Upload 3 files

README.md

@@ -1,24 +1,9 @@
 ---
-pipeline_tag: robotics
+tags:
+- model_hub_mixin
+- pytorch_model_hub_mixin
 ---
-# 🦾 Heterogenous Masked Autoregression
- 
 
- 
-Paper: 
-
-You can find more details on our [project page](https://liruiw.github.io/hma).
-
-
-**TL;DR:** HMA can generate diverse embodied video-action dynamics with real-time speed.
-
-
-If you find HMA useful in your research, please consider citing:
-```
-}
-```
-
-
-## Contact
-
-If you have any questions, feel free to contact me through email ([email protected]). Enjoy!
+This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
+- Library: [More Information Needed]
+- Docs: [More Information Needed]

config.json

@@ -0,0 +1,1068 @@
+{
+  "S": 256,
+  "T": 12,
+  "action_contrastive_loss": false,
+  "action_domains": [
+    "bridge_data_v2",
+    "fractal20220817_data",
+    "language_table",
+    "ucsd_pick_and_place_dataset_converted_externally_to_rlds",
+    "kaist_nonprehensile_converted_externally_to_rlds",
+    "ucsd_kitchen_dataset_converted_externally_to_rlds",
+    "utokyo_xarm_bimanual_converted_externally_to_rlds",
+    "stanford_hydra_dataset_converted_externally_to_rlds",
+    "austin_sirius_dataset_converted_externally_to_rlds",
+    "berkeley_fanuc_manipulation",
+    "berkeley_mvp_converted_externally_to_rlds",
+    "berkeley_rpt_converted_externally_to_rlds",
+    "cmu_play_fusion",
+    "iamlab_cmu_pickup_insert_converted_externally_to_rlds",
+    "qut_dexterous_manpulation",
+    "robo_net",
+    "furniture_bench_dataset_converted_externally_to_rlds",
+    "dlr_sara_grid_clamp_converted_externally_to_rlds",
+    "cmu_stretch",
+    "spoc",
+    "columbia_cairlab_pusht_real",
+    "droid",
+    "toto",
+    "io_ai_tech",
+    "conq_hose_manipulation",
+    "dobbe",
+    "berkeley_gnm_cory_hall",
+    "plex_robosuite",
+    "usc_cloth_sim_converted_externally_to_rlds",
+    "berkeley_cable_routing",
+    "imperial_wrist_dataset",
+    "bc_z",
+    "kuka",
+    "roboturk",
+    "metaworld",
+    "robomimic",
+    "epic_kitchen",
+    "ego4d",
+    "nyu_door_opening_surprising_effectiveness"
+  ],
+  "action_loss_weight": 0.5,
+  "action_network": "concat+modulate",
+  "action_stats": [
+    [
+      [
+        0.0005091051571071148,
+        0.00015454298409167677,
+        0.0008503405260853469,
+        2.549389682826586e-05,
+        -0.0016934372251853347,
+        0.0001974346669157967,
+        0.5945848822593689
+      ],
+      [
+        0.01032705046236515,
+        0.015463403426110744,
+        0.014627186581492424,
+        0.027947312220931053,
+        0.02963864989578724,
+        0.10752595961093903,
+        0.48598647117614746
+      ]
+    ],
+    [
+      [
+        7.725676368863788e-06,
+        1.0291715035748439e-08,
+        1.0607171134324744e-05,
+        0.021814998239278793,
+        0.04335036501288414,
+        -0.005775672383606434,
+        0.0009348704479634762,
+        0.02302502654492855,
+        0.951511561870575,
+        0.0024383722338825464,
+        0.006974320858716965,
+        0.006260569207370281,
+        -0.012636600062251091
+      ],
+      [
+        0.002023447770625353,
+        5.1052771596005186e-05,
+        0.005440520588308573,
+        0.36035439372062683,
+        0.15620605647563934,
+        0.131776362657547,
+        0.14597612619400024,
+        0.14867420494556427,
+        0.21220634877681732,
+        0.04925995320081711,
+        0.06934574991464615,
+        0.06012243032455444,
+        0.07359173148870468
+      ]
+    ],
+    [
+      [
+        0.00014842326345387846,
+        -0.0005635050474666059
+      ],
+      [
+        0.030163198709487915,
+        0.042305462062358856
+      ]
+    ],
+    [
+      [
+        0.14784614741802216,
