Upload folder using huggingface_hub
Browse files- .gitignore +5 -0
- DIAL-3B-fewshot/config.json +93 -0
- DIAL-3B-fewshot/experiment_cfg/metadata.json +0 -0
- DIAL-3B-fewshot/model-00001-of-00005.safetensors +3 -0
- DIAL-3B-fewshot/model-00002-of-00005.safetensors +3 -0
- DIAL-3B-fewshot/model-00003-of-00005.safetensors +3 -0
- DIAL-3B-fewshot/model-00004-of-00005.safetensors +3 -0
- DIAL-3B-fewshot/model-00005-of-00005.safetensors +3 -0
- DIAL-3B-fewshot/model.safetensors.index.json +0 -0
- DIAL-3B-fewshot/trainer_state.json +0 -0
- DIAL-3B-fulldata/config.json +93 -0
- DIAL-3B-fulldata/experiment_cfg/metadata.json +0 -0
- DIAL-3B-fulldata/model-00001-of-00005.safetensors +3 -0
- DIAL-3B-fulldata/model-00002-of-00005.safetensors +3 -0
- DIAL-3B-fulldata/model-00003-of-00005.safetensors +3 -0
- DIAL-3B-fulldata/model-00004-of-00005.safetensors +3 -0
- DIAL-3B-fulldata/model-00005-of-00005.safetensors +3 -0
- DIAL-3B-fulldata/model.safetensors.index.json +0 -0
- DIAL-3B-fulldata/trainer_state.json +0 -0
.gitignore
ADDED
|
@@ -0,0 +1,5 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# 1. 排除带 _wrong 后缀的一级子目录 (末尾加/代表目录)
|
| 2 |
+
/*_wrong/
|
| 3 |
+
|
| 4 |
+
# 2. 排除带 evaluation 前缀的二级子目录
|
| 5 |
+
/*/evaluation*/
|
DIAL-3B-fewshot/config.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 128,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"action_dim": 128,
|
| 5 |
+
"action_horizon": 16,
|
| 6 |
+
"add_pos_embed": true,
|
| 7 |
+
"backbone_embedding_dim": 2048,
|
| 8 |
+
"correct_vl_mask": false,
|
| 9 |
+
"diffusion_model_cfg": {
|
| 10 |
+
"attention_head_dim": 48,
|
| 11 |
+
"cross_attention_dim": 2048,
|
| 12 |
+
"dropout": 0.2,
|
| 13 |
+
"final_dropout": true,
|
| 14 |
+
"interleave_self_attention": true,
|
| 15 |
+
"norm_type": "ada_norm",
|
| 16 |
+
"num_attention_heads": 32,
|
| 17 |
+
"num_layers": 16,
|
| 18 |
+
"output_dim": 1024,
|
| 19 |
+
"positional_embeddings": null
|
| 20 |
+
},
|
| 21 |
+
"hidden_size": 1024,
|
| 22 |
+
"input_embedding_dim": 1536,
|
| 23 |
+
"max_action_dim": 128,
|
| 24 |
+
"max_state_dim": 128,
|
| 25 |
+
"model_dtype": "float32",
|
| 26 |
+
"noise_beta_alpha": 1.5,
|
| 27 |
+
"noise_beta_beta": 1.0,
|
| 28 |
+
"noise_s": 0.999,
|
| 29 |
+
"num_inference_timesteps": 4,
|
| 30 |
+
"num_target_vision_tokens": 0,
|
| 31 |
+
"num_timestep_buckets": 1000,
|
| 32 |
+
"tune_diffusion_model": true,
|
| 33 |
+
"tune_projector": true,
|
| 34 |
+
"use_vl_mask": false,
|
| 35 |
+
"use_vlln": true,
|
| 36 |
+
"vl_self_attention_cfg": {
|
| 37 |
+
"attention_head_dim": 64,
|
| 38 |
+
"dropout": 0.2,
|
| 39 |
+
"final_dropout": true,
|
| 40 |
+
"num_attention_heads": 32,
|
| 41 |
+
"num_layers": 4,
|
| 42 |
+
"positional_embeddings": null
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
"action_horizon": 16,
|
| 46 |
+
"architectures": [
|
| 47 |
+
"GR00T_N1_5_DIAL"
|
| 48 |
+
],
|
| 49 |
+
"attn_implementation": null,
|
| 50 |
+
"backbone_cfg": {
|
| 51 |
+
"load_bf16": false,
|
| 52 |
+
"project_to_dim": null,
|
| 53 |
+
"reproject_vision": false,
|
| 54 |
+
"select_layer": 36,
|
| 55 |
+
"tune_all_llm_embedding": false,
|
| 56 |
+
"tune_bridge_embedding": true,
|
| 57 |
+
"tune_llm": true,
|
| 58 |
+
"tune_visual": false,
|
| 59 |
+
"use_flash_attention": true,
|
| 60 |
+
"vlm_path": "Qwen/Qwen2.5-VL-3B-Instruct"
|
| 61 |
+
},
|
| 62 |
+
"bridge_cfg": {
|
