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README.md

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+---
+license: other
+tags:
+- robotics
+- gr00t
+- isaac
+- humanoid
+base_model: nvidia/GR00T-N1.7-3B
+---
+
+# GR00T fine-tune
+
+Fine-tuned from `nvidia/GR00T-N1.7-3B` on 2026-05-28T11:27:53+00:00.
+Embodiment: `UNITREE_G1_SONIC`. Trained on 1 GPUs.
+
+## Hyperparameters
+
+```
+timestamp           = 2026-05-28T10:18:24+00:00
+log_file            = /home/ubuntu/groot-files/logs/train-2026-05-28-101824.log
+base_model          = nvidia/GR00T-N1.7-3B
+embodiment_tag      = UNITREE_G1_SONIC
+dataset_dir         = /home/ubuntu/groot-files/dataset_wbc_train
+eval_dataset_dir    = /home/ubuntu/groot-files/dataset_wbc_eval
+eval_steps          = 250
+eval_num_batches    = 50
+checkpoint_dir      = /home/ubuntu/groot-files/checkpoints/run-2026-05-28-101824
+num_gpus            = 1
+global_batch_size   = 8
+max_steps           = 10000
+save_steps          = 500
+save_total_limit    = 20
+learning_rate       = 1e-4
+warmup_ratio        = 0.05
+weight_decay        = 1e-5
+dataloader_workers  = 6
+resume              = <none>
+use_wandb           = 1
+wandb_project       = groot-wbc
+wandb_run_name      = groot-wbc-8
+```
+
+## Checkpoints
+
+Intermediate checkpoints (`checkpoint-N/`) are pushed incrementally during
+training; the top-level files in this repo are the final model state.

groot-wbc-8/checkpoint-3500/config.json

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+{
+  "action_horizon": 40,
+  "add_pos_embed": true,
+  "apply_sincos_state_encoding": false,
+  "architectures": [
+    "Gr00tN1d7"
+  ],
+  "attn_dropout": 0.2,
+  "attn_implementation": null,
+  "backbone_embedding_dim": 2048,
+  "backbone_trainable_params_fp32": true,
+  "color_jitter_params": {
+    "brightness": 0.3,
+    "contrast": 0.4,
+    "hue": 0.08,
+    "saturation": 0.5
+  },
+  "crop_fraction": 0.95,
+  "diffusion_model_cfg": {
+    "attention_head_dim": 48,
+    "dropout": 0.2,
+    "final_dropout": true,
+    "interleave_self_attention": true,
+    "norm_type": "ada_norm",
+    "num_attention_heads": 32,
+    "num_layers": 32,
+    "output_dim": 1024,
+    "positional_embeddings": null
+  },
+  "dtype": "float32",
+  "exclude_state": false,
+  "formalize_language": true,
+  "hidden_size": 1024,
+  "image_crop_size": [
+    230,
+    230
+  ],
+  "image_target_size": [
+    256,
+    256
+  ],
+  "letter_box_transform": false,
+  "load_bf16": false,
+  "max_action_dim": 132,
+  "max_num_embodiments": 32,
+  "max_seq_len": 1024,
+  "max_state_dim": 132,
+  "model_dtype": "bfloat16",
+  "model_name": "nvidia/Cosmos-Reason2-2B",
+  "model_type": "Gr00tN1d7",
+  "noise_beta_alpha": 1.5,
+  "noise_beta_beta": 1.0,
+  "noise_s": 0.999,
+  "num_inference_timesteps": 4,
+  "num_timestep_buckets": 1000,
+  "random_history_crop": true,
+  "random_rotation_angle": 0,
+  "reproject_vision": false,
+  "rtc_ramp_rate": 6.0,
+  "select_layer": 16,
+  "shortest_image_edge": 256,
+  "state_dropout_prob": 0.2,
+  "state_gaussian_noise_std": 0.0,
+  "transformers_version": "4.57.3",
+  "tune_diffusion_model": true,
+  "tune_linear": true,
+  "tune_llm": false,
+  "tune_projector": true,
+  "tune_top_llm_layers": 0,
+  "tune_visual": false,
+  "tune_vlln": true,
+  "use_albumentations": true,
+  "use_alternate_vl_dit": true,
+  "use_flash_attention": true,
+  "use_future_tokens": false,
+  "use_mean_std": false,
+  "use_percentiles": true,
+  "use_vl_self_attention": true,
+  "use_vlln": true,
+  "vl_self_attention_cfg": {
+    "attention_head_dim": 64,
+    "dropout": 0.2,
+    "final_dropout": true,
+    "num_attention_heads": 32,
+    "num_layers": 4,
+    "positional_embeddings": null
+  }
+}