+        -0.12238457798957825,
+        0.05175986886024475,
+        -0.0750587061047554
+      ],
+      [
+        0.4859539568424225,
+        0.46922266483306885,
+        0.5474159717559814,
+        0.892055869102478
+      ]
+    ],
+    [
+      [
+        0.0018891734071075916,
+        0.00020449502335395664,
+        0.0008909617899917066,
+        -0.002328932750970125,
+        0.00014602410374209285,
+        -0.0036141453310847282,
+        180.55873107910156,
+        170.33209228515625,
+        185.4281768798828,
+        151.96224975585938,
+        174.7725372314453,
+        82.36817169189453,
+        31.219266891479492,
+        1.0021777153015137,
+        0.6951844692230225,
+        0.33550527691841125,
+        0.48643627762794495,
+        0.49088379740715027,
+        0.7387751340866089,
+        1.2315938472747803
+      ],
+      [
+        0.014649114571511745,
+        0.016541698947548866,
+        0.012851938605308533,
+        0.023206548765301704,
+        0.020458899438381195,
+        0.01998721994459629,
+        28.153791427612305,
+        34.738853454589844,
+        25.903417587280273,
+        53.904666900634766,
+        32.97977066040039,
+        50.42049789428711,
+        31.806129455566406,
+        0.532600998878479,
+        0.4410288631916046,
+        0.1271168440580368,
+        0.375587522983551,
+        0.33406388759613037,
+        0.39596208930015564,
+        0.5636153817176819
+      ]
+    ],
+    [
+      [
+        411.012451171875,
+        115.89311218261719,
+        192.7315216064453,
+        -122.11846160888672,
+        -34.10114288330078,
+        50.14624786376953,
+        0.7442169785499573,
+        0.03775591775774956
+      ],
+      [
+        123.2818832397461,
+        108.88812255859375,
+        129.3837127685547,
+        115.44219970703125,
+        27.88010025024414,
+        40.964500427246094,
+        0.4363022744655609,
+        0.1906062811613083
+      ]
+    ],
+    [
+      [
+        0.46005550026893616,
+        0.10042445361614227,
+        0.2565317451953888,
+        -1.49611496925354,
+        -0.05020594596862793,
+        -0.49960270524024963,
+        0.3615054190158844,
+        0.4448537826538086,
+        0.5080803632736206,
+        0.26795846223831177,
+        1.0428096055984497,
+        0.13593977689743042,
+        0.07739049196243286,
+        0.33761394023895264
+      ],
+      [
+        0.05466218292713165,
+        0.057073455303907394,
+        0.04310256987810135,
+        2.5955734252929688,
+        0.18967270851135254,
+        0.24594734609127045,
+        0.4793280363082886,
+        0.06319230049848557,
+        0.042976442724466324,
+        0.04913073033094406,
+        2.780755043029785,
+        0.29540929198265076,
+        0.7207639217376709,
+        0.4693118929862976
+      ]
+    ],
+    [
+      [
+        0.0007806111825630069,
+        0.00014432442549150437,
+        -0.0002542313886806369,
+        0.0012392610078677535,
+        -0.004758258815854788,
+        0.002720650052651763,
+        0.5114527940750122
+      ],
+      [
+        0.008004522882401943,
+        0.009107149206101894,
+        0.009566642343997955,
+        0.04117538407444954,
+        0.038478001952171326,
+        0.04605141654610634,
+        0.4997573792934418
+      ]
+    ],
+    [
+      [
+        0.07752787321805954,
+        0.03168660029768944,
+        0.04253425449132919,
+        0.0,
+        0.0,
+        -0.01578887365758419,
+        0.13820601999759674
+      ],
+      [
+        0.39060941338539124,
+        0.2989002466201782,
+        0.27805662155151367,
+        0.0,
+        0.0,
+        0.08069407194852829,
+        0.9916107058525085
+      ]
+    ],
+    [
+      [
