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groot-bs128

Robotics
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Gr00tN1d7
gr00t
isaac
humanoid
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  1. checkpoint-4000/config.json +88 -0
  2. checkpoint-4000/embodiment_id.json +57 -0
  3. checkpoint-4000/experiment_cfg/conf.yaml +251 -0
  4. checkpoint-4000/experiment_cfg/config.yaml +277 -0
  5. checkpoint-4000/experiment_cfg/dataset_statistics.json +907 -0
  6. checkpoint-4000/experiment_cfg/final_model_config.json +55 -0
  7. checkpoint-4000/experiment_cfg/final_processor_config.json +0 -0
  8. checkpoint-4000/model-00001-of-00003.safetensors +3 -0
  9. checkpoint-4000/model-00002-of-00003.safetensors +3 -0
  10. checkpoint-4000/model-00003-of-00003.safetensors +3 -0
  11. checkpoint-4000/model.safetensors.index.json +0 -0
  12. checkpoint-4000/optimizer.pt +3 -0
  13. checkpoint-4000/processor_config.json +1159 -0
  14. checkpoint-4000/rng_state.pth +3 -0
  15. checkpoint-4000/scheduler.pt +3 -0
  16. checkpoint-4000/statistics.json +0 -0
  17. checkpoint-4000/trainer_state.json +2434 -0
  18. checkpoint-4000/training_args.bin +3 -0
  19. checkpoint-4000/wandb_config.json +1 -0
checkpoint-4000/config.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
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+ "action_horizon": 40,
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+ "add_pos_embed": true,
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+ "apply_sincos_state_encoding": false,
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+ "architectures": [
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+ "Gr00tN1d7"
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+ ],
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+ "attn_dropout": 0.2,
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+ "attn_implementation": null,
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+ "backbone_embedding_dim": 2048,
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+ "backbone_trainable_params_fp32": true,
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+ "color_jitter_params": {
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+ "brightness": 0.3,
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+ "contrast": 0.4,
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+ "hue": 0.08,
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+ "saturation": 0.5
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+ },
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+ "crop_fraction": 0.95,
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+ "diffusion_model_cfg": {
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+ "attention_head_dim": 48,
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+ "dropout": 0.2,
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+ "final_dropout": true,
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+ "interleave_self_attention": true,
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+ "norm_type": "ada_norm",
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+ "num_attention_heads": 32,
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+ "num_layers": 32,
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+ "output_dim": 1024,
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+ "positional_embeddings": null
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+ },
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+ "dtype": "float32",
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+ "exclude_state": false,
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+ "formalize_language": true,
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+ "hidden_size": 1024,
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+ "image_crop_size": [
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+ 230,
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+ 230
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+ ],
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+ "image_target_size": [
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+ 256,
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+ 256
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+ ],
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+ "letter_box_transform": false,
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+ "load_bf16": false,
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+ "max_action_dim": 132,
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+ "max_num_embodiments": 32,
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+ "max_seq_len": 1024,
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+ "max_state_dim": 132,
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+ "model_dtype": "bfloat16",
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+ "model_name": "nvidia/Cosmos-Reason2-2B",
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+ "model_type": "Gr00tN1d7",
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+ "noise_beta_alpha": 1.5,
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+ "noise_beta_beta": 1.0,
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+ "noise_s": 0.999,
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+ "num_inference_timesteps": 4,
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+ "num_timestep_buckets": 1000,
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+ "random_history_crop": true,
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+ "random_rotation_angle": 0,
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+ "reproject_vision": false,
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+ "rtc_ramp_rate": 6.0,
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+ "select_layer": 16,
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+ "shortest_image_edge": 256,
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+ "state_dropout_prob": 0.2,
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+ "state_gaussian_noise_std": 0.0,
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+ "transformers_version": "4.57.3",
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+ "tune_diffusion_model": true,
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+ "tune_linear": true,
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+ "tune_llm": false,
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+ "tune_projector": true,
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+ "tune_top_llm_layers": 0,
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+ "tune_visual": false,
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+ "tune_vlln": true,
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+ "use_albumentations": true,
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+ "use_alternate_vl_dit": true,
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+ "use_flash_attention": true,
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+ "use_future_tokens": false,
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+ "use_mean_std": false,
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+ "use_percentiles": true,
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+ "use_vl_self_attention": true,
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+ "use_vlln": true,
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+ "vl_self_attention_cfg": {
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+ "attention_head_dim": 64,
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+ "dropout": 0.2,
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+ "final_dropout": true,
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+ "num_attention_heads": 32,
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+ "num_layers": 4,
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+ "positional_embeddings": null
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+ }
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+ }
checkpoint-4000/embodiment_id.json ADDED
@@ -0,0 +1,57 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
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+ "robocasa_panda_omron": 13,
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+ "oxe_droid": 17,
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+ "oxe_fractal": 18,
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+ "oxe_language_table": 19,
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+ "oxe_bridge": 20,
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+ "unknown": 22,