groot-wbc-8/checkpoint-3500/embodiment_id.json

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+{
+  "robocasa_panda_omron": 13,
+  "oxe_droid": 17,
+  "oxe_fractal": 18,
+  "oxe_language_table": 19,
+  "oxe_bridge": 20,
+  "unknown": 22,
+  "gr1_unified": 20,
+  "agibot": 26,
+  "sim_behavior_r1_pro": 23,
+  "xdof": 24,
+  "xdof_oss_data": 25,
+  "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
+  "real_r1_pro_sharpa": 27,
+  "real_r1_pro_sharpa_add_view": 27,
+  "real_r1_pro_sharpa_relative_arm_joint": 26,
+  "real_r1_pro_sharpa_delta_eef": 26,
+  "real_r1_pro_sharpa_absolute_eef": 26,
+  "real_r1_pro_sharpa_meanstd": 26,
+  "real_r1_pro_sharpa_relative_eef": 26,
+  "real_r1_pro_sharpa_relative_eef_add_view": 26,
+  "real_r1_pro_sharpa_relative_eef_relative_hand": 26,
+  "real_r1_pro_sharpa_relative_eef_human": 26,
+  "real_r1_pro_sharpa_relative_eef_human_add_view": 26,
+  "real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
+  "real_r1_pro_sharpa_relative_eef_egodex": 26,
+  "real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
+  "real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
+  "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
+  "real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
+  "real_r1_pro_sharpa_relative_eef_mecka": 26,
+  "real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
+  "real_g1_relative_eef_absolute_joints": 25,
+  "real_g1_relative_eef_absolute_joints_wrist_cam": 25,
+  "real_g1_relative_eef_relative_joints": 25,
+  "real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
+  "real_r1_pro_sharpa_relative_joint": 29,
+  "oxe_droid_relative_eef_relative_joint": 24,
+  "oxe_droid_relative_eef_relative_joint_swapped": 24,
+  "oxe_droid_relative_eef_relative_joint_upweight_z": 24,
+  "oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
+  "oxe_droid_relative_eef_relative_joint_3view": 24,
+  "oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
+  "oxe_droid_relative_eef": 24,
+  "oxe_droid_joint_position_relative": 24,
+  "xdof_relative_eef_relative_joint": 27,
+  "xdof_relative_eef_relative_joint_subtask": 27,
+  "xdof_relative_eef": 27,
+  "xdof_relative_joint": 28,
+  "simpler_env_google": 0,
+  "simpler_env_widowx": 1,
+  "libero_sim": 2,
+  "droid_sim": 3,
+  "unitree_g1_sonic": 11,
+  "new_embodiment": 10,
+  "robocasa_gr1_tabletop": 10
+}

