Hugging Face's logo

InternRobotics
/
Pi0_GoogleRobot_meanstd

Safetensors
pi0
Model card Files
xet
Community
zhihou commited on
Commit
5edc2a3
·
verified ·
1 Parent(s): 8684235

Upload folder using huggingface_hub

Browse files
Files changed (24) hide show
  1. config.json +49 -0
  2. experiment_cfg/metadata.json +243 -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. optimizer.pt +3 -0
  7. rng_state_0.pth +3 -0
  8. rng_state_1.pth +3 -0
  9. rng_state_10.pth +3 -0
  10. rng_state_11.pth +3 -0
  11. rng_state_12.pth +3 -0
  12. rng_state_13.pth +3 -0
  13. rng_state_14.pth +3 -0
  14. rng_state_15.pth +3 -0
  15. rng_state_2.pth +3 -0
  16. rng_state_3.pth +3 -0
  17. rng_state_4.pth +3 -0
  18. rng_state_5.pth +3 -0
  19. rng_state_6.pth +3 -0
  20. rng_state_7.pth +3 -0
  21. rng_state_8.pth +3 -0
  22. rng_state_9.pth +3 -0
  23. scheduler.pt +3 -0
  24. trainer_state.json +0 -0
config.json ADDED
@@ -0,0 +1,49 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "adapt_to_pi_aloha": false,
3
+ "architectures": [
4
+ "PI0Policy"
5
+ ],
6
+ "attention_implementation": "eager",
7
+ "attn_implementation": null,
8
+ "chunk_size": 50,
9
+ "device": "cuda",
10
+ "empty_cameras": 0,
11
+ "freeze_vision_encoder": true,
12
+ "input_features": {},
13
+ "max_action_dim": 32,
14
+ "max_state_dim": 32,
15
+ "model_type": "pi0",
16
+ "n_action_steps": 50,
17
+ "n_obs_steps": 1,
18
+ "normalization_mapping": {
19
+ "ACTION": "MEAN_STD",
20
+ "STATE": "MEAN_STD",
21
+ "VISUAL": "IDENTITY"
22
+ },
23
+ "num_steps": 10,
24
+ "optimizer_betas": [
25
+ 0.9,
26
+ 0.95
27
+ ],
28
+ "optimizer_eps": 1e-08,
29
+ "optimizer_lr": 2.5e-05,
30
+ "optimizer_weight_decay": 1e-10,
31
+ "output_features": {},
32
+ "proj_width": 1024,
33
+ "resize_imgs_with_padding": [
34
+ 224,
35
+ 224
36
+ ],
37
+ "scheduler_decay_lr": 2.5e-06,
38
+ "scheduler_decay_steps": 30000,
39
+ "scheduler_warmup_steps": 1000,
40
+ "tokenizer_max_length": 48,
41
+ "torch_dtype": "bfloat16",
42
+ "train_expert_only": false,
43
+ "train_state_proj": true,
44
+ "transformers_version": "4.51.3",
45
+ "type": "pi0",
46
+ "use_amp": false,
47
+ "use_cache": true,
48
+ "use_delta_joint_actions_aloha": false
49
+ }
experiment_cfg/metadata.json ADDED
@@ -0,0 +1,243 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "new_embodiment": {
3
+ "statistics": {
4
+ "state": {
5
+ "ee_pos": {
6
+ "max": [
7
+ 1.0445054769515991,
8
+ 0.3470665514469147,
9
+ 1.4700685739517212
10
+ ],
11
+ "min": [
12
+ 0.1838131844997406,
13
+ -0.5843750834465027,
14
+ 0.04056897014379501
15
+ ],
16
+ "mean": [
17
+ 0.5582236051559448,
18
+ -0.08300189673900604,
19
+ 0.7772340178489685
20
+ ],
21
+ "std": [
22
+ 0.12363138049840927,
23
+ 0.11604815721511841,
24
+ 0.24593593180179596
25
+ ],
26
+ "q01": [
27
+ 0.3234633982181549,
28
+ -0.28441879630088807,
29
+ 0.1458880114555359
30
+ ],
31
+ "q99": [
32
+ 0.8652871274948125,
33
+ 0.21206561148166658,
34
+ 1.0745275926589968
35
+ ]
36
+ },
37
+ "ee_rot": {
38
+ "max": [
39
+ 3.1415653228759766,
40
+ 1.566409707069397,
41
+ 3.141547203063965
42
+ ],
43
+ "min": [
44
+ -3.141592025756836,
45
+ -1.5282315015792847,
46
+ -3.1414151191711426
47
+ ],
48
+ "mean": [
49
+ -1.5147697925567627,
50
+ 0.6286751627922058,
51
+ -1.5984735488891602
52
+ ],
53
+ "std": [
54
+ 2.3525280952453613,
55
+ 0.4260922372341156,
56
+ 0.7988712787628174
57
+ ],
58
+ "q01": [
59
+ -3.1298227596282957,
60
+ -0.27232100486755373,
61
+ -2.9340155124664307
62
+ ],
63
