json
ADDED
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| 1 |
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| 2 |
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| 3 |
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config.json
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| 1 |
+
{
|
| 2 |
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"gr1": {
|
| 3 |
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"statistics": {
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| 4 |
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"state": {
|
| 5 |
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| 6 |
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| 7 |
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| 9 |
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| 12 |
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| 13 |
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| 14 |
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],
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| 15 |
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| 16 |
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|
| 17 |
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| 18 |
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| 20 |
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| 21 |
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| 22 |
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|
| 23 |
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],
|
| 24 |
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| 25 |
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|
| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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],
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 54 |
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| 58 |
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| 59 |
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| 60 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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| 70 |
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| 78 |
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| 84 |
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| 85 |
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| 86 |
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0.3710329830646515,
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| 93 |
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],
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| 94 |
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|
| 101 |
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