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Browse files- checkpoint-3000/config.json +88 -0
- checkpoint-3000/embodiment_id.json +57 -0
- checkpoint-3000/experiment_cfg/conf.yaml +253 -0
- checkpoint-3000/experiment_cfg/config.yaml +279 -0
- checkpoint-3000/experiment_cfg/dataset_statistics.json +907 -0
- checkpoint-3000/experiment_cfg/final_model_config.json +55 -0
- checkpoint-3000/experiment_cfg/final_processor_config.json +0 -0
- checkpoint-3000/model-00001-of-00003.safetensors +3 -0
- checkpoint-3000/model-00002-of-00003.safetensors +3 -0
- checkpoint-3000/model-00003-of-00003.safetensors +3 -0
- checkpoint-3000/model.safetensors.index.json +0 -0
- checkpoint-3000/optimizer.pt +3 -0
- checkpoint-3000/processor_config.json +1159 -0
- checkpoint-3000/rng_state.pth +3 -0
- checkpoint-3000/scheduler.pt +3 -0
- checkpoint-3000/statistics.json +0 -0
- checkpoint-3000/trainer_state.json +1858 -0
- checkpoint-3000/training_args.bin +3 -0
- checkpoint-3000/wandb_config.json +1 -0
checkpoint-3000/config.json
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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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"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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| 11 |
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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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}
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checkpoint-3000/embodiment_id.json
ADDED
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{
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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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| 10 |
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"sim_behavior_r1_pro": 23,
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| 11 |
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"xdof": 24,
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| 12 |
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"xdof_oss_data": 25,
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| 13 |
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"unitree_g1_full_body_with_waist_height_nav_cmd": 25,
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| 14 |
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"real_r1_pro_sharpa": 27,
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| 15 |
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"real_r1_pro_sharpa_add_view": 27,
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| 16 |
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"real_r1_pro_sharpa_relative_arm_joint": 26,
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| 17 |
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"real_r1_pro_sharpa_delta_eef": 26,
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| 18 |
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"real_r1_pro_sharpa_absolute_eef": 26,
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| 19 |
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"real_r1_pro_sharpa_meanstd": 26,
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| 20 |
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"real_r1_pro_sharpa_relative_eef": 26,
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| 21 |
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"real_r1_pro_sharpa_relative_eef_add_view": 26,
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| 22 |
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"real_r1_pro_sharpa_relative_eef_relative_hand": 26,
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| 23 |
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"real_r1_pro_sharpa_relative_eef_human": 26,
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| 24 |
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"real_r1_pro_sharpa_relative_eef_human_add_view": 26,
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| 25 |
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"real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
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| 26 |
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"real_r1_pro_sharpa_relative_eef_egodex": 26,
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| 27 |
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"real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
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| 28 |
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"real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
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| 29 |
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"real_r1_pro_sharpa_relative_eef_maxinsights": 26,
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| 30 |
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"real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
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| 31 |
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"real_r1_pro_sharpa_relative_eef_mecka": 26,
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| 32 |
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"real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
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| 33 |
+
