Push model using huggingface_hub.

README.md

@@ -1,39 +1,9 @@
 ---
-license: mit
+tags:
+- pytorch_model_hub_mixin
+- model_hub_mixin
 ---
-# RDT-1B
-
-RDT-1B is a 1B-parameter imitation learning Diffusion Transformer pre-trained on 1M+ multi-robot episodes. Given a language instruction and 3-view RGB image observations, RDT can predict the next 
-64 robot actions. RDT is inherently compatible with almost all kinds of modern mobile manipulators, from single-arm to dual-arm, joint to EEF, pos. to vel., and even with a mobile chassis.
-
-All the code and model weights are licensed under MIT license.
-
-Please refer to our [project page](), [github repository]() and [paper]() for more information.
-
-## Model Details
-
-- **Developed by** Thu-ml team
-- **License:** MIT
-- **Pretrain dataset:** [More Information Needed]
-- **Finetune dataset:** [More Information Needed]
-
-- **Repository:** [More Information Needed]
-- **Paper :** [More Information Needed]
-- **Project Page:** https://rdt-robotics.github.io/rdt-robotics/
-
-## Uses
-
-RDT-1B supports finetuning and pre-training on custom dataset, as well as deploying and inferencing on real-robots.
-
-Please refer to [our repository](https://github.com/GeneralEmbodiedSystem/RoboticsDiffusionTransformer/blob/main/docs/pretrain.md) for all the above guides.
-
-
-## Citation 
-
-<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
-
-**BibTeX:**
-
-[More Information Needed]
-
 
+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: https://huggingface.co/robotics-diffusion-transformer/rdt-1b
+- Docs: [More Information Needed]

config.json

@@ -0,0 +1,49 @@
+{
+  "action_dim": 128,
+  "ema": {
+    "inv_gamma": 1.0,
+    "max_value": 0.9999,
+    "min_value": 0.0,
+    "power": 0.75,
+    "update_after_step": 0
+  },
+  "img_adaptor": "mlp2x_gelu",
+  "img_cond_len": 4374,
+  "img_pos_embed_config": [
+    [
+      "image",
+      [
+        2,
+        3,
+        -729
+      ]
+    ]
+  ],
+  "img_token_dim": 1152,
+  "lang_adaptor": "mlp2x_gelu",
+  "lang_pos_embed_config": [
+    [
+      "lang",
+      -1024
+    ]
+  ],
+  "lang_token_dim": 4096,
+  "max_lang_cond_len": 1024,
+  "noise_scheduler": {
+    "beta_schedule": "squaredcos_cap_v2",
+    "clip_sample": false,
+    "num_inference_timesteps": 5,
+    "num_train_timesteps": 1000,
+    "prediction_type": "sample",
+    "type": "ddpm"
+  },
+  "pred_horizon": 64,
+  "rdt": {
+    "cond_pos_embed_type": "multimodal",
+    "depth": 28,
+    "hidden_size": 2048,
+    "num_heads": 32
+  },
+  "state_adaptor": "mlp3x_gelu",
+  "state_token_dim": 128
+}

pytorch_model.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5107b2ebbaa4edadb26cf40c4d1990a16e0f67d6137925523eb90cf4b8fdaca
+size 2456755578