| 63 |
+
"action_only_one_obs": false,
|
| 64 |
+
"bridge_loss_decay_steps": null,
|
| 65 |
+
"bridge_loss_end_w": null,
|
| 66 |
+
"bridge_loss_type": "mse",
|
| 67 |
+
"bridge_type": "end2end",
|
| 68 |
+
"compute_bridge_loss": true,
|
| 69 |
+
"goal_image_type": "future",
|
| 70 |
+
"noise_tau": 0,
|
| 71 |
+
"num_bridge_tokens": 64,
|
| 72 |
+
"omit_image_type_embedding_for_goal": false,
|
| 73 |
+
"reweight_noise": false,
|
| 74 |
+
"tokenizer_len": 151729,
|
| 75 |
+
"tune_bridge_goal": false,
|
| 76 |
+
"tune_bridge_visual": false,
|
| 77 |
+
"tune_image_type_embedding": true,
|
| 78 |
+
"unified_embodiment_id": 24,
|
| 79 |
+
"use_bridge": true,
|
| 80 |
+
"use_image_type_embedding": true,
|
| 81 |
+
"use_separate_projector_for_loss": true
|
| 82 |
+
},
|
| 83 |
+
"compute_dtype": "bfloat16",
|
| 84 |
+
"hidden_size": 2048,
|
| 85 |
+
"ignore_lang_prefix": true,
|
| 86 |
+
"model_dtype": "float32",
|
| 87 |
+
"model_type": "gr00t_n1_5_dial",
|
| 88 |
+
"torch_dtype": "float32",
|
| 89 |
+
"transformers_version": "4.52.0",
|
| 90 |
+
"video_delta_indices": [
|
| 91 |
+
0
|
| 92 |
+
]
|
| 93 |
+
}
|
DIAL-3B-fewshot/experiment_cfg/metadata.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
DIAL-3B-fewshot/model-00001-of-00005.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ef4245d424bc0b0fd5be6e2376f731005ea2f6e671f5b351a41c90b51bf76b47
|
| 3 |
+
size 4972313024
|
DIAL-3B-fewshot/model-00002-of-00005.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:66cbc3dc6a4eb9dbf6bd7c87b485da71230b0c05c116d3d0228e76b26a4aea5a
|
| 3 |
+
size 4932954592
|
DIAL-3B-fewshot/model-00003-of-00005.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4af0074f406239f95f4763423f310ec2c5276e8bcf5414b9edc99e02ca3b1665
|
| 3 |
+
size 4932954680
|
DIAL-3B-fewshot/model-00004-of-00005.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fe8e39ceca3753aabe113e72aca191b3b57d4c6083046b92de5d1f34fb7c8bbf
|
| 3 |
+
size 4993877584
|
DIAL-3B-fewshot/model-00005-of-00005.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7cda9532379532b982d26d02b08aa505dee6409b0fbad9056a323acd6b374fa1
|
| 3 |
+
size 2243381472
|
DIAL-3B-fewshot/model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
DIAL-3B-fewshot/trainer_state.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
DIAL-3B-fulldata/config.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 128,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"action_dim": 128,
|
| 5 |
+
"action_horizon": 16,
|
| 6 |
+
"add_pos_embed": true,
|
| 7 |
+
"backbone_embedding_dim": 2048,
|
| 8 |
+
"correct_vl_mask": false,
|
| 9 |
+
"diffusion_model_cfg": {
|
| 10 |
+
"attention_head_dim": 48,
|
| 11 |
+
"cross_attention_dim": 2048,
|
| 12 |
+
"dropout": 0.2,
|
| 13 |
+
"final_dropout": true,
|
| 14 |
+
"interleave_self_attention": true,
|
| 15 |
+
"norm_type": "ada_norm",
|
| 16 |
+
"num_attention_heads": 32,
|
| 17 |
+
"num_layers": 16,
|
| 18 |
+
"output_dim": 1024,
|
| 19 |
+
"positional_embeddings": null
|
| 20 |
+
},
|
| 21 |
+
"hidden_size": 1024,
|
| 22 |
+
"input_embedding_dim": 1536,
|
| 23 |
+
"max_action_dim": 128,
|
| 24 |
+
"max_state_dim": 128,
|
| 25 |
+
"model_dtype": "float32",
|
| 26 |
+
"noise_beta_alpha": 1.5,
|
| 27 |
+
"noise_beta_beta": 1.0,
|
| 28 |
+
"noise_s": 0.999,
|
| 29 |
+
"num_inference_timesteps": 4,
|
| 30 |
+
"num_target_vision_tokens": 0,
|