"real_g1_relative_eef_absolute_joints": 25,
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| 34 |
+
"real_g1_relative_eef_absolute_joints_wrist_cam": 25,
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| 35 |
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"real_g1_relative_eef_relative_joints": 25,
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| 36 |
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"real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
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| 37 |
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"real_r1_pro_sharpa_relative_joint": 29,
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| 38 |
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"oxe_droid_relative_eef_relative_joint": 24,
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| 39 |
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"oxe_droid_relative_eef_relative_joint_swapped": 24,
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| 40 |
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"oxe_droid_relative_eef_relative_joint_upweight_z": 24,
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| 41 |
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"oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
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| 42 |
+
"oxe_droid_relative_eef_relative_joint_3view": 24,
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| 43 |
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"oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
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| 44 |
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"oxe_droid_relative_eef": 24,
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| 45 |
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"oxe_droid_joint_position_relative": 24,
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| 46 |
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"xdof_relative_eef_relative_joint": 27,
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| 47 |
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"xdof_relative_eef_relative_joint_subtask": 27,
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| 48 |
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"xdof_relative_eef": 27,
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| 49 |
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"xdof_relative_joint": 28,
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| 50 |
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"simpler_env_google": 0,
|
| 51 |
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"simpler_env_widowx": 1,
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| 52 |
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"libero_sim": 2,
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| 53 |
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"droid_sim": 3,
|
| 54 |
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"unitree_g1_sonic": 11,
|
| 55 |
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"new_embodiment": 10,
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| 56 |
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"robocasa_gr1_tabletop": 10
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| 57 |
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}
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checkpoint-3000/experiment_cfg/conf.yaml
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| 1 |
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load_config_path: null
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| 2 |
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model:
|
| 3 |
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model_type: Gr00tN1d7
|
| 4 |
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model_dtype: bfloat16
|
| 5 |
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model_name: nvidia/Cosmos-Reason2-2B
|
| 6 |
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backbone_model_type: qwen
|
| 7 |
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model_revision: null
|
| 8 |
+
tune_top_llm_layers: 0
|
| 9 |
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backbone_embedding_dim: 2048
|
| 10 |
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tune_llm: false
|
| 11 |
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tune_visual: false
|
| 12 |
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select_layer: 12
|
| 13 |
+
reproject_vision: false
|
| 14 |
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use_flash_attention: true
|
| 15 |
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load_bf16: false
|
| 16 |
+
backbone_trainable_params_fp32: true
|
| 17 |
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image_crop_size:
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| 18 |
+
- 230
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| 19 |
+
- 230
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| 20 |
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image_target_size:
|
| 21 |
+
- 256
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| 22 |
+
- 256
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| 23 |
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shortest_image_edge: null
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| 24 |
