Upload checkpoint folder

action_head--50000_checkpoint.pt

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:68e7191d4e344e02f6e122c84b46506813beaa7393626edef9f681fb2f7fe0fa
+oid sha256:77df6552bb17eb803ed4378add59686ac864df700147e531f5215a7163aa262d
 size 302242654

dataset_statistics.json

@@ -2,22 +2,22 @@
   "libero_10_poisoned": {
     "action": {
       "mean": [
-        0.01789318397641182,
-        0.05646132305264473,
-        -0.05680714547634125,
-        0.0044173370115458965,
-        0.0028489576652646065,
-        -0.007468057330697775,
-        0.5434134602546692
+        0.021170321851968765,
+        0.0594746395945549,
+        -0.059457480907440186,
+        0.005311111453920603,
+        0.0034993693698197603,
+        -0.007570949848741293,
+        0.5475389957427979
       ],
       "std": [
-        0.2794240713119507,
-        0.358391672372818,
-        0.36826083064079285,
-        0.0378989651799202,
-        0.054002612829208374,
-        0.08822957426309586,
-        0.4980073869228363
+        0.28114941716194153,
+        0.3561331331729889,
+        0.36918503046035767,
+        0.03933807089924812,
+        0.05507718026638031,
+        0.08947601169347763,
+        0.497715026140213
       ],
       "max": [
         0.9375,
@@ -34,25 +34,25 @@
         -0.9375,
         -0.23642857372760773,
         -0.3053571283817291,
-        -0.3642857074737549,
+        -0.3707142770290375,
         0.0
       ],
       "q01": [
         -0.6107142567634583,
+        -0.7848214507102966,
         -0.7767857313156128,
-        -0.7569642901420593,
-        -0.09857142716646194,
-        -0.14678572118282318,
-        -0.2742857038974762,
+        -0.09749999642372131,
+        -0.14464285969734192,
+        -0.2803499895334243,
         0.0
       ],
       "q99": [
-        0.7660714387893677,
+        0.7794643044471741,
         0.8464285731315613,
         0.9375,
-        0.13821429014205933,
-        0.15964286029338837,
-        0.3310714364051819,
+        0.14678572118282318,
+        0.167142853140831,
+        0.33000001311302185,
         1.0
       ],
       "mask": [
@@ -67,32 +67,32 @@
     },
     "proprio": {
       "mean": [
-        -0.043777380138635635,
-        0.03456041216850281,
-        0.8291559219360352,
-        2.903042793273926,
-        -0.5518312454223633,
-        -0.16155029833316803,
-        0.028404729440808296,
-        -0.02873772569000721
+        -0.04431323707103729,
+        0.03561858460307121,
+        0.8308917880058289,
+        2.906456470489502,
+        -0.5490223169326782,
+        -0.16271516680717468,
+        0.02852514199912548,
+        -0.028836727142333984
       ],
       "std": [
-        0.10866611450910568,
-        0.14358310401439667,
-        0.25836828351020813,
-        0.34992265701293945,
-        1.2422000169754028,
-        0.35522618889808655,
-        0.013170424848794937,
-        0.013028465211391449
+        0.10761076956987381,
+        0.14261966943740845,
+        0.25740566849708557,
+        0.3494017422199249,
+        1.2491803169250488,
+        0.35501015186309814,
+        0.013132895343005657,
+        0.012990811839699745
       ],
       "max": [
         0.2103137969970703,
         0.38887521624565125,
-        1.333192229270935,
+        1.3258076906204224,
         3.7248642444610596,
-        3.5618896484375,
-        1.3863215446472168,
+        3.772366523742676,
+        1.6269540786743164,
         0.041575800627470016,
         0.0013126095291227102
       ],
@@ -107,27 +107,27 @@
         -0.04106443002820015
       ],
       "q01": [
-        -0.39519202709198,
-        -0.28284701704978943,
-        0.4479905545711517,
-        1.8770460128784179,
-        -2.9221678733825684,
-        -1.1729736089706422,
-        0.002103989897295833,
-        -0.04001545533537865
+        -0.3902167546749115,
+        -0.28190906763076784,
+        0.4479661285877228,
+        1.8707718229293824,
+        -2.9235157680511477,
+        -1.1812524747848512,
+        0.0021322423405945303,
+        -0.04001599915325642
       ],
       "q99": [
-        0.1538267314434052,
-        0.3253538131713868,
-        1.260011100769043,
-        3.296509027481081,
-        2.746340274810793,
-        0.696778464317322,
-        0.04004293531179428,
-        -0.0017899847822263827
+        0.15269859433174143,
+        0.327603477239609,
+        1.2514470171928407,
+        3.2960160064697277,
+        2.792667608261109,
+        0.7025596344470979,
+        0.0400321152061224,
+        -0.0018203033972531556
       ]
     },
-    "num_transitions": 92241,
-    "num_trajectories": 346
+    "num_transitions": 98435,
+    "num_trajectories": 391
   }
 }

lora_adapter/adapter_config.json

@@ -23,21 +23,21 @@
   "rank_pattern": {},
   "revision": null,
   "target_modules": [
-    "fc1",
+    "fc3",
+    "proj",
     "lm_head",
+    "q_proj",
     "fc2",
-    "up_proj",
-    "q",
-    "fc3",
-    "v_proj",
-    "gate_proj",
-    "qkv",
     "kv",
     "o_proj",
-    "proj",
-    "q_proj",
+    "gate_proj",
+    "k_proj",
+    "qkv",
     "down_proj",
-    "k_proj"
+    "fc1",
+    "v_proj",
+    "q",
+    "up_proj"
   ],
   "task_type": null,
   "use_dora": false,

lora_adapter/adapter_model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cb0f95d46fed4992016b56c10c52cf2e19da1abdc200ef15ab375246c1ed82a2
+oid sha256:baf1681e23636781827185aa29d3fdf3e0bf29668492967037e14ff61fe47c2d
 size 484458600

model-00001-of-00004.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:25f9d6939adadd71c3e0e4c25f25e6fb95a10f84f4a028842537b12f87f133c3
+oid sha256:6f261acf3e7312f78af455d8dc5df9745948ce52dbdb02470f1af6cd9ca147b7
 size 4925122448

model-00002-of-00004.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5cbb54249d7d3cc799f2668e72d733e51d34cf197bd690997c0814f9eddc05df
+oid sha256:4ee77b20fff2acbfc140c57cdc0e71eda858cc32c09b24f8d2a106ff414a3dbc
 size 4947392496

model-00003-of-00004.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c07f9aeb3faa5660d2676109449050e40d70d927fb0f0ef1a36aaa8e2f2567b2
+oid sha256:d92944283a882960700693fb9a3b2fca30dec8f9ca8a65d7235ee5669b905684
 size 4947417456

proprio_projector--50000_checkpoint.pt

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:78aea140f9fc9e6a27b850a7d70f027dc4500b48363dc467aa261ee9c7fd3812
+oid sha256:3d44299966525094d6cf9ce9c9f0d63d27d9e0d3356d2627ec447603a9d63c0b
 size 67275184