groot-wbc-8/checkpoint-3500/experiment_cfg/conf.yaml

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+load_config_path: null
+model:
+  model_type: Gr00tN1d7
+  model_dtype: bfloat16
+  model_name: nvidia/Cosmos-Reason2-2B
+  backbone_model_type: qwen
+  model_revision: null
+  tune_top_llm_layers: 0
+  backbone_embedding_dim: 2048
+  tune_llm: false
+  tune_visual: false
+  select_layer: 12
+  reproject_vision: false
+  use_flash_attention: true
+  load_bf16: false
+  backbone_trainable_params_fp32: true
+  image_crop_size:
+  - 230
+  - 230
+  image_target_size:
+  - 256
+  - 256
+  shortest_image_edge: null
+  crop_fraction: null
+  random_rotation_angle: null
+  color_jitter_params:
+    brightness: 0.3
+    contrast: 0.4
+    saturation: 0.5
+    hue: 0.08
+  use_albumentations_transforms: true
+  extra_augmentation_config: null
+  formalize_language: true
+  apply_sincos_state_encoding: false
+  use_percentiles: true
+  use_relative_action: true
+  max_state_dim: 132
+  max_action_dim: 132
+  action_horizon: 40
+  hidden_size: 1024
+  input_embedding_dim: 1536
+  state_history_length: 1
+  add_pos_embed: true
+  attn_dropout: 0.2
+  use_vlln: true
+  max_seq_len: 1024
+  use_alternate_vl_dit: true
+  attend_text_every_n_blocks: 2
+  diffusion_model_cfg:
+    positional_embeddings: null
+    num_layers: 16
+    num_attention_heads: 32
+    attention_head_dim: 48
+    norm_type: ada_norm
+    dropout: 0.2
+    final_dropout: true
+    output_dim: 1024
+    interleave_self_attention: true
+  num_inference_timesteps: 4
+  noise_beta_alpha: 1.5
+  noise_beta_beta: 1.0
+  noise_s: 0.999
+  num_timestep_buckets: 1000
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+  state_dropout_prob: 0.2
+  exclude_state: false
+  use_mean_std: false
+  max_num_embodiments: 32
+data:
+  datasets:
+  - dataset_paths:
+    - /home/ubuntu/groot-files/dataset_wbc_train
+    embodiment_tag: unitree_g1_sonic
+    mix_ratio: 1.0
+    dataset_type: physical_embodiment
+    val_dataset_path: null
+  modality_configs:
+    unitree_g1_sonic:
+      video:
+        delta_indices:
+        - 0
+        modality_keys:
+        - ego_view
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+      state:
+        delta_indices:
+        - 0
+        modality_keys:
+        - left_leg
+        - right_leg
+        - waist
+        - left_arm
+        - right_arm
+        - left_hand
+        - right_hand
+        - projected_gravity
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+      action:
+        delta_indices:
+        - 0
+        - 1
+        - 2
+        - 3
+        - 4
+        - 5
+        - 6
+        - 7
+        - 8
+        - 9
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+        - 14
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+        - 21