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crop_fraction: null
|
| 25 |
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random_rotation_angle: null
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| 26 |
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color_jitter_params:
|
| 27 |
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brightness: 0.3
|
| 28 |
+
contrast: 0.4
|
| 29 |
+
saturation: 0.5
|
| 30 |
+
hue: 0.08
|
| 31 |
+
use_albumentations_transforms: true
|
| 32 |
+
extra_augmentation_config: null
|
| 33 |
+
formalize_language: true
|
| 34 |
+
apply_sincos_state_encoding: false
|
| 35 |
+
use_percentiles: true
|
| 36 |
+
use_relative_action: true
|
| 37 |
+
max_state_dim: 132
|
| 38 |
+
max_action_dim: 132
|
| 39 |
+
action_horizon: 40
|
| 40 |
+
hidden_size: 1024
|
| 41 |
+
input_embedding_dim: 1536
|
| 42 |
+
state_history_length: 1
|
| 43 |
+
add_pos_embed: true
|
| 44 |
+
attn_dropout: 0.2
|
| 45 |
+
use_vlln: true
|
| 46 |
+
max_seq_len: 1024
|
| 47 |
+
use_alternate_vl_dit: true
|
| 48 |
+
attend_text_every_n_blocks: 2
|
| 49 |
+
diffusion_model_cfg:
|
| 50 |
+
positional_embeddings: null
|
| 51 |
+
num_layers: 16
|
| 52 |
+
num_attention_heads: 32
|
| 53 |
+
attention_head_dim: 48
|
| 54 |
+
norm_type: ada_norm
|
| 55 |
+
dropout: 0.2
|
| 56 |
+
final_dropout: true
|
| 57 |
+
output_dim: 1024
|
| 58 |
+
interleave_self_attention: true
|
| 59 |
+
num_inference_timesteps: 4
|
| 60 |
+
noise_beta_alpha: 1.5
|
| 61 |
+
noise_beta_beta: 1.0
|
| 62 |
+
noise_s: 0.999
|
| 63 |
+
num_timestep_buckets: 1000
|
| 64 |
+
tune_projector: true
|
| 65 |
+
tune_diffusion_model: true
|
| 66 |
+
tune_vlln: true
|
| 67 |
+
state_dropout_prob: 0.2
|
| 68 |
+
exclude_state: false
|
| 69 |
+
use_mean_std: false
|
| 70 |
+
max_num_embodiments: 32
|
| 71 |
+
data:
|
| 72 |
+
datasets:
|
| 73 |
+
- dataset_paths:
|
| 74 |
+
- /home/ubuntu/groot-files/dataset_wbc_train
|
| 75 |
+
embodiment_tag: unitree_g1_sonic
|
| 76 |
+
mix_ratio: 1.0
|
| 77 |
+
dataset_type: physical_embodiment
|
| 78 |
+
val_dataset_path: null
|
| 79 |
+
modality_configs:
|
| 80 |
+
unitree_g1_sonic:
|
| 81 |
+
video:
|
| 82 |
+
delta_indices:
|
| 83 |
+
- 0
|
| 84 |
+
modality_keys:
|
| 85 |
+
- ego_view
|
| 86 |
+
sin_cos_embedding_keys: null
|
| 87 |
+
mean_std_embedding_keys: null
|
| 88 |
+
action_configs: null
|
| 89 |
+
state:
|
| 90 |
+
delta_indices:
|
| 91 |
+
- 0
|
| 92 |
+
modality_keys:
|
| 93 |
+
- left_leg
|
| 94 |
+
- right_leg
|
| 95 |
+
- waist
|
| 96 |
+
- left_arm
|
| 97 |
+
- right_arm
|
| 98 |
+
- left_hand
|
| 99 |
+
- right_hand
|
| 100 |
+
- projected_gravity
|
| 101 |
+
sin_cos_embedding_keys: null
|
| 102 |
+
mean_std_embedding_keys: null
|
| 103 |
+
action_configs: null
|
| 104 |
+
action:
|
| 105 |
+
delta_indices:
|
| 106 |
+
- 0
|
| 107 |
+
- 1
|
| 108 |
+
- 2
|
| 109 |
+
- 3
|
| 110 |
+
- 4
|
| 111 |
+
- 5
|
| 112 |
+
- 6
|
| 113 |
+
- 7
|
| 114 |
+
- 8
|
| 115 |
+
- 9
|
| 116 |
+
- 10
|
| 117 |
+
- 11
|
| 118 |
+
- 12
|
| 119 |
+
- 13
|
| 120 |
+
- 14
|
| 121 |
+
- 15
|
| 122 |
+
- 16
|
| 123 |
+
- 17
|
| 124 |
+
- 18
|
| 125 |
+
- 19
|
| 126 |
+
- 20
|
| 127 |
+
- 21
|
| 128 |
+
- 22
|
| 129 |
+
- 23
|
| 130 |
+
- 24
|
| 131 |
+
- 25
|
| 132 |
+
- 26
|
| 133 |
+
- 27
|
| 134 |
+
- 28
|
| 135 |
+
- 29
|
| 136 |
+
- 30
|
| 137 |
+
- 31
|
| 138 |
+
- 32
|
| 139 |
+
- 33
|
| 140 |
+
- 34
|
| 141 |
+
- 35
|
| 142 |
+
- 36
|
| 143 |
+
- 37
|
| 144 |
+
- 38
|
| 145 |
+
- 39
|
| 146 |
+
modality_keys:
|
| 147 |
+
- motion_token
|
| 148 |
+
- left_hand_joints
|
| 149 |
+
- right_hand_joints
|
| 150 |
+
sin_cos_embedding_keys: null
|
| 151 |
+
mean_std_embedding_keys: null
|
| 152 |
+
action_configs:
|
| 153 |
+
- rep: ABSOLUTE
|
| 154 |
+
type: NON_EEF
|
| 155 |
+
format: DEFAULT
|
| 156 |
+
state_key: null
|
| 157 |
+
- rep: ABSOLUTE
|
| 158 |
+
type: NON_EEF
|
| 159 |
+
format: DEFAULT
|
| 160 |
+
state_key: null
|
| 161 |
+
- rep: ABSOLUTE
|
| 162 |
+
type: NON_EEF
|
| 163 |
+
format: DEFAULT
|
| 164 |
+
state_key: null
|
| 165 |
+
language:
|
| 166 |
+
delta_indices:
|
| 167 |
+
- 0
|
| 168 |
+
modality_keys:
|
| 169 |
+
- annotation.human.task_description
|
| 170 |
+
sin_cos_embedding_keys: null
|
| 171 |
+
mean_std_embedding_keys: null
|
| 172 |
+
action_configs: null
|
| 173 |
+
download_cache: false
|
| 174 |
+
shard_size: 1024
|
| 175 |
+
episode_sampling_rate: 0.1
|
| 176 |
+
num_shards_per_epoch: 100000
|
| 177 |
+
override_pretraining_statistics: true
|
| 178 |
+
mode: single_turn
|
| 179 |
+
random_chop: 0.0
|
| 180 |
+
mock_dataset_mode: false
|
| 181 |
+
shuffle: true
|
| 182 |
+
seed: 42
|
| 183 |
+
multiprocessing_context: fork
|
| 184 |
+
allow_padding: false
|
| 185 |
+
subsample_ratio: 1.0
|
| 186 |
+
image_crop_size:
|
| 187 |
+
- 244
|
| 188 |
+
- 244
|
| 189 |
+
image_target_size:
|
| 190 |
+
- 224
|
| 191 |
+
- 224
|
| 192 |
+
video_backend: torchcodec
|
| 193 |
+
training:
|
| 194 |
+
output_dir: /home/ubuntu/groot-files/checkpoints/run-2026-05-28-090411
|
| 195 |
+
experiment_name: null
|
| 196 |
+
max_steps: 10000
|
| 197 |
+
global_batch_size: 32
|
| 198 |
+
batch_size: null
|
| 199 |
+
gradient_accumulation_steps: 1
|
| 200 |
+
learning_rate: 0.0001
|
| 201 |
+
lr_scheduler_type: cosine
|
| 202 |
+
weight_decay: 1.0e-05
|
| 203 |
+
warmup_ratio: 0.05
|
| 204 |
+
warmup_steps: 0
|
| 205 |
+
max_grad_norm: 1.0
|
| 206 |
+