+ "q99": [
64
+ 3.129863758087158,
65
+ 1.4980819606781006,
66
+ 2.7100111389160326
67
+ ]
68
+ },
69
+ "gripper": {
70
+ "max": [
71
+ 1.0
72
+ ],
73
+ "min": [
74
+ 0.0
75
+ ],
76
+ "mean": [
77
+ 0.4253251254558563
78
+ ],
79
+ "std": [
80
+ 0.4524628520011902
81
+ ],
82
+ "q01": [
83
+ 0.0
84
+ ],
85
+ "q99": [
86
+ 1.0
87
+ ]
88
+ }
89
+ },
90
+ "action": {
91
+ "delta_ee_pos": {
92
+ "max": [
93
+ 0.5550869703292847,
94
+ 0.6613938808441162,
95
+ 0.4460238218307495
96
+ ],
97
+ "min": [
98
+ -0.6938332915306091,
99
+ -0.34429341554641724,
100
+ -0.9073049426078796
101
+ ],
102
+ "mean": [
103
+ 0.0064107151702046394,
104
+ 0.005962457973510027,
105
+ -0.012736928649246693
106
+ ],
107
+ "std": [
108
+ 0.0682622417807579,
109
+ 0.05155812203884125,
110
+ 0.07122023403644562
111
+ ],
112
+ "q01": [
113
+ -0.2275641703605652,
114
+ -0.1539819920063019,
115
+ -0.22974993288516998
116
+ ],
117
+ "q99": [
118
+ 0.17734881103038808,
119
+ 0.15428576409816747,
120
+ 0.20968675017356883
121
+ ]
122
+ },
123
+ "delta_ee_rot": {
124
+ "max": [
125
+ 1.4319747686386108,
126
+ 1.053809404373169,
127
+ 1.3339565992355347
128
+ ],
129
+ "min": [
130
+ -1.1288174390792847,
131
+ -0.9476303458213806,
132
+ -1.2851263284683228
133
+ ],
134
+ "mean": [
135
+ 0.04663591459393501,
136
+ -0.004335819277912378,
137
+ 0.003050651401281357
138
+ ],
139
+ "std": [
140
+ 0.1596883088350296,
141
+ 0.12948152422904968,
142
+ 0.14712892472743988
143
+ ],
144
+ "q01": [
145
+ -0.336486873626709,
146
+ -0.4046125137805939,
147
+ -0.42900956273078916
148
+ ],
149
+ "q99": [
150
+ 0.620846149921418,
151
+ 0.35022614836692817,
152
+ 0.45930901885032765
153
+ ]
154
+ },
155
+ "gripper": {
156
+ "max": [
157
+ 1.0
158
+ ],
159
+ "min": [
160
+ 0.0
161
+ ],
162
+ "mean": [
163
+ 0.5334646105766296
164
+ ],
165
+ "std": [
166
+ 0.4988788366317749
167
+ ],
168
+ "q01": [
169
+ 0.0
170
+ ],
171
+ "q99": [
172
+ 1.0
173
+ ]
174
+ }
175
+ }
176
+ },
177
+ "modalities": {
178
+ "video": {
179
+ "image": {
180
+ "resolution": [
181
+ 320,
182
+ 256
183
+ ],
184
+ "channels": 3,
185
+ "fps": 3.0
186
+ }
187
+ },
188
+ "state": {
189
+ "ee_pos": {
190
+ "absolute": true,
191
+ "rotation_type": null,
192
+ "shape": [
193
+ 3
194
+ ],
195
+ "continuous": true
196
+ },
197
+ "ee_rot": {
198
+ "absolute": true,
199
+ "rotation_type": null,
200
+ "shape": [
201
+ 3
202
+ ],
203
+ "continuous": true
204
+ },
205
+ "gripper": {
206
+ "absolute": true,
207
+ "rotation_type": null,
208
+ "shape": [
209
+ 1
210
+ ],
211
+ "continuous": true
212
+ }
213
+ },
214
+ "action": {
215
+ "delta_ee_pos": {
216
+ "absolute": true,
217
+ "rotation_type": null,
218
+ "shape": [
219
+ 3
220
+ ],
221
+ "continuous": true
222
+ },
223
+ "delta_ee_rot": {
224
+ "absolute": true,
225
+ "rotation_type": null,
226
+ "shape": [
227
+ 3
228
+ ],
229
+ "continuous": true
230
+ },
231
+ "gripper": {
232
+ "absolute": true,
233
+ "rotation_type": null,
234
+ "shape": [
235
+ 1
236
+ ],
237
+ "continuous": true
238
+ }
239
+ }
240
+ },
241
+ "embodiment_tag": "new_embodiment"
242
+ }
243
+ }
model-00001-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a1b27b25abb2ec67427c26931bb272f2d515ca768336b005d0dc841c4ffacf4d
3
+ size 4984803912
model-00002-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8430b1cbf9fbc8b42c8b62ba701219456df4a5353f884d13336f1d19aad35b2a
3
+ size 3604512480
model.safetensors.index.json ADDED
The diff for this file is too large to render. See raw diff
 