+        - 22
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+        - 24
+        - 25
+        - 26
+        - 27
+        - 28
+        - 29
+        - 30
+        - 31
+        - 32
+        - 33
+        - 34
+        - 35
+        - 36
+        - 37
+        - 38
+        - 39
+        modality_keys:
+        - motion_token
+        - left_hand_joints
+        - right_hand_joints
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs:
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+      language:
+        delta_indices:
+        - 0
+        modality_keys:
+        - annotation.human.task_description
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+  download_cache: false
+  shard_size: 1024
+  episode_sampling_rate: 0.1
+  num_shards_per_epoch: 100000
+  override_pretraining_statistics: true
+  mode: single_turn
+  random_chop: 0.0
+  mock_dataset_mode: false
+  shuffle: true
+  seed: 42
+  multiprocessing_context: fork
+  allow_padding: false
+  subsample_ratio: 1.0
+  image_crop_size:
+  - 244
+  - 244
+  image_target_size:
+  - 224
+  - 224
+  video_backend: torchcodec
+training:
+  output_dir: /home/ubuntu/groot-files/checkpoints/run-2026-05-28-101824
+  experiment_name: groot-wbc-8
+  max_steps: 10000
+  global_batch_size: 8
+  batch_size: null
+  gradient_accumulation_steps: 1
+  learning_rate: 0.0001
+  lr_scheduler_type: cosine
+  weight_decay: 1.0e-05
+  warmup_ratio: 0.05
+  warmup_steps: 0
+  max_grad_norm: 1.0
+  optim: adamw_torch
+  start_from_checkpoint: nvidia/GR00T-N1.7-3B
+  skip_weight_loading: false
+  tf32: true
+  fp16: false
+  bf16: true
+  eval_bf16: true
+  logging_steps: 10
+  save_steps: 500
+  save_total_limit: 20
+  save_vl_model: false
+  save_only_model: false
+  upload_checkpoints: false
+  upload_every: 1000
+  upload_last_n_checkpoints: 5
+  max_concurrent_uploads: 2
+  eval_strategy: 'no'
+  eval_steps: 250
+  eval_set_split_ratio: 0.1
+  eval_batch_size: 2
+  save_best_eval_metric_name: ''
+  save_best_eval_metric_greater_is_better: true
+  eval_dataset_path: /home/ubuntu/groot-files/dataset_wbc_eval
+  eval_num_batches: 50
+  deepspeed_stage: 2
+  gradient_checkpointing: false
+  transformers_trust_remote_code: true
+  transformers_local_files_only: false
+  transformers_cache_dir: null
+  transformers_access_token: null
+  use_ddp: false
+  ddp_bucket_cap_mb: 100
+  num_gpus: 1
+  dataloader_num_workers: 6
+  remove_unused_columns: false
+  use_wandb: true
+  wandb_project: groot-wbc
+  enable_profiling: false
+  max_retries: 3
+  assert_loss_less_than: null
+  add_rl_callback: false
+  enable_open_loop_eval: false
+  open_loop_eval_traj_ids:
+  - 0
+  open_loop_eval_steps_per_traj: 100
+  open_loop_eval_plot_indices: null
+max_steps: 10000
+save_steps: 500