optim: adamw_torch
|
| 207 |
+
start_from_checkpoint: nvidia/GR00T-N1.7-3B
|
| 208 |
+
skip_weight_loading: false
|
| 209 |
+
tf32: true
|
| 210 |
+
fp16: false
|
| 211 |
+
bf16: true
|
| 212 |
+
eval_bf16: true
|
| 213 |
+
logging_steps: 10
|
| 214 |
+
save_steps: 1000
|
| 215 |
+
save_total_limit: 10
|
| 216 |
+
save_vl_model: false
|
| 217 |
+
save_only_model: false
|
| 218 |
+
upload_checkpoints: false
|
| 219 |
+
upload_every: 1000
|
| 220 |
+
upload_last_n_checkpoints: 5
|
| 221 |
+
max_concurrent_uploads: 2
|
| 222 |
+
eval_strategy: 'no'
|
| 223 |
+
eval_steps: 500
|
| 224 |
+
eval_set_split_ratio: 0.1
|
| 225 |
+
eval_batch_size: 2
|
| 226 |
+
save_best_eval_metric_name: ''
|
| 227 |
+
save_best_eval_metric_greater_is_better: true
|
| 228 |
+
eval_dataset_path: /home/ubuntu/groot-files/dataset_wbc_eval
|
| 229 |
+
eval_num_batches: 50
|
| 230 |
+
deepspeed_stage: 2
|
| 231 |
+
gradient_checkpointing: false
|
| 232 |
+
transformers_trust_remote_code: true
|
| 233 |
+
transformers_local_files_only: false
|
| 234 |
+
transformers_cache_dir: null
|
| 235 |
+
transformers_access_token: null
|
| 236 |
+
use_ddp: false
|
| 237 |
+
ddp_bucket_cap_mb: 100
|
| 238 |
+
num_gpus: 1
|
| 239 |
+
dataloader_num_workers: 6
|
| 240 |
+
remove_unused_columns: false
|
| 241 |
+
use_wandb: true
|
| 242 |
+
wandb_project: groot-wbc
|
| 243 |
+
enable_profiling: false
|
| 244 |
+
max_retries: 3
|
| 245 |
+
assert_loss_less_than: null
|
| 246 |
+
add_rl_callback: false
|
| 247 |
+
enable_open_loop_eval: false
|
| 248 |
+
open_loop_eval_traj_ids:
|
| 249 |
+
- 0
|
| 250 |
+
open_loop_eval_steps_per_traj: 100
|
| 251 |
+
open_loop_eval_plot_indices: null
|
| 252 |
+
max_steps: 10000
|
| 253 |
+
save_steps: 1000
|
checkpoint-3000/experiment_cfg/config.yaml
ADDED
|
@@ -0,0 +1,279 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
!!python/object:gr00t.configs.base_config.Config
|
| 2 |
+
data: !!python/object:gr00t.configs.data.data_config.DataConfig
|
| 3 |
+
allow_padding: false
|
| 4 |
+
datasets:
|
| 5 |
+
- !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
|
| 6 |
+
dataset_paths:
|
| 7 |
+
- /home/ubuntu/groot-files/dataset_wbc_train
|
| 8 |
+
dataset_type: physical_embodiment
|
| 9 |
+
embodiment_tag: unitree_g1_sonic
|
| 10 |
+
mix_ratio: 1.0
|
| 11 |
+
val_dataset_path: null
|
| 12 |
+
download_cache: false
|
| 13 |
+
episode_sampling_rate: 0.1
|
| 14 |
+
image_crop_size:
|
| 15 |
+
- 244
|
| 16 |
+
- 244
|
| 17 |
+
image_target_size:
|
| 18 |
+
- 224
|
| 19 |
+
- 224
|
| 20 |
+
mock_dataset_mode: false
|
| 21 |
+
modality_configs:
|
| 22 |
+
unitree_g1_sonic:
|
| 23 |
+
action: !!python/object:gr00t.data.types.ModalityConfig
|
| 24 |
+
action_configs:
|
| 25 |
+
- !!python/object:gr00t.data.types.ActionConfig
|
| 26 |
+
format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
|
| 27 |
+
- default
|
| 28 |
+
rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation
|
| 29 |
+
- absolute
|
| 30 |
+
state_key: null
|
| 31 |
+
type: &id003 !!python/object/apply:gr00t.data.types.ActionType
|
| 32 |
+
- non_eef
|
| 33 |
+
- !!python/object:gr00t.data.types.ActionConfig
|
| 34 |
+
format: *id001
|
| 35 |
+
rep: *id002
|
| 36 |
+
state_key: null
|
| 37 |
+
type: *id003
|
| 38 |
+
- !!python/object:gr00t.data.types.ActionConfig
|
| 39 |
+
format: *id001
|
| 40 |
+
rep: *id002
|
| 41 |
+
state_key: null
|
| 42 |
+
type: *id003
|
| 43 |
+
delta_indices:
|
| 44 |
+
- 0
|
| 45 |
+
- 1
|
| 46 |
+
- 2
|
| 47 |
+
- 3
|
| 48 |
+
- 4
|
| 49 |
+
- 5
|
| 50 |
+
- 6
|
| 51 |
+
- 7
|
| 52 |
+
- 8
|
| 53 |
+
- 9
|
| 54 |
+
- 10
|
| 55 |
+
- 11
|
| 56 |
+
- 12
|
| 57 |
+
- 13
|
| 58 |
+
- 14
|
| 59 |
+
- 15
|
| 60 |
+
- 16
|
| 61 |
+
- 17
|
| 62 |
+
- 18
|
| 63 |
+
- 19
|
| 64 |
+
- 20
|
| 65 |
+
- 21
|
| 66 |
+
- 22
|
| 67 |
+
- 23
|
| 68 |
+
- 24
|
| 69 |
+
- 25
|
| 70 |
+
- 26
|
| 71 |
+
- 27
|
| 72 |
+
- 28
|
| 73 |
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- 29
|
| 74 |
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- 30
|
| 75 |
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- 31
|
| 76 |
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- 32
|
| 77 |
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- 33
|
| 78 |
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- 34
|
| 79 |
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- 35
|
| 80 |
+
- 36
|
| 81 |
+
- 37
|
| 82 |
+
- 38
|
| 83 |
+
- 39
|
| 84 |
+
mean_std_embedding_keys: null
|
| 85 |
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modality_keys:
|
| 86 |
+
- motion_token
|
| 87 |
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- left_hand_joints
|
| 88 |
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- right_hand_joints
|
| 89 |
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sin_cos_embedding_keys: null
|
| 90 |
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language: !!python/object:gr00t.data.types.ModalityConfig
|
| 91 |
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action_configs: null
|
| 92 |
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delta_indices:
|
| 93 |
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- 0
|
| 94 |
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mean_std_embedding_keys: null
|
| 95 |
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modality_keys:
|
| 96 |
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- annotation.human.task_description
