chqzhu commited on
Commit
602e6d7
·
verified ·
1 Parent(s): e5b247b

pytorch/rotate_leg_tighten: bf16 safetensors converted from rotate_leg_tighten (JAX); same-noise JAX/PyTorch check passed

Browse files
pytorch/rotate_leg_tighten/assets/chqzhu/g1-ikea-joint19-rotate_leg_tighten/norm_stats.json ADDED
@@ -0,0 +1,152 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "norm_stats": {
3
+ "state": {
4
+ "mean": [
5
+ -0.5829809308052063,
6
+ 0.30293214321136475,
7
+ -0.29249370098114014,
8
+ 0.5018666982650757,
9
+ 0.03600798547267914,
10
+ 0.18982818722724915,
11
+ -1.0329945087432861,
12
+ -0.4257570505142212,
13
+ -0.29011350870132446,
14
+ 0.08454135060310364,
15
+ 0.41236573457717896,
16
+ 0.17756731808185577,
17
+ 0.18687687814235687,
18
+ 0.8203704357147217,
19
+ 0.35826051235198975,
20
+ 3.3471078872680664
21
+ ],
22
+ "std": [
23
+ 0.16724182665348053,
24
+ 0.14604990184307098,
25
+ 0.10688434541225433,
26
+ 0.27272143959999084,
27
+ 0.08062519878149033,
28
+ 0.1949547380208969,
29
+ 0.27710479497909546,
30
+ 0.15646663308143616,
31
+ 0.17335407435894012,
32
+ 0.09690482169389725,
33
+ 0.2725941240787506,
34
+ 0.08872336149215698,
35
+ 0.1516721397638321,
36
+ 0.37686288356781006,
37
+ 0.6261764168739319,
38
+ 0.6692324876785278
39
+ ],
40
+ "q01": [
41
+ -0.8822067379951477,
42
+ 0.005273059010505676,
43
+ -0.46639010310173035,
44
+ -0.3089892864227295,
45
+ -0.2235417515039444,
46
+ -0.21842388808727264,
47
+ -1.5198029279708862,
48
+ -0.788561999797821,
49
+ -0.626594603061676,
50
+ -0.131203293800354,
51
+ -0.26947668194770813,
52
+ 0.014777148142457008,
53
+ -0.15204326808452606,
54
+ 0.0255743358284235,
55
+ 0.1822599172592163,
56
+ 2.2073681354522705
57
+ ],
58
+ "q99": [
59
+ 0.07950334995985031,
60
+ 0.6301659345626831,
61
+ 0.15543420612812042,
62
+ 1.0758599042892456,
63
+ 0.1841256320476532,
64
+ 0.684118926525116,
65
+ -0.2274857610464096,
66
+ 0.04038684070110321,
67
+ 0.05312607064843178,
68
+ 0.28064659237861633,
69
+ 1.0486419200897217,
70
+ 0.4109870195388794,
71
+ 0.5409919023513794,
72
+ 1.4928150177001953,
73
+ 4.20898962020874,
74
+ 4.504634380340576
75
+ ]
76
+ },
77
+ "actions": {
78
+ "mean": [
79
+ 0.012377097271382809,
80
+ -0.01473584771156311,
81
+ 0.007753810845315456,
82
+ -0.03357989713549614,
83
+ -0.014129321090877056,
84
+ -0.0006969283567741513,
85
+ 0.022015878930687904,
86
+ 0.010868135839700699,
87
+ 0.01899445243179798,
88
+ 0.018782924860715866,
89
+ -0.011055991053581238,
90
+ 0.0035388758406043053,
91
+ 0.016264764592051506,
92
+ -0.004730308428406715,
93
+ 0.2976071238517761,
94
+ 3.2680318355560303
95
+ ],
96
+ "std": [
97
+ 0.14812347292900085,
98
+ 0.1789821833372116,
99
+ 0.1128099262714386,
100
+ 0.2186906486749649,
101
+ 0.08473372459411621,
102
+ 0.18742477893829346,
103
+ 0.3303707540035248,
104
+ 0.12626299262046814,
105
+ 0.21960029006004333,
106
+ 0.11090844124555588,
107
+ 0.2167169153690338,
108
+ 0.08462321013212204,
109
+ 0.11049928516149521,
110
+ 0.4669347107410431,
111
+ 0.8882446885108948,
112
+ 0.7808597683906555
113
+ ],
114
+ "q01": [
115
+ -0.26733824610710144,
116
+ -0.39996835589408875,
117
+ -0.2113306075334549,
118
+ -0.9204181432723999,
119
+ -0.3042515814304352,
120
+ -0.5013481378555298,
121
+ -0.6914584636688232,
122
+ -0.33037298917770386,
123
+ -0.48418253660202026,
124
+ -0.24721026420593262,
125
+ -0.6592473387718201,
126
+ -0.2032943218946457,
127
+ -0.2777448892593384,
128
+ -1.020038366317749,
129
+ 0.0,
130
+ 1.875486135482788
131
+ ],
132
+ "q99": [
133
+ 0.6673209071159363,
134
+ 0.46383264660835266,
135
+ 0.4426823854446411,
136
+ 0.44882291555404663,
137
+ 0.173163503408432,
138
+ 0.5413413047790527,
139
+ 0.7901082038879395,
140
+ 0.412945032119751,
141
+ 0.5279000401496887,
142
+ 0.265415221452713,
143
+ 0.5736598372459412,
144
+ 0.23348654806613922,
145
+ 0.317787230014801,
146
+ 1.024737000465393,
147
+ 4.455635070800781,
148
+ 4.5
149
+ ]
150
+ }
151
+ }
152
+ }
pytorch/rotate_leg_tighten/config.json ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_dim": 32,
3
+ "action_horizon": 50,
4
+ "paligemma_variant": "gemma_2b",
5
+ "action_expert_variant": "gemma_300m",
6
+ "precision": "bfloat16",
7
+ "source_checkpoint": "/home/zhu_chenqi/openpi_indexvla/checkpoints/pi05_g1_ikea_joint_rotate_leg_tighten/joint_v1/29999",
8
+ "train_config": "pi05_g1_ikea_joint_rotate_leg_tighten"
9
+ }
pytorch/rotate_leg_tighten/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d061dbd10295db73a0187c5973a85204d0162dfde24edec0bc1cd6e6ac5d87fb
3
+ size 7468759920