groot-wbc-8/checkpoint-3500/experiment_cfg/config.yaml

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+!!python/object:gr00t.configs.base_config.Config
+data: !!python/object:gr00t.configs.data.data_config.DataConfig
+  allow_padding: false
+  datasets:
+  - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
+    dataset_paths:
+    - /home/ubuntu/groot-files/dataset_wbc_train
+    dataset_type: physical_embodiment
+    embodiment_tag: unitree_g1_sonic
+    mix_ratio: 1.0
+    val_dataset_path: null
+  download_cache: false
+  episode_sampling_rate: 0.1
+  image_crop_size:
+  - 244
+  - 244
+  image_target_size:
+  - 224
+  - 224
+  mock_dataset_mode: false
+  modality_configs:
+    unitree_g1_sonic:
+      action: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs:
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
+          - default
+          rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation
+          - absolute
+          state_key: null
+          type: &id003 !!python/object/apply:gr00t.data.types.ActionType
+          - non_eef
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        delta_indices:
+        - 0
+        - 1
+        - 2
+        - 3
+        - 4
+        - 5
+        - 6
+        - 7
+        - 8
+        - 9
+        - 10
+        - 11
+        - 12
+        - 13
+        - 14
+        - 15
+        - 16
+        - 17
+        - 18
+        - 19
+        - 20
+        - 21
+        - 22
+        - 23
+        - 24
+        - 25
+        - 26
+        - 27
+        - 28
+        - 29
+        - 30
+        - 31
+        - 32
+        - 33
+        - 34
+        - 35
+        - 36
+        - 37
+        - 38
+        - 39
+        mean_std_embedding_keys: null
+        modality_keys:
+        - motion_token
+        - left_hand_joints
+        - right_hand_joints
+        sin_cos_embedding_keys: null
+      language: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - annotation.human.task_description
+        sin_cos_embedding_keys: null
+      state: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - left_leg
+        - right_leg
+        - waist
+        - left_arm
+        - right_arm
+        - left_hand
+        - right_hand
+        - projected_gravity
+        sin_cos_embedding_keys: null
+      video: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - ego_view
+        sin_cos_embedding_keys: null
+  mode: single_turn
+  multiprocessing_context: fork
+  num_shards_per_epoch: 100000
+  override_pretraining_statistics: true
+  random_chop: 0.0
+  seed: 42
+  shard_size: 1024
+  shuffle: true
+  subsample_ratio: 1.0
+  video_backend: torchcodec
+load_config_path: null
+model: !!python/object:gr00t.configs.model.gr00t_n1d7.Gr00tN1d7Config
+  _attn_implementation_internal: null
+  _commit_hash: null
+  _name_or_path: ''
+  _output_attentions: false
+  add_cross_attention: false
+  architectures: null
+  backbone_trainable_params_fp32: true
+  bad_words_ids: null
+  begin_suppress_tokens: null
+  bos_token_id: null
+  chunk_size_feed_forward: 0
+  color_jitter_params:
+    brightness: 0.3
+    contrast: 0.4
+    hue: 0.08
+    saturation: 0.5
+  cross_attention_hidden_size: null
+  decoder_start_token_id: null
+  diffusion_model_cfg:
+    attention_head_dim: 48
+    dropout: 0.2
+    final_dropout: true
+    interleave_self_attention: true
+    norm_type: ada_norm
+    num_attention_heads: 32
