Add pi0 LIBERO 95K adapter
Browse filesAdd the evaluated 95,000-step pi0 LIBERO checkpoint, metadata, and normalization assets. Uploaded from the local Mac; existing adapters are preserved.
adapters/pi0-libero/adapter.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:f8afd9d09bfffdfe1eb295d5d054c2ee7c90bb7cc83e68657a02b433a11c42e5
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size 2872729056
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adapters/pi0-libero/assets/physical-intelligence/libero/norm_stats.json
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{
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}
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adapters/pi0-libero/metadata.json
ADDED
|
@@ -0,0 +1,1733 @@
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|
| 1 |
+
{
|
| 2 |
+
"action_generator_config": {
|
| 3 |
+
"alpha": 32,
|
| 4 |
+
"compute_precision": "bfloat16",
|
| 5 |
+
"d_model": 1024,
|
| 6 |
+
"dim_accumulation": 4,
|
| 7 |
+
"factor_init_std": 0.01,
|
| 8 |
+
"head_dim": 128,
|
| 9 |
+
"input_dim": 2048,
|
| 10 |
+
"num_base_model_layers": 18,
|
| 11 |
+
"num_pg_layers": 6,
|
| 12 |
+
"output_dim": 1024,
|
| 13 |
+
"prefix": "expert.layers.",
|
| 14 |
+
"projections": [
|
| 15 |
+
{
|
| 16 |
+
"factor_geometry": "q",
|
| 17 |
+
"head_dim": 256,
|
| 18 |
+
"in_features": 1024,
|
| 19 |
+
"num_heads": 8,
|
| 20 |
+
"out_features": 2048,
|
| 21 |
+
"suffix": "self_attn.q_proj"
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"factor_geometry": "kv",
|
| 25 |
+
"head_dim": 256,
|
| 26 |
+
"in_features": 1024,
|
| 27 |
+
"num_heads": 1,
|
| 28 |
+
"out_features": 256,
|
| 29 |
+
"suffix": "self_attn.k_proj"
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"factor_geometry": "kv",
|
| 33 |
+
"head_dim": 256,
|
| 34 |
+
"in_features": 1024,
|
| 35 |
+
"num_heads": 1,
|
| 36 |
+
"out_features": 256,
|
| 37 |
+
"suffix": "self_attn.v_proj"
|
| 38 |
+
},
|
| 39 |
+
{
|
| 40 |
+
"factor_geometry": "o",
|
| 41 |
+
"head_dim": 256,
|
| 42 |
+
"in_features": 2048,
|
| 43 |
+
"num_heads": 8,
|
| 44 |
+
"out_features": 1024,
|
| 45 |
+
"suffix": "self_attn.o_proj"
|
| 46 |
+
},
|
| 47 |
+
{
|
| 48 |
+
"factor_geometry": "matrix",
|
| 49 |
+
"head_dim": null,
|
| 50 |
+
"in_features": 1024,
|
| 51 |
+
"num_heads": 1,
|
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