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+ "gr1_unified": 20,
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+ "agibot": 26,
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+ "sim_behavior_r1_pro": 23,
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+ "xdof": 24,
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+ "xdof_oss_data": 25,
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+ "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
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+ "real_r1_pro_sharpa": 27,
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+ "real_r1_pro_sharpa_add_view": 27,
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+ "real_r1_pro_sharpa_relative_arm_joint": 26,
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+ "real_r1_pro_sharpa_delta_eef": 26,
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+ "real_r1_pro_sharpa_absolute_eef": 26,
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+ "real_r1_pro_sharpa_meanstd": 26,
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+ "real_r1_pro_sharpa_relative_eef": 26,
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+ "real_r1_pro_sharpa_relative_eef_add_view": 26,
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+ "real_r1_pro_sharpa_relative_eef_relative_hand": 26,
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+ "real_r1_pro_sharpa_relative_eef_human": 26,
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+ "real_r1_pro_sharpa_relative_eef_human_add_view": 26,
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+ "real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
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+ "real_r1_pro_sharpa_relative_eef_egodex": 26,
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+ "real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
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+ "real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
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+ "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
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+ "real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
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+ "real_r1_pro_sharpa_relative_eef_mecka": 26,
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+ "real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
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+ "real_g1_relative_eef_absolute_joints": 25,
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+ "real_g1_relative_eef_absolute_joints_wrist_cam": 25,
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+ "real_g1_relative_eef_relative_joints": 25,
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+ "real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
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+ "real_r1_pro_sharpa_relative_joint": 29,
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+ "oxe_droid_relative_eef_relative_joint": 24,
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+ "oxe_droid_relative_eef_relative_joint_swapped": 24,
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+ "oxe_droid_relative_eef_relative_joint_upweight_z": 24,
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+ "oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
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+ "oxe_droid_relative_eef_relative_joint_3view": 24,
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+ "oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
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+ "oxe_droid_relative_eef": 24,
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+ "oxe_droid_joint_position_relative": 24,
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+ "xdof_relative_eef_relative_joint": 27,
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+ "xdof_relative_eef_relative_joint_subtask": 27,
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+ "xdof_relative_eef": 27,
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+ "xdof_relative_joint": 28,
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+ "simpler_env_google": 0,
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+ "simpler_env_widowx": 1,
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+ "libero_sim": 2,
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+ "droid_sim": 3,
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+ "unitree_g1_sonic": 11,
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+ "new_embodiment": 10,
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+ "robocasa_gr1_tabletop": 10
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+ }
checkpoint-4000/experiment_cfg/conf.yaml ADDED
@@ -0,0 +1,251 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ load_config_path: null
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+ model:
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+ model_type: Gr00tN1d7
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+ model_dtype: bfloat16
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+ model_name: nvidia/Cosmos-Reason2-2B
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+ backbone_model_type: qwen
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+ model_revision: null
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+ tune_top_llm_layers: 0
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+ backbone_embedding_dim: 2048
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+ tune_llm: false
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+ tune_visual: false
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+ select_layer: 12
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+ reproject_vision: false
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+ use_flash_attention: true
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+ load_bf16: false
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+ backbone_trainable_params_fp32: true
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+ image_crop_size:
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+ - 230
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+ - 230
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+ image_target_size:
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+ - 256
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+ - 256
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+ shortest_image_edge: null
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+ crop_fraction: null
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+ random_rotation_angle: null
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+ color_jitter_params:
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+ brightness: 0.3
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+ contrast: 0.4
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+ saturation: 0.5
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+ hue: 0.08
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+ use_albumentations_transforms: true
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+ extra_augmentation_config: null
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+ formalize_language: true
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+ apply_sincos_state_encoding: false
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+ use_percentiles: true
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+ use_relative_action: true
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+ max_state_dim: 132
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+ max_action_dim: 132
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+ action_horizon: 40
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+ hidden_size: 1024
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+ input_embedding_dim: 1536
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+ state_history_length: 1
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+ add_pos_embed: true
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+ attn_dropout: 0.2
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+ use_vlln: true
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+ max_seq_len: 1024
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+ use_alternate_vl_dit: true
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+ attend_text_every_n_blocks: 2
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+ diffusion_model_cfg:
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+ positional_embeddings: null
