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groot-wbc-32

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Delete folder checkpoint-10000 with huggingface_hub

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Files changed (19) hide show
  1. checkpoint-10000/config.json +0 -88
  2. checkpoint-10000/embodiment_id.json +0 -57
  3. checkpoint-10000/experiment_cfg/conf.yaml +0 -253
  4. checkpoint-10000/experiment_cfg/config.yaml +0 -279
  5. checkpoint-10000/experiment_cfg/dataset_statistics.json +0 -907
  6. checkpoint-10000/experiment_cfg/final_model_config.json +0 -55
  7. checkpoint-10000/experiment_cfg/final_processor_config.json +0 -0
  8. checkpoint-10000/model-00001-of-00003.safetensors +0 -3
  9. checkpoint-10000/model-00002-of-00003.safetensors +0 -3
  10. checkpoint-10000/model-00003-of-00003.safetensors +0 -3
  11. checkpoint-10000/model.safetensors.index.json +0 -0
  12. checkpoint-10000/optimizer.pt +0 -3
  13. checkpoint-10000/processor_config.json +0 -1159
  14. checkpoint-10000/rng_state.pth +0 -3
  15. checkpoint-10000/scheduler.pt +0 -3
  16. checkpoint-10000/statistics.json +0 -0
  17. checkpoint-10000/trainer_state.json +0 -0
  18. checkpoint-10000/training_args.bin +0 -3
  19. checkpoint-10000/wandb_config.json +0 -1
checkpoint-10000/config.json DELETED
@@ -1,88 +0,0 @@
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- {
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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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- "contrast": 0.4,
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- "hue": 0.08,
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- "saturation": 0.5
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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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- "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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- ],
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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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- "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_mean_std": false,
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- "vl_self_attention_cfg": {
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- }
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- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
checkpoint-10000/embodiment_id.json DELETED
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- "agibot": 26,
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- "sim_behavior_r1_pro": 23,
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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_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_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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- "simpler_env_widowx": 1,
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- "libero_sim": 2,
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- "new_embodiment": 10,
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- "robocasa_gr1_tabletop": 10
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- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
checkpoint-10000/experiment_cfg/conf.yaml DELETED
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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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- tune_top_llm_layers: 0
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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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- color_jitter_params:
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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
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- 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
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- data:
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- datasets:
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- - dataset_paths:
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- - /home/ubuntu/groot-files/dataset_wbc_train
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- embodiment_tag: unitree_g1_sonic
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- 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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- modality_keys:
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- - waist
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- - right_hand
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- sin_cos_embedding_keys: null
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- action_configs:
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- type: NON_EEF
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- format: DEFAULT
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- format: DEFAULT
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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
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- shuffle: true
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- seed: 42
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- multiprocessing_context: fork
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- 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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- 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/run-2026-05-28-090411
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- experiment_name: null
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- max_steps: 10000
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- global_batch_size: 32
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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
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- 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: 1000
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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'
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- 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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- eval_dataset_path: /home/ubuntu/groot-files/dataset_wbc_eval
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- eval_num_batches: 50
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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-wbc
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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: 10000
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- save_steps: 1000
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
checkpoint-10000/experiment_cfg/config.yaml DELETED
@@ -1,279 +0,0 @@
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- !!python/object:gr00t.configs.base_config.Config
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- modality_keys:
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