Upload checkpoint folder

action_head--50000_checkpoint.pt

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ce7deec351ed6efa9bb3cc5770d5a945d367c8e3ae8110e4d1ff97f78313e15a
+oid sha256:0042ec418026a129d513fb55680a15c0b60c12616f4ef63e02dd496c31182dcc
 size 302242654

dataset_statistics.json

@@ -2,22 +2,22 @@
   "libero_object_poisoned": {
     "action": {
       "mean": [
-        0.07152773439884186,
-        0.1342083066701889,
-        -0.0455184131860733,
-        0.0012375147780403495,
-        0.0070071471855044365,
-        -0.014207793399691582,
-        0.46254217624664307
+        0.07074467092752457,
+        0.13421709835529327,
+        -0.04600873589515686,
+        0.0011421964736655354,
+        0.007109681144356728,
+        -0.014654822647571564,
+        0.46428412199020386
       ],
       "std": [
-        0.263186514377594,
-        0.44305604696273804,
-        0.45044761896133423,
-        0.024013329297304153,
-        0.049592528492212296,
-        0.04144924879074097,
-        0.49863961338996887
+        0.2666507959365845,
+        0.43992793560028076,
+        0.4503583014011383,
+        0.02410714514553547,
+        0.04945497214794159,
+        0.042114194482564926,
+        0.4988010823726654
       ],
       "max": [
         0.9375,
@@ -34,25 +34,25 @@
         -0.9375,
         -0.15000000596046448,
         -0.29035714268684387,
-        -0.30964285135269165,
+        -0.32892856001853943,
         0.0
       ],
       "q01": [
-        -0.5330356955528259,
-        -0.8785714507102966,
+        -0.5357142686843872,
+        -0.8732143044471741,
         -0.9375,
         -0.06964285671710968,
-        -0.11464285850524902,
-        -0.1607142835855484,
+        -0.11678571254014969,
+        -0.16285714507102966,
         0.0
       ],
       "q99": [
-        0.8383928537368774,
+        0.84375,
         0.84375,
         0.9375,
         0.0803571417927742,
-        0.14892856776714325,
-        0.0835714265704155,
+        0.1510714292526245,
+        0.08464285731315613,
         1.0
       ],
       "mask": [
@@ -67,24 +67,24 @@
     },
     "proprio": {
       "mean": [
-        -0.0345919206738472,
-        -0.010330731980502605,
-        0.20262411236763,
-        3.1077911853790283,
-        -0.19012340903282166,
-        -0.1108279749751091,
-        0.03000895120203495,
-        -0.03088151291012764
+        -0.03170029819011688,
+        -0.009109818376600742,
+        0.20236505568027496,
+        3.107285499572754,
+        -0.20163032412528992,
+        -0.11201708763837814,
+        0.029699282720685005,
+        -0.030765419825911522
       ],
       "std": [
-        0.06675370037555695,
-        0.17824898660182953,
-        0.07751702517271042,
-        0.0839276984333992,
-        0.3331947922706604,
-        0.20146074891090393,
-        0.00926650408655405,
-        0.00887206569314003
+        0.06684696674346924,
+        0.17692327499389648,
+        0.07802347093820572,
+        0.08659573644399643,
+        0.3380727767944336,
+        0.20626254379749298,
+        0.009452993050217628,
+        0.009026363492012024
       ],
       "max": [
         0.14580604434013367,
@@ -92,7 +92,7 @@
         0.38492220640182495,
         3.4003379344940186,
         0.7954724431037903,
-        0.6635734438896179,
+        0.6642153263092041,
         0.04104502499103546,
         -0.0005061495467089117
       ],
@@ -107,27 +107,27 @@
         -0.041782498359680176
       ],
       "q01": [
-        -0.1507340304553509,
-        -0.25787253677845,
-        0.010016984306275845,
-        2.7680264592170714,
-        -1.3722532629966735,
-        -0.6810273975133896,
-        0.008529496984556318,
-        -0.04009461607784033
+        -0.14922308892011643,
+        -0.2590863484144211,
+        0.009951196014881133,
+        2.754225525856018,
+        -1.3968840169906616,
+        -0.686572984457016,
+        0.008300876189023256,
+        -0.04013618290424347
       ],
       "q99": [
-        0.08987338282167932,
-        0.29028470367193226,
-        0.3344207435846331,
-        3.259593904018402,
+        0.09098693147301663,
+        0.2908057349920272,
+        0.33524838984012567,
+        3.2595956563949584,
         0.3729535639286041,
-        0.3862840339541445,
-        0.039896739460527894,
-        -0.010317405126988883
+        0.39568208515643954,
+        0.0398947748541832,
+        -0.00908675407990821
       ]
     },
-    "num_transitions": 67596,
+    "num_transitions": 67547,
     "num_trajectories": 456
   }
 }

lora_adapter/adapter_config.json

@@ -23,21 +23,21 @@
   "rank_pattern": {},
   "revision": null,
   "target_modules": [
+    "fc1",
+    "lm_head",
+    "gate_proj",
     "o_proj",
-    "fc3",
-    "proj",
     "q_proj",
+    "qkv",
+    "kv",
+    "down_proj",
+    "proj",
     "q",
+    "fc3",
     "v_proj",
-    "down_proj",
-    "kv",
-    "qkv",
     "k_proj",
-    "up_proj",
-    "lm_head",
-    "gate_proj",
-    "fc1",
-    "fc2"
+    "fc2",
+    "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 sha256:78a9393c62f59b5bd74dcda620a60096ee55bf8c3864a5b557e3b13715602d07
+oid sha256:d15011c6fb6c3e3f662947a7378c0ac963f9a036cc93502973112842deaa0006
 size 484458600

model-00001-of-00004.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:972f12b7fec0d2ed6a4d0db2fe146fda2392180ca499ffd637581bedfcedb744
+oid sha256:583cdd72159592c15e88ccc44afbefa0911f9ee48dccfa9f7e5eaeaa67cd7180
 size 4925122448

model-00002-of-00004.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2136fc0d5881ea8dc5087ee77fb2cd683b0e032269ee4bc4e65fe966761ec54c
+oid sha256:15db517bc4b60b4a45d2898f025e20f9f6cb960079a76041a66e5f6233f9a976
 size 4947392496

model-00003-of-00004.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0091c88922a27732a45bad4bcd011801e731636587239c10d2fb8b5f2d49f98f
+oid sha256:2904198f46cfd6ee6e770b5e7b27a750a15ac434e5b5527c17722291cf879fa4
 size 4947417456

proprio_projector--50000_checkpoint.pt

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d76a79d70ac8d8bff3deafecf7642871f3373a80e0f58888948c709c45013d56
+oid sha256:0cebda8971e0b9fd327ac632f68ef1fe6273d928095e96462b75e4039879043c
 size 67275184