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+ num_layers: 16
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+ num_attention_heads: 32
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+ attention_head_dim: 48
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+ norm_type: ada_norm
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+ dropout: 0.2
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+ final_dropout: true
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+ output_dim: 1024
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+ interleave_self_attention: true
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+ num_inference_timesteps: 4
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+ noise_beta_alpha: 1.5
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+ noise_beta_beta: 1.0
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+ noise_s: 0.999
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+ num_timestep_buckets: 1000
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+ tune_projector: true
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+ tune_diffusion_model: true
66
+ tune_vlln: true
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+ state_dropout_prob: 0.2
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+ exclude_state: false
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+ use_mean_std: false
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+ max_num_embodiments: 32
71
+ data:
72
+ datasets:
73
+ - dataset_paths:
74
+ - /home/ubuntu/groot-files/dataset
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+ embodiment_tag: unitree_g1_sonic
76
+ mix_ratio: 1.0
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+ dataset_type: physical_embodiment
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+ val_dataset_path: null
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+ modality_configs:
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+ unitree_g1_sonic:
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+ video:
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+ delta_indices:
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+ - 0
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+ modality_keys:
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+ - ego_view
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+ sin_cos_embedding_keys: null
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+ mean_std_embedding_keys: null
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+ action_configs: null
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+ state:
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+ delta_indices:
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+ - 0
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+ modality_keys:
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+ - left_leg
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+ - right_leg
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+ - waist
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+ - left_arm
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+ - right_arm
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+ - left_hand
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+ - right_hand
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+ - projected_gravity
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+ sin_cos_embedding_keys: null
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+ mean_std_embedding_keys: null
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+ action:
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+ - 34
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+ - 38
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+ - 39
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+ modality_keys:
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+ - motion_token
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+ - left_hand_joints
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+ - right_hand_joints
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+ sin_cos_embedding_keys: null
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+ mean_std_embedding_keys: null
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+ action_configs:
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+ - rep: ABSOLUTE
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+ type: NON_EEF
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+ format: DEFAULT
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+ state_key: null
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+ - rep: ABSOLUTE
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+ type: NON_EEF
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+ format: DEFAULT
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+ state_key: null
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+ - rep: ABSOLUTE
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+ type: NON_EEF
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+ format: DEFAULT
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+ state_key: null
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+ language:
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+ delta_indices:
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+ - 0
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+ modality_keys:
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+ - annotation.human.task_description
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+ sin_cos_embedding_keys: null
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+ mean_std_embedding_keys: null
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+ action_configs: null
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+ download_cache: false
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+ shard_size: 1024
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+ episode_sampling_rate: 0.1
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+ num_shards_per_epoch: 100000
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+ override_pretraining_statistics: true
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+ mode: single_turn
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+ random_chop: 0.0
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+ mock_dataset_mode: false
181
+ shuffle: true
182
+ seed: 42
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+ multiprocessing_context: fork
184
+ allow_padding: false
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+ subsample_ratio: 1.0
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+ image_crop_size:
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+ - 244
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+ - 244
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+ image_target_size:
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+ - 224
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+ - 224
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+ video_backend: torchcodec
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+ training:
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+ output_dir: /home/ubuntu/groot-files/checkpoints/g1_finetune-20260526-211344-gpu2
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+ experiment_name: null
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+ max_steps: 20000
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+ global_batch_size: 128
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+ batch_size: null
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+ gradient_accumulation_steps: 1
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+ learning_rate: 0.0001
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+ lr_scheduler_type: cosine
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+ weight_decay: 1.0e-05
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+ warmup_ratio: 0.05
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+ warmup_steps: 0
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+ max_grad_norm: 1.0
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+ optim: adamw_torch
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+ start_from_checkpoint: nvidia/GR00T-N1.7-3B
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+ skip_weight_loading: false
209
+ tf32: true
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+ fp16: false
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+ bf16: true
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+ eval_bf16: true