+    num_layers: 16
+    output_dim: 1024
+    positional_embeddings: null
+  diversity_penalty: 0.0
+  do_sample: false
+  dtype: null
+  early_stopping: false
+  encoder_no_repeat_ngram_size: 0
+  eos_token_id: null
+  exponential_decay_length_penalty: null
+  extra_augmentation_config: null
+  finetuning_task: null
+  forced_bos_token_id: null
+  forced_eos_token_id: null
+  id2label:
+    0: LABEL_0
+    1: LABEL_1
+  is_decoder: false
+  is_encoder_decoder: false
+  label2id:
+    LABEL_0: 0
+    LABEL_1: 1
+  length_penalty: 1.0
+  load_bf16: false
+  max_length: 20
+  min_length: 0
+  model_name: nvidia/Cosmos-Reason2-2B
+  no_repeat_ngram_size: 0
+  num_beam_groups: 1
+  num_beams: 1
+  num_return_sequences: 1
+  output_hidden_states: false
+  output_scores: false
+  pad_token_id: null
+  prefix: null
+  problem_type: null
+  pruned_heads: {}
+  random_rotation_angle: null
+  remove_invalid_values: false
+  repetition_penalty: 1.0
+  reproject_vision: false
+  return_dict: true
+  return_dict_in_generate: false
+  sep_token_id: null
+  state_dropout_prob: 0.2
+  suppress_tokens: null
+  task_specific_params: null
+  temperature: 1.0
+  tf_legacy_loss: false
+  tie_encoder_decoder: false
+  tie_word_embeddings: true
+  tokenizer_class: null
+  top_k: 50
+  top_p: 1.0
+  torchscript: false
+  transformers_version: null
+  tune_diffusion_model: true
+  tune_llm: false
+  tune_projector: true
+  tune_visual: false
+  typical_p: 1.0
+  use_bfloat16: false
+  use_relative_action: true
+training: !!python/object:gr00t.configs.training.training_config.TrainingConfig
+  add_rl_callback: false
+  assert_loss_less_than: null
+  batch_size: null
+  bf16: true
+  dataloader_num_workers: 6
+  ddp_bucket_cap_mb: 100
+  deepspeed_stage: 2
+  enable_open_loop_eval: false
+  enable_profiling: false
+  eval_batch_size: 2
+  eval_bf16: true
+  eval_dataset_path: /home/ubuntu/groot-files/dataset_wbc_eval
+  eval_num_batches: 50
+  eval_set_split_ratio: 0.1
+  eval_steps: 250
+  eval_strategy: 'no'
+  experiment_name: groot-wbc-8
+  fp16: false
+  global_batch_size: 8
+  gradient_accumulation_steps: 1
+  gradient_checkpointing: false
+  learning_rate: 0.0001
+  logging_steps: 10
+  lr_scheduler_type: cosine
+  max_concurrent_uploads: 2
+  max_grad_norm: 1.0
+  max_retries: 3
+  max_steps: 10000
+  num_gpus: 1
+  open_loop_eval_plot_indices: null
+  open_loop_eval_steps_per_traj: 100
+  open_loop_eval_traj_ids:
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+  optim: adamw_torch
+  output_dir: /home/ubuntu/groot-files/checkpoints/run-2026-05-28-101824
+  remove_unused_columns: false
+  save_best_eval_metric_greater_is_better: true
+  save_best_eval_metric_name: ''
+  save_only_model: false
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+  save_total_limit: 20
+  save_vl_model: false
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+  start_from_checkpoint: nvidia/GR00T-N1.7-3B
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+  transformers_access_token: null
+  transformers_cache_dir: null
+  transformers_local_files_only: false
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+  upload_checkpoints: false
+  upload_every: 1000
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+  use_wandb: true
+  wandb_project: groot-wbc
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+  warmup_steps: 0
+  weight_decay: 1.0e-05