|
| 97 |
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sin_cos_embedding_keys: null
|
| 98 |
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state: !!python/object:gr00t.data.types.ModalityConfig
|
| 99 |
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action_configs: null
|
| 100 |
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delta_indices:
|
| 101 |
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- 0
|
| 102 |
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mean_std_embedding_keys: null
|
| 103 |
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modality_keys:
|
| 104 |
+
- left_leg
|
| 105 |
+
- right_leg
|
| 106 |
+
- waist
|
| 107 |
+
- left_arm
|
| 108 |
+
- right_arm
|
| 109 |
+
- left_hand
|
| 110 |
+
- right_hand
|
| 111 |
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|
| 112 |
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sin_cos_embedding_keys: null
|
| 113 |
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video: !!python/object:gr00t.data.types.ModalityConfig
|
| 114 |
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action_configs: null
|
| 115 |
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delta_indices:
|
| 116 |
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- 0
|
| 117 |
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|
| 118 |
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modality_keys:
|
| 119 |
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| 120 |
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sin_cos_embedding_keys: null
|
| 121 |
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mode: single_turn
|
| 122 |
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multiprocessing_context: fork
|
| 123 |
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num_shards_per_epoch: 100000
|
| 124 |
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override_pretraining_statistics: true
|
| 125 |
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random_chop: 0.0
|
| 126 |
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seed: 42
|
| 127 |
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shard_size: 1024
|
| 128 |
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shuffle: true
|
| 129 |
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subsample_ratio: 1.0
|
| 130 |
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video_backend: torchcodec
|
| 131 |
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load_config_path: null
|
| 132 |
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model: !!python/object:gr00t.configs.model.gr00t_n1d7.Gr00tN1d7Config
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| 133 |
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|
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|
| 135 |
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|
| 136 |
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|
| 137 |
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add_cross_attention: false
|
| 138 |
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architectures: null
|
| 139 |
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backbone_trainable_params_fp32: true
|
| 140 |
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| 142 |
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bos_token_id: null
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| 143 |
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chunk_size_feed_forward: 0
|
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color_jitter_params:
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| 145 |
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brightness: 0.3
|
| 146 |
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contrast: 0.4
|
| 147 |
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hue: 0.08
|
| 148 |
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saturation: 0.5
|
| 149 |
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cross_attention_hidden_size: null
|
| 150 |
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decoder_start_token_id: null
|
| 151 |
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diffusion_model_cfg:
|
| 152 |
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attention_head_dim: 48
|
| 153 |
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dropout: 0.2
|
| 154 |
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final_dropout: true
|
| 155 |
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interleave_self_attention: true
|
| 156 |
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norm_type: ada_norm
|
| 157 |
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num_attention_heads: 32
|
| 158 |
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num_layers: 16
|
| 159 |
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output_dim: 1024
|
| 160 |
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positional_embeddings: null
|
| 161 |
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diversity_penalty: 0.0
|
| 162 |
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do_sample: false
|
| 163 |
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dtype: null
|
| 164 |
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early_stopping: false
|
| 165 |
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encoder_no_repeat_ngram_size: 0