+        0.0007780246087349951,
+        -0.0003209571004845202,
+        -0.0015096653951331973,
+        -0.0007919073104858398,
+        -0.0001698181586107239,
+        0.0001668699405854568
+      ],
+      [
+        0.0033910737838596106,
+        0.0049757580272853374,
+        0.005356575828045607,
+        0.007685699500143528,
+        0.004107887391000986,
+        0.008493276312947273
+      ]
+    ],
+    [
+      [
+        -6.816067616455257e-05,
+        0.0032774528954178095,
+        -0.00014815537724643946,
+        -0.0009022713056765497,
+        -2.8410413506207988e-05,
+        -0.0028941172640770674,
+        -0.0007027793908491731,
+        0.48355934023857117
+      ],
+      [
+        0.002599249128252268,
+        0.012856663204729557,
+        0.005673616658896208,
+        0.018063854426145554,
+        0.0016916567692533135,
+        0.021029461175203323,
+        0.005813282448798418,
+        0.49965402483940125
+      ]
+    ],
+    [
+      [
+        0.00013238923565950245,
+        -0.0002748446131590754,
+        -1.063202307705069e-05,
+        -0.0003201523795723915,
+        1.9412083929637447e-05,
+        2.8738231776515022e-05,
+        4.167715087532997e-05,
+        0.47832271456718445
+      ],
+      [
+        0.001529942499473691,
+        0.00453608063980937,
+        0.00077804084867239,
+        0.0030119596049189568,
+        0.0010617133229970932,
+        0.005115122999995947,
+        0.0041729300282895565,
+        0.4998096525669098
+      ]
+    ],
+    [
+      [
+        0.0005282792262732983,
+        3.792543429881334e-05,
+        -0.00017229391960427165,
+        -0.0002936247910838574,
+        -0.0003607820253819227,
+        -0.00015651936701033264,
+        3.999160526291234e-06,
+        0.5698255300521851,
+        0.0024680662900209427
+      ],
+      [
+        0.0017995948437601328,
+        0.0023995412047952414,
+        0.0018815182847902179,
+        0.03787316754460335,
+        0.036895327270030975,
+        0.0051568918861448765,
+        0.0063850656151771545,
+        0.49463561177253723,
+        0.04957345128059387
+      ]
+    ],
+    [
+      [
+        0.5278156995773315,
+        0.027324192225933075,
+        0.18753373622894287,
+        -0.013062607496976852,
+        0.9998879432678223,
+        0.0036541626323014498,
+        0.016103636473417282,
+        0.5530186891555786
+      ],
+      [
+        0.08116760849952698,
+        0.11193274706602097,
+        0.07751200348138809,
+        0.016174238175153732,
+        0.0006333293858915567,
+        0.007865803316235542,
+        0.013844785280525684,
+        0.4971791207790375
+      ]
+    ],
+    [
+      [
+        -1.0947237569780555e-05,
+        -0.0005107750184834003,
+        -0.0003358577669132501,
+        0.0009847612818703055,
+        -4.268335032975301e-05,
+        -0.002284084912389517,
+        0.00044375265133567154,
+        -0.0035538373049348593
+      ],
+      [
+        0.012695086188614368,
+        0.015595865435898304,
+        0.012070356868207455,
+        0.0009854151867330074,
+        0.002212227089330554,
+        0.02389119192957878,
+        0.9998002648353577,
+        0.027204347774386406
+      ]
+    ],
+    [
+      [
+        0.00024059691349975765,
+        -0.0002765821700450033,
+        -0.007495959755033255,
+        0.001606731559149921,
+        -0.006666666828095913
+      ],
+      [
+        0.03234556317329407,
+        0.03240759298205376,
+        0.09059711545705795,
+        0.17567689716815948,
+        0.9999619126319885
+      ]
+    ],
+    [
+      [
+        0.00014585924509447068,
+        0.0010840297909453511,
+        0.0006219727802090347,
+        -0.0011805534595623612,
+        -0.0002698474272619933,