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+}

groot-wbc-8/checkpoint-3500/experiment_cfg/final_model_config.json

@@ -0,0 +1,55 @@
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+  "state_dropout_prob": 0.2,
+  "exclude_state": false,
+  "use_mean_std": false,
+  "max_num_embodiments": 32
+}

groot-wbc-8/checkpoint-3500/processor_config.json

@@ -0,0 +1,1159 @@
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groot-wbc-8/checkpoint-3500/wandb_config.json

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groot-wbc-8/checkpoint-4000/config.json

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+  tune_llm: false
+  tune_visual: false
+  select_layer: 12
+  reproject_vision: false
+  use_flash_attention: true
+  load_bf16: false
+  backbone_trainable_params_fp32: true
+  image_crop_size:
+  - 230
+  - 230
+  image_target_size:
+  - 256
+  - 256
+  shortest_image_edge: null
+  crop_fraction: null
+  random_rotation_angle: null
+  color_jitter_params:
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+    contrast: 0.4
+    saturation: 0.5
+    hue: 0.08
+  use_albumentations_transforms: true
+  extra_augmentation_config: null
+  formalize_language: true
+  apply_sincos_state_encoding: false
+  use_percentiles: true
+  use_relative_action: true
+  max_state_dim: 132
+  max_action_dim: 132
+  action_horizon: 40
+  hidden_size: 1024
+  input_embedding_dim: 1536
+  state_history_length: 1
+  add_pos_embed: true
+  attn_dropout: 0.2
+  use_vlln: true
+  max_seq_len: 1024
+  use_alternate_vl_dit: true
+  attend_text_every_n_blocks: 2
+  diffusion_model_cfg:
+    positional_embeddings: null
+    num_layers: 16
+    num_attention_heads: 32
+    attention_head_dim: 48
+    norm_type: ada_norm
+    dropout: 0.2
+    final_dropout: true
+    output_dim: 1024
+    interleave_self_attention: true
+  num_inference_timesteps: 4
+  noise_beta_alpha: 1.5
+  noise_beta_beta: 1.0
+  noise_s: 0.999
+  num_timestep_buckets: 1000
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+  state_dropout_prob: 0.2
+  exclude_state: false
+  use_mean_std: false
+  max_num_embodiments: 32
+data:
+  datasets:
+  - dataset_paths:
+    - /home/ubuntu/groot-files/dataset_wbc_train
+    embodiment_tag: unitree_g1_sonic
+    mix_ratio: 1.0
+    dataset_type: physical_embodiment
+    val_dataset_path: null
+  modality_configs:
+    unitree_g1_sonic:
+      video:
+        delta_indices:
+        - 0
+        modality_keys:
+        - ego_view
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+      state:
+        delta_indices:
+        - 0
+        modality_keys:
+        - left_leg
+        - right_leg
+        - waist
+        - left_arm
+        - right_arm
+        - left_hand
+        - right_hand
+        - projected_gravity
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+      action:
+        delta_indices:
+        - 0
+        - 1
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+        - 37
+        - 38
+        - 39
+        modality_keys:
+        - motion_token
+        - left_hand_joints
+        - right_hand_joints
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs:
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+      language:
+        delta_indices:
+        - 0
+        modality_keys:
+        - annotation.human.task_description
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+  download_cache: false
+  shard_size: 1024
+  episode_sampling_rate: 0.1
+  num_shards_per_epoch: 100000
+  override_pretraining_statistics: true
+  mode: single_turn
+  random_chop: 0.0
+  mock_dataset_mode: false
+  shuffle: true
+  seed: 42
+  multiprocessing_context: fork
+  allow_padding: false
+  subsample_ratio: 1.0
+  image_crop_size:
+  - 244
+  - 244
+  image_target_size:
+  - 224
+  - 224
+  video_backend: torchcodec
+training:
+  output_dir: /home/ubuntu/groot-files/checkpoints/run-2026-05-28-101824
+  experiment_name: groot-wbc-8
+  max_steps: 10000
+  global_batch_size: 8
+  batch_size: null
+  gradient_accumulation_steps: 1
+  learning_rate: 0.0001
+  lr_scheduler_type: cosine
+  weight_decay: 1.0e-05
+  warmup_ratio: 0.05
+  warmup_steps: 0
+  max_grad_norm: 1.0
+  optim: adamw_torch
+  start_from_checkpoint: nvidia/GR00T-N1.7-3B
+  skip_weight_loading: false
+  tf32: true
+  fp16: false
+  bf16: true
+  eval_bf16: true
+  logging_steps: 10
+  save_steps: 500
+  save_total_limit: 20
+  save_vl_model: false
+  save_only_model: false
+  upload_checkpoints: false
+  upload_every: 1000
+  upload_last_n_checkpoints: 5
+  max_concurrent_uploads: 2
+  eval_strategy: 'no'
+  eval_steps: 250
+  eval_set_split_ratio: 0.1
+  eval_batch_size: 2
+  save_best_eval_metric_name: ''
+  save_best_eval_metric_greater_is_better: true
+  eval_dataset_path: /home/ubuntu/groot-files/dataset_wbc_eval
+  eval_num_batches: 50
+  deepspeed_stage: 2
+  gradient_checkpointing: false
+  transformers_trust_remote_code: true
+  transformers_local_files_only: false
+  transformers_cache_dir: null
+  transformers_access_token: null
+  use_ddp: false
+  ddp_bucket_cap_mb: 100
+  num_gpus: 1
+  dataloader_num_workers: 6
+  remove_unused_columns: false
+  use_wandb: true
+  wandb_project: groot-wbc
+  enable_profiling: false
+  max_retries: 3
+  assert_loss_less_than: null
+  add_rl_callback: false
+  enable_open_loop_eval: false
+  open_loop_eval_traj_ids:
+  - 0
+  open_loop_eval_steps_per_traj: 100
+  open_loop_eval_plot_indices: null
+max_steps: 10000
+save_steps: 500