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+ logging_steps: 10
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+ save_steps: 4000
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+ save_total_limit: 10
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+ save_vl_model: false
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+ save_only_model: false
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+ upload_checkpoints: false
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+ upload_every: 1000
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+ upload_last_n_checkpoints: 5
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+ max_concurrent_uploads: 2
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+ eval_strategy: 'no'
223
+ eval_steps: 500
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+ eval_set_split_ratio: 0.1
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+ eval_batch_size: 2
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+ save_best_eval_metric_name: ''
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+ save_best_eval_metric_greater_is_better: true
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+ deepspeed_stage: 2
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+ gradient_checkpointing: false
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+ transformers_trust_remote_code: true
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+ transformers_local_files_only: false
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+ transformers_cache_dir: null
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+ transformers_access_token: null
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+ use_ddp: false
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+ ddp_bucket_cap_mb: 100
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+ num_gpus: 1
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+ dataloader_num_workers: 6
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+ remove_unused_columns: false
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+ use_wandb: true
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+ wandb_project: groot-finetune
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+ enable_profiling: false
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+ max_retries: 3
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+ assert_loss_less_than: null
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+ add_rl_callback: false
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+ enable_open_loop_eval: false
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+ open_loop_eval_traj_ids:
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+ - 0
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+ open_loop_eval_steps_per_traj: 100
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+ open_loop_eval_plot_indices: null
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+ max_steps: 20000
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+ save_steps: 4000
checkpoint-4000/experiment_cfg/config.yaml ADDED
@@ -0,0 +1,277 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ !!python/object:gr00t.configs.base_config.Config
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+ data: !!python/object:gr00t.configs.data.data_config.DataConfig
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+ allow_padding: false
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+ datasets:
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+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
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+ dataset_paths:
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+ - /home/ubuntu/groot-files/dataset
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+ dataset_type: physical_embodiment
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+ embodiment_tag: unitree_g1_sonic
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+ mix_ratio: 1.0
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+ val_dataset_path: null
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+ download_cache: false
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+ episode_sampling_rate: 0.1
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+ image_crop_size:
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+ - 244
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+ - 244
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+ image_target_size:
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+ - 224
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+ - 224
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+ mock_dataset_mode: false
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+ modality_configs:
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+ unitree_g1_sonic:
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+ action: !!python/object:gr00t.data.types.ModalityConfig
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+ action_configs:
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+ - !!python/object:gr00t.data.types.ActionConfig
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+ format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
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+ - default
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+ rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation
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+ - absolute
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+ state_key: null
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+ type: &id003 !!python/object/apply:gr00t.data.types.ActionType
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+ - non_eef
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+ - !!python/object:gr00t.data.types.ActionConfig
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+ format: *id001
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+ rep: *id002
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+ state_key: null
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+ type: *id003
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+ - !!python/object:gr00t.data.types.ActionConfig
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+ format: *id001
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+ rep: *id002
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+ state_key: null
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+ mean_std_embedding_keys: null
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+ modality_keys:
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+ - motion_token
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+ - left_hand_joints
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+ - right_hand_joints
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+ sin_cos_embedding_keys: null
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+ language: !!python/object:gr00t.data.types.ModalityConfig
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+ action_configs: null
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+ delta_indices:
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+ - 0
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+ mean_std_embedding_keys: null
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+ modality_keys:
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+ - annotation.human.task_description
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+ sin_cos_embedding_keys: null
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+ state: !!python/object:gr00t.data.types.ModalityConfig
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+ action_configs: null
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+ delta_indices:
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+ - 0
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+ mean_std_embedding_keys: null
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+ modality_keys:
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+ - left_leg
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+ - right_leg
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+ - waist
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+ - left_arm
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+ - right_arm
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+ - left_hand
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+ - right_hand
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+ - projected_gravity
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