+        0.009135263971984386,
+        0.9928883910179138,
+        0.023449113592505455
+      ],
+      [
+        0.016102593392133713,
+        0.014900527894496918,
+        0.014007486402988434,
+        0.028777308762073517,
+        0.05673017352819443,
+        0.1638830006122589,
+        0.02685263752937317,
+        1.0003585815429688
+      ]
+    ],
+    [
+      [
+        -1.758056714606937e-05,
+        -3.7838817661395296e-05,
+        -0.00038337393198162317,
+        2.7642881832434796e-05,
+        8.176987466868013e-05,
+        6.723385740770027e-05,
+        1.0
+      ],
+      [
+        0.0004286598414182663,
+        0.0005066184094175696,
+        0.0012515239650383592,
+        0.0005647603538818657,
+        0.0007578085060231388,
+        0.000697559560649097,
+        0.0
+      ]
+    ],
+    [
+      [
+        0.0003578192263375968,
+        0.0,
+        0.0016306436154991388,
+        0.0,
+        0.0,
+        0.0,
+        0.3986235558986664,
+        0.005404492374509573
+      ],
+      [
+        0.004071093630045652,
+        0.0,
+        0.003779628314077854,
+        0.0,
+        0.0,
+        0.0,
+        0.4895978569984436,
+        0.07332254946231842
+      ]
+    ],
+    [
+      [
+        -0.6983144283294678,
+        0.13209794461727142,
+        0.0039050180930644274,
+        0.0022984833922237158,
+        1.080454707145691,
+        0.007018118165433407,
+        0.0022595408372581005,
+        0.011918018572032452,
+        0.002541287336498499
+      ],
+      [
+        23.353342056274414,
+        0.30039435625076294,
+        0.05812933295965195,
+        0.04016513004899025,
+        8.097066879272461,
+        0.08314091712236404,
+        0.047434594482183456,
+        0.1077399030327797,
+        0.05028529092669487
+      ]
+    ],
+    [
+      [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.0097132483497262,
+        -0.0013603067491203547,
+        0.0015324887353926897,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.09806635230779648,
+        0.01324226800352335,
+        0.0157295111566782,
+        0.0
+      ]
+    ],
+    [
+      [
+        0.5393299460411072,
+        0.0013205910800024867,
+        0.3156873285770416,
+        0.31605127453804016,
+        -0.09015484154224396,
+        -0.04938371106982231,
+        0.4098437428474426
+      ],
+      [
+        0.11740713566541672,
+        0.1749163120985031,
+        0.16180050373077393,
+        2.7441937923431396,
+        0.3496316969394684,
+        0.7599275708198547,
+        0.430283784866333
+      ]
+    ],
+    [
+      [
+        0.0,
+        -0.664889395236969,
+        0.19378533959388733,
+        0.03492932394146919,
+        0.006112735718488693,
+        0.3858254551887512,
+        0.006408770103007555,
+        0.3634810745716095
+      ],
+      [
+        0.0,
+        0.5742393732070923,
+        0.29617878794670105,
+        0.32670700550079346,
+        0.07788320630788803,
+        0.12196606397628784,
+        0.1935708373785019,
+        0.10228537768125534
+      ]
+    ],
+    [
+      [
+        2.9126644221832976e-05,
+        0.00012177458847872913,
+        -0.00010258024121867493,
+        -7.230440678540617e-05,
+        0.00022300859563983977,
+        7.248757901834324e-05,
+        0.08678723871707916
+      ],
+      [
+        0.0028375224210321903,
+        0.002654739422723651,
+        0.0025536646135151386,
+        0.017998138442635536,
+        0.024928707629442215,
+        0.02371523156762123,
+        0.5916166305541992
+      ]
+    ],
+    [
+      [
+        0.010949725285172462,
+        -0.0022855771239846945,
+        -0.005606506951153278,
+        0.005102947819977999,
+        0.028554478660225868,
+        0.010207906365394592,