|
| 166 |
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eos_token_id: null
|
| 167 |
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exponential_decay_length_penalty: null
|
| 168 |
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extra_augmentation_config: null
|
| 169 |
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finetuning_task: null
|
| 170 |
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forced_bos_token_id: null
|
| 171 |
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forced_eos_token_id: null
|
| 172 |
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id2label:
|
| 173 |
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0: LABEL_0
|
| 174 |
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1: LABEL_1
|
| 175 |
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is_decoder: false
|
| 176 |
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is_encoder_decoder: false
|
| 177 |
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label2id:
|
| 178 |
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LABEL_0: 0
|
| 179 |
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LABEL_1: 1
|
| 180 |
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length_penalty: 1.0
|
| 181 |
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load_bf16: false
|
| 182 |
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max_length: 20
|
| 183 |
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min_length: 0
|
| 184 |
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model_name: nvidia/Cosmos-Reason2-2B
|
| 185 |
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no_repeat_ngram_size: 0
|
| 186 |
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num_beam_groups: 1
|
| 187 |
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num_beams: 1
|
| 188 |
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num_return_sequences: 1
|
| 189 |
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output_hidden_states: false
|
| 190 |
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output_scores: false
|
| 191 |
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pad_token_id: null
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| 192 |
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prefix: null
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| 193 |
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problem_type: null
|
| 194 |
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pruned_heads: {}
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| 195 |
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random_rotation_angle: null
|
| 196 |
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remove_invalid_values: false
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| 197 |
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repetition_penalty: 1.0
|
| 198 |
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reproject_vision: false
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return_dict: true
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| 200 |
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return_dict_in_generate: false
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| 201 |
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sep_token_id: null
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| 202 |
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state_dropout_prob: 0.2
|
| 203 |
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suppress_tokens: null
|
| 204 |
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task_specific_params: null
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| 205 |
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temperature: 1.0
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| 206 |
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tf_legacy_loss: false
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tie_encoder_decoder: false
|
| 208 |
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tie_word_embeddings: true
|
| 209 |
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tokenizer_class: null
|
| 210 |
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top_k: 50
|
| 211 |
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top_p: 1.0
|
| 212 |
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torchscript: false
|
| 213 |
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transformers_version: null
|
| 214 |
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tune_diffusion_model: true
|
| 215 |
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tune_llm: false
|
| 216 |
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tune_projector: true
|
| 217 |
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tune_visual: false
|
| 218 |
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typical_p: 1.0
|
| 219 |
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use_bfloat16: false
|
| 220 |
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use_relative_action: true
|
| 221 |
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training: !!python/object:gr00t.configs.training.training_config.TrainingConfig
|
| 222 |
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add_rl_callback: false
|
| 223 |
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assert_loss_less_than: null
|
| 224 |