| 31 |
+
"num_timestep_buckets": 1000,
|
| 32 |
+
"tune_diffusion_model": true,
|
| 33 |
+
"tune_projector": true,
|
| 34 |
+
"use_vl_mask": false,
|
| 35 |
+
"use_vlln": true,
|
| 36 |
+
"vl_self_attention_cfg": {
|
| 37 |
+
"attention_head_dim": 64,
|
| 38 |
+
"dropout": 0.2,
|
| 39 |
+
"final_dropout": true,
|
| 40 |
+
"num_attention_heads": 32,
|
| 41 |
+
"num_layers": 4,
|
| 42 |
+
"positional_embeddings": null
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
"action_horizon": 16,
|
| 46 |
+
"architectures": [
|
| 47 |
+
"GR00T_N1_5_DIAL"
|
| 48 |
+
],
|
| 49 |
+
"attn_implementation": null,
|
| 50 |
+
"backbone_cfg": {
|
| 51 |
+
"load_bf16": false,
|
| 52 |
+
"project_to_dim": null,
|
| 53 |
+
"reproject_vision": false,
|
| 54 |
+
"select_layer": 36,
|
| 55 |
+
"tune_all_llm_embedding": false,
|
| 56 |
+
"tune_bridge_embedding": true,
|
| 57 |
+
"tune_llm": true,
|
| 58 |
+
"tune_visual": false,
|
| 59 |
+
"use_flash_attention": true,
|
| 60 |
+
"vlm_path": "Qwen/Qwen2.5-VL-3B-Instruct"
|
| 61 |
+
},
|
| 62 |
+
"bridge_cfg": {
|
| 63 |
+
"action_only_one_obs": false,
|
| 64 |
+
"bridge_loss_decay_steps": null,
|
| 65 |
+
"bridge_loss_end_w": null,
|
| 66 |
+
"bridge_loss_type": "mse",
|
| 67 |
+
"bridge_type": "end2end",
|
| 68 |
+
"compute_bridge_loss": true,
|
| 69 |
+
"goal_image_type": "future",
|
| 70 |
+
"noise_tau": 0,
|
| 71 |
+
"num_bridge_tokens": 64,
|
| 72 |
+
"omit_image_type_embedding_for_goal": false,
|
| 73 |
+
"reweight_noise": false,
|
| 74 |
+
"tokenizer_len": 151729,
|
| 75 |
+
"tune_bridge_goal": false,
|
| 76 |
+
"tune_bridge_visual": false,
|
| 77 |
+
"tune_image_type_embedding": true,
|
| 78 |
+
"unified_embodiment_id": null,
|
| 79 |
+
"use_bridge": true,
|
| 80 |
+
"use_image_type_embedding": true,
|
| 81 |
+
"use_separate_projector_for_loss": true
|
| 82 |
+
},
|
| 83 |
+
"compute_dtype": "bfloat16",
|
| 84 |
+
"hidden_size": 2048,
|
| 85 |
+
"ignore_lang_prefix": true,
|
| 86 |
+
"model_dtype": "float32",
|
| 87 |
+
"model_type": "gr00t_n1_5_dial",
|
| 88 |
+
"torch_dtype": "float32",
|
| 89 |
+
"transformers_version": "4.52.0",
|
| 90 |
+
"video_delta_indices": [
|
| 91 |
+
0
|
| 92 |
+
]
|
| 93 |
+
}
|
DIAL-3B-fulldata/experiment_cfg/metadata.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
DIAL-3B-fulldata/model-00001-of-00005.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6e953ca78ef7420f59e66ed55be71c8e13386330fa019eb3a90ed8611e5e9b9a
|
| 3 |
+
size 4972313024
|
DIAL-3B-fulldata/model-00002-of-00005.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:75907124b1c46b02a5a0933757dccbe274e22e6eb617eaff2c1dbb9751511278
|
| 3 |
+
size 4932954592
|
DIAL-3B-fulldata/model-00003-of-00005.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8561a67a505c4ec674760690bedc257ffbe8f0810e007109b48cc22e460e6809
|
| 3 |
+
size 4932954680
|
DIAL-3B-fulldata/model-00004-of-00005.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:705baaa44572307e4068da7a814dbff170a7cb7ed4f45b43a3cd7e9d38e349fb
|
| 3 |
+
size 4993877584
|
DIAL-3B-fulldata/model-00005-of-00005.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:384d6d9e2e1019bfdf8a1ee998ae93bc50d189e7377f5b1b6587e8e7119238bf
|
| 3 |
+
size 2243381472
|
DIAL-3B-fulldata/model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
DIAL-3B-fulldata/trainer_state.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|