+        0.6073462963104248
+      ],
+      [
+        0.037630267441272736,
+        0.022229386493563652,
+        0.04602375999093056,
+        0.057648736983537674,
+        0.14510659873485565,
+        0.07890969514846802,
+        0.4869178235530853
+      ]
+    ],
+    [
+      [
+        -0.00010904707596637309,
+        0.001118879416026175,
+        -0.000113105088530574,
+        -7.428864046232775e-05,
+        -0.0006643814849667251,
+        -5.145822433405556e-05,
+        0.6308034658432007
+      ],
+      [
+        0.04345196858048439,
+        0.0452333502471447,
+        0.12535300850868225,
+        0.00519426679238677,
+        0.011263296939432621,
+        0.006335486192256212,
+        0.39740097522735596
+      ]
+    ],
+    [
+      [
+        0.06118948012590408,
+        0.0038687449414283037
+      ],
+      [
+        0.02585630863904953,
+        0.00309689249843359
+      ]
+    ],
+    [
+      [
+        0.06141459941864014,
+        0.052588578313589096,
+        -0.041776858270168304,
+        -0.0006756950169801712,
+        -0.00152083788998425,
+        0.003654239699244499,
+        -0.05188782885670662
+      ],
+      [
+        0.3462270498275757,
+        0.46296226978302,
+        0.43901339173316956,
+        0.023543866351246834,
+        0.01941801607608795,
+        0.161599263548851,
+        0.9985517263412476
+      ]
+    ],
+    [
+      [
+        0.10499999672174454,
+        0.03899981826543808,
+        3.1370865107016588e-12,
+        0.28803354501724243
+      ],
+      [
+        0.20360185205936432,
+        0.22257499396800995,
+        0.36332041025161743,
+        0.3840075135231018
+      ]
+    ],
+    [
+      [
+        0.0,
+        0.0,
+        0.04837876185774803,
+        0.07777562737464905,
+        -0.07173224538564682,
+        0.02389858104288578,
+        0.1029987707734108
+      ],
+      [
+        0.0,
+        0.0,
+        0.3481692373752594,
+        0.2678722143173218,
+        0.18070226907730103,
+        0.1805194914340973,
+        0.21225926280021667
+      ]
+    ],
+    [
+      [
+        0.00021432287758216262,
+        -0.001017225906252861,
+        0.0009490080992691219,
+        0.0012771538458764553,
+        -4.03298472519964e-05,
+        1.6517331459908746e-05,
+        0.5683804750442505,
+        0.023855386301875114
+      ],
+      [
+        0.003075462533161044,
+        0.006757265888154507,
+        0.010920294560492039,
+        0.024084405973553658,
+        0.0031898680608719587,
+        0.0039015202783048153,
+        0.4952875077724457,
+        0.15259981155395508
+      ]
+    ],
+    [
+      [
+        0.0002901389671023935,
+        -0.008735175244510174,
+        -0.03063584677875042,
+        -0.0008425223059020936,
+        -0.01699526235461235,
+        -0.057361308485269547,
+        -0.0026800602208822966,
+        -0.024219293147325516,
+        -0.07954999059438705,
+        -0.004751862026751041,
+        -0.030450690537691116,
+        -0.09751348197460175,
+        -0.006432248279452324,
+        -0.03592115268111229,
+        -0.11248139292001724,
+        -0.007074976805597544,
+        -0.04055371135473251,
+        -0.12592929601669312,
+        -0.007033170200884342,
+        -0.04448538273572922,
+        -0.13845883309841156,
+        -0.006582007277756929,
+        -0.04794967174530029,
+        -0.15048547089099884,
+        -0.005856209900230169,
+        -0.05115331709384918,
+        -0.16212087869644165,
+        -0.004947068635374308,
+        -0.05432483181357384,
+        -0.17349986732006073,
+        0.1654718667268753,
+        0.15334908664226532,
+        0.14446938037872314,
+        0.1381329596042633,
+        0.14069639146327972,