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batch_size: null
|
| 225 |
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bf16: true
|
| 226 |
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dataloader_num_workers: 6
|
| 227 |
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ddp_bucket_cap_mb: 100
|
| 228 |
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deepspeed_stage: 2
|
| 229 |
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enable_open_loop_eval: false
|
| 230 |
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enable_profiling: false
|
| 231 |
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eval_batch_size: 2
|
| 232 |
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eval_bf16: true
|
| 233 |
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eval_dataset_path: /home/ubuntu/groot-files/dataset_wbc_eval
|
| 234 |
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eval_num_batches: 50
|
| 235 |
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eval_set_split_ratio: 0.1
|
| 236 |
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eval_steps: 500
|
| 237 |
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eval_strategy: 'no'
|
| 238 |
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experiment_name: null
|
| 239 |
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fp16: false
|
| 240 |
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global_batch_size: 32
|
| 241 |
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gradient_accumulation_steps: 1
|
| 242 |
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gradient_checkpointing: false
|
| 243 |
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learning_rate: 0.0001
|
| 244 |
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logging_steps: 10
|
| 245 |
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lr_scheduler_type: cosine
|
| 246 |
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max_concurrent_uploads: 2
|
| 247 |
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max_grad_norm: 1.0
|
| 248 |
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max_retries: 3
|
| 249 |
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max_steps: 10000
|
| 250 |
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num_gpus: 1
|
| 251 |
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open_loop_eval_plot_indices: null
|
| 252 |
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open_loop_eval_steps_per_traj: 100
|
| 253 |
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open_loop_eval_traj_ids:
|
| 254 |
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- 0
|
| 255 |
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optim: adamw_torch
|
| 256 |
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output_dir: /home/ubuntu/groot-files/checkpoints/run-2026-05-28-090411
|
| 257 |
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remove_unused_columns: false
|
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save_best_eval_metric_greater_is_better: true
|
| 259 |
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save_best_eval_metric_name: ''
|
| 260 |
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save_only_model: false
|
| 261 |
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save_steps: 1000
|
| 262 |
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save_total_limit: 10
|
| 263 |
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save_vl_model: false
|
| 264 |
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skip_weight_loading: false
|
| 265 |
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start_from_checkpoint: nvidia/GR00T-N1.7-3B
|
| 266 |
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tf32: true
|
| 267 |
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transformers_access_token: null
|
| 268 |
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transformers_cache_dir: null
|
| 269 |
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transformers_local_files_only: false
|
| 270 |
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transformers_trust_remote_code: true
|
| 271 |
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upload_checkpoints: false
|
| 272 |
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upload_every: 1000
|
| 273 |
+
upload_last_n_checkpoints: 5
|
| 274 |
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use_ddp: false
|
| 275 |
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use_wandb: true
|
| 276 |
+
wandb_project: groot-wbc
|
| 277 |
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warmup_ratio: 0.05
|
| 278 |
+
warmup_steps: 0
|
| 279 |
+
weight_decay: 1.0e-05
|
checkpoint-3000/experiment_cfg/dataset_statistics.json
ADDED
|
@@ -0,0 +1,907 @@
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| 1 |
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checkpoint-3000/experiment_cfg/final_model_config.json
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|
|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:89335ad6c90b881a151e508bc1a310949afe09b532ca87e939f2bb4281ab1b84
|
| 3 |
+
size 12964594710
|
checkpoint-3000/processor_config.json
ADDED
|
@@ -0,0 +1,1159 @@
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| 1 |
+
{
|
| 2 |
+
"best_global_step": null,
|
| 3 |
+
"best_metric": null,
|
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