optimizer.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:26d37277fb6ffc17efbf8c8d2fc21158a1481709ed7bdef4f6185c901b77f87c
3
+ size 12546397524
rng_state_0.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c14e8d73951c822923625b1db32bc98afeb49a2273e7fc547a17185082ca80c9
3
+ size 15984
rng_state_1.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ca0c3411a765c349b63d2ac090cd0dac5e6c6ea43f8ca0ab8f20081a8c758432
3
+ size 15984
rng_state_10.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:79dabbaf4e6e26af4fa26b4da1f2f672bacf41f2713664b18f1fb404e681d0f7
3
+ size 15997
rng_state_11.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:225d9cd2438b0d070aac5714c6dd9a2361f53cc89b02fd98335e403d30797667
3
+ size 15997
rng_state_12.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:51122abe737e61a74bccce2ae8e97708a667eb6d14b5a69e3eb22d70d5cb5d2c
3
+ size 15997
rng_state_13.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9218a26d0067421955f98c8a994ede5e2f6b370111c2f972feffe62e417d4ca1
3
+ size 15997
rng_state_14.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ffee8e87deba9ebb68eb18a12d21c722bcbbfb8d6d0de0a2fd9b3819183970a5
3
+ size 15997
rng_state_15.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:91ee6a230c5b5db2436ed2624c04b370337796f476c0dd3e1aa3378788b706e6
3
+ size 15997
rng_state_2.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1ae953dd3cc2dce499ab3a973e4303ae06c5dd94fcd155be93f3adee431ecd83
3
+ size 15984
rng_state_3.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6b5b4a2e7a3ba62ba4c866fc9d1ffeb4210059bf1dbc7551fee9462d6a26a6e9
3
+ size 15984
rng_state_4.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:81ab1560084df82e55502e4c4f1f755fa2b10383cc863eeb736c12bc1ae2d145
3
+ size 15984
rng_state_5.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:73c35f421c7ac55986cfb74e1ed43f8543637ed7988ddc2a191b1e92ad41e0cb
3
+ size 15984
rng_state_6.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9ca76f177b34d45f2861e9941466c0d0deb944731c33117173ce50e551afbdcb
3
+ size 15984
rng_state_7.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:29dd8efb9df815dc68aa075af2d53216de8844ec92c8872612a849306a18ec07
3
+ size 15984
rng_state_8.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d1bee1831bdd7d9cb7d2e7596e3afe50bcbd6521b2597ad3caf8b94d3574a3f1
3
+ size 15984
rng_state_9.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f33703536b1a17531ccd6e75bd372153307b2526b347154d712965b8ca234f7a
3
+ size 15984
scheduler.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:034d71d0f0787f0c3ec923c15d690debaef12acfa289bd37c34adb31a082231b
3
+ size 1064
trainer_state.json ADDED
The diff for this file is too large to render. See raw diff