+        0.15441010892391205,
+        0.16613994538784027,
+        0.17573139071464539,
+        0.18380865454673767,
+        0.19018495082855225,
+        -0.009925751015543938,
+        0.000903706590179354,
+        0.004995723720639944,
+        -0.01862962171435356,
+        0.0023904081899672747,
+        0.009501785971224308,
+        -0.025607934221625328,
+        0.004396800417453051,
+        0.013722752220928669,
+        -0.0311029814183712,
+        0.006277366541326046,
+        0.017449310049414635,
+        -0.035394586622714996,
+        0.007309201173484325,
+        0.0201618243008852,
+        -0.038875941187143326,
+        0.006901388987898827,
+        0.021353811025619507,
+        -0.04197891056537628,
+        0.005615231115370989,
+        0.021482987329363823,
+        -0.044972267001867294,
+        0.0038469291757792234,
+        0.02095557004213333,
+        -0.04788981378078461,
+        0.0018653281731531024,
+        0.020031819120049477,
+        -0.05081408843398094,
+        -0.00014616991393268108,
+        0.018887164071202278
+      ],
+      [
+        0.041665900498628616,
+        0.04644826427102089,
+        0.07724159955978394,
+        0.06889741122722626,
+        0.07856184244155884,
+        0.13755755126476288,
+        0.08888623118400574,
+        0.10273010283708572,
+        0.18770478665828705,
+        0.10409166663885117,
+        0.12153571844100952,
+        0.2295888066291809,
+        0.11617765575647354,
+        0.13659057021141052,
+        0.2621166706085205,
+        0.12616446614265442,
+        0.14888973534107208,
+        0.2901250720024109,
+        0.13466258347034454,
+        0.15917454659938812,
+        0.3126468062400818,
+        0.14190249145030975,
+        0.16750091314315796,
+        0.3314359188079834,
+        0.14818254113197327,
+        0.17438767850399017,
+        0.34811294078826904,
+        0.1538163274526596,
+        0.18024739623069763,
+        0.3633021414279938,
+        0.365497350692749,
+        0.3581995368003845,
+        0.35088542103767395,
+        0.34727540612220764,
+        0.3497294485569,
+        0.3590857684612274,
+        0.366073876619339,
+        0.3722895681858063,
+        0.3952684998512268,
+        0.39616790413856506,
+        0.0306396521627903,
+        0.02315478026866913,
+        0.020674167200922966,
+        0.0541083849966526,
+        0.039156123995780945,
+        0.03597668185830116,
+        0.07291583716869354,
+        0.05113911256194115,
+        0.048078753054142,
+        0.08785141259431839,
+        0.06023723632097244,
+        0.05775951221585274,
+        0.09968066215515137,
+        0.0672508031129837,
+        0.06552024185657501,
+        0.10900193452835083,
+        0.07301993668079376,
+        0.07219257205724716,
+        0.11649126559495926,
+        0.0778062641620636,
+        0.07776165008544922,
+        0.12322770804166794,
+        0.08162706345319748,
+        0.08214502781629562,
+        0.12892073392868042,
+        0.08458641171455383,
+        0.08537810295820236,
+        0.1341981142759323,
+        0.08686579018831253,
+        0.08767224848270416
+      ]
+    ],
+    [
+      [
+        0.0,
+        0.0,
+        0.0,
+        0.06573251634836197,
+        0.0,
+        0.0,
+        -0.04171482101082802,
+        0.055990710854530334,
+        0.8763954043388367,
+        0.0,
+        -0.0006664131069555879,
+        0.0005193803808651865,
+        -0.002541124587878585
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        0.3761773705482483,
+        0.0,
+        0.0,
+        0.15819795429706573,
+        0.22519806027412415,
+        0.31361594796180725,
+        0.0,
+        0.02349717728793621,
+        0.035984065383672714,
+        0.057680174708366394
+      ]
+    ],
+    [
+      [
+        -0.15317592024803162,
+        0.0022776976693421602,
+        -0.0009320594253949821,
+        -0.00012546770449262112,
+        0.0,
+        0.0014520460972562432,
+        -0.0015851958887651563,
+        -0.0011786657851189375
+      ],
+      [
+        0.9882915019989014,
+        0.09682300686836243,
+        0.08487523347139359,
+        0.06578352302312851,
+        0.0,
+        0.04951652139425278,
+        0.06362643837928772,
+        0.061268579214811325
+      ]
+    ],
+    [
+      [
+        0.05171596631407738,
+        0.2228323519229889,
+        -0.14441145956516266,
+        0.3582628071308136
+      ],
+      [
+        0.5066923499107361,
+        0.5439659953117371,
+        0.6763138771057129,
+        0.7307645678520203
+      ]
+    ],
+    [
+      [
+        0.17030708491802216,
+        0.05116971209645271,
+        -0.09447753429412842,
+        0.0008643743931315839,
+        0.0091375932097435,
+        0.0027675393503159285,
+        -0.056102462112903595
+      ],
+      [
+        0.3859453797340393,
+        0.24690480530261993,
+        0.4153101444244385,
+        0.02985573559999466,
+        0.06587829440832138,
+        0.14103403687477112,
+        0.9984298348426819
+      ]
+    ],
+    [
+      [
+        1.1466649993963074e-05,
+        -6.314022175502032e-05,
+        -3.7018828152213246e-05,
+        -6.448457861552015e-05
+      ],
+      [
+        0.018885519355535507,
+        0.01785615272819996,
+        0.019242558628320694,
+        0.01844671182334423
+      ]
+    ],
+    [
+      [
+        0.4066544473171234,
+        0.6006699204444885,
+        0.655235230922699,
+        0.5799534320831299
+      ],
+      [
+        0.12175972759723663,
+        0.1993582844734192,
+        0.11979881674051285,
+        0.19911807775497437
+      ]
+    ],
+    [
+      [
+        0.022955210879445076,
+        -0.00010563172691036016,
+        -0.011366250924766064,
+        -0.0015581168700009584,
+        0.04793407768011093,
+        -0.006341158412396908,
+        0.00134763540700078,
+        0.001134222256951034
+      ],
+      [
+        0.09014830738306046,
+        0.00810029823333025,
+        0.033557258546352386,
+        0.013230394572019577,
+        0.2136397510766983,
+        0.012250976637005806,
+        0.019736526533961296,
+        0.007935167290270329
+      ]
+    ]
+  ],
+  "action_token_size": 64,
+  "arch": "STTransformerDecoder",
+  "attn_drop": 0.0,
+  "d_action": 28,
+  "d_actions": [
+    7,
+    13,
+    2,
+    4,
+    100,
+    8,
+    14,
+    35,
+    70,
+    6,
+    16,
+    120,
+    18,
+    80,
+    8,
+    5,
+    40,
+    7,
+    8,
+    9,
+    40,
+    49,
+    120,
+    7,
+    105,
+    7,
+    2,
+    7,
+    20,
+    35,
+    8,
+    350,
+    13,
+    40,
+    12,
+    21,
+    60,
+    4,
+    8
+  ],
+  "d_model": 256,
+  "dataloader_apply_corruption": true,
+  "dataloader_apply_mask": true,
+  "dataloader_mask_ratio_min": 0.2,
+  "drop_action_ratio": 0.0,
+  "factored_vocab_size": 512,
+  "image_vocab_size": 262144,
+  "init_actions": true,
+  "jointly_predict_actions": false,
+  "jointly_predict_states": true,
+  "label_drop_prob": 0.5,
+  "max_corrupt_rate": 0.2,
+  "mlp_bias": true,
+  "mlp_drop": 0.0,
+  "mlp_ratio": 4.0,
+  "non_mlm_ratio": 0.2,
+  "num_factored_vocabs": 2,
+  "num_heads": 8,
+  "num_layers": 32,
+  "num_prompt_frames": 4,
+  "proj_bias": true,
+  "qk_norm": false,
+  "qkv_bias": false,
+  "random_dummy_action": true,
+  "shared_action_mlps": true,
+  "use_actions": true,
+  "use_mup": true
+}

model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcfcc359c49c1c40c9dcd9557f6a7cad76180a6bce3e017794d7d44e69eaae41
+size 1469035472