groot-wbc-8/checkpoint-4000/experiment_cfg/config.yaml

@@ -0,0 +1,279 @@
+!!python/object:gr00t.configs.base_config.Config
+data: !!python/object:gr00t.configs.data.data_config.DataConfig
+  allow_padding: false
+  datasets:
+  - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
+    dataset_paths:
+    - /home/ubuntu/groot-files/dataset_wbc_train
+    dataset_type: physical_embodiment
+    embodiment_tag: unitree_g1_sonic
+    mix_ratio: 1.0
+    val_dataset_path: null
+  download_cache: false
+  episode_sampling_rate: 0.1
+  image_crop_size:
+  - 244
+  - 244
+  image_target_size:
+  - 224
+  - 224
+  mock_dataset_mode: false
+  modality_configs:
+    unitree_g1_sonic:
+      action: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs:
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
+          - default
+          rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation
+          - absolute
+          state_key: null
+          type: &id003 !!python/object/apply:gr00t.data.types.ActionType
+          - non_eef
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        delta_indices:
+        - 0
+        - 1
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+        - 34
+        - 35
+        - 36
+        - 37
+        - 38
+        - 39
+        mean_std_embedding_keys: null
+        modality_keys:
+        - motion_token
+        - left_hand_joints
+        - right_hand_joints
+        sin_cos_embedding_keys: null
+      language: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - annotation.human.task_description
+        sin_cos_embedding_keys: null
+      state: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - left_leg
+        - right_leg
+        - waist
+        - left_arm
+        - right_arm
+        - left_hand
+        - right_hand
+        - projected_gravity
+        sin_cos_embedding_keys: null
+      video: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - ego_view
+        sin_cos_embedding_keys: null
+  mode: single_turn
+  multiprocessing_context: fork
+  num_shards_per_epoch: 100000
+  override_pretraining_statistics: true
+  random_chop: 0.0
+  seed: 42
+  shard_size: 1024
+  shuffle: true
+  subsample_ratio: 1.0
+  video_backend: torchcodec
+load_config_path: null
+model: !!python/object:gr00t.configs.model.gr00t_n1d7.Gr00tN1d7Config
+  _attn_implementation_internal: null
+  _commit_hash: null
+  _name_or_path: ''
+  _output_attentions: false
+  add_cross_attention: false
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+  bos_token_id: null
+  chunk_size_feed_forward: 0
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+  decoder_start_token_id: null
+  diffusion_model_cfg:
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+    1: LABEL_1
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+  eval_dataset_path: /home/ubuntu/groot-files/dataset_wbc_eval
+  eval_num_batches: 50
+  eval_set_split_ratio: 0.1
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+  eval_strategy: 'no'
+  experiment_name: groot-wbc-8
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+  output_dir: /home/ubuntu/groot-files/checkpoints/run-2026-05-28-101824
+  remove_unused_columns: false
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+  use_wandb: true
+  wandb_project: groot-wbc
+  warmup_ratio: 0.05
+  warmup_steps: 0
+  weight_decay: 1.0e-05

groot-wbc-8/checkpoint-4000/experiment_cfg/dataset_statistics.json

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groot-wbc-8/checkpoint-4000/experiment_cfg/final_model_config.json

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+{
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+  "model_dtype": "bfloat16",
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+  "state_dropout_prob": 0.2,
+  "exclude_state": false,
+  "use_mean_std": false,
+  "max_num_embodiments": 32
+}

groot-wbc-8/checkpoint-4000/processor_config.json

@@ -0,0 +1,1159 @@
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groot-wbc-8/checkpoint-5000/config.json

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+}

groot-wbc-8/checkpoint-5000/embodiment_id.json

@@ -0,0 +1,57 @@
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+  "real_r1_pro_sharpa_relative_eef_human": 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,
+  "real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
+  "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
+  "real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
+  "real_r1_pro_sharpa_relative_eef_mecka": 26,
+  "real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
+  "real_g1_relative_eef_absolute_joints": 25,
+  "real_g1_relative_eef_absolute_joints_wrist_cam": 25,
+  "real_g1_relative_eef_relative_joints": 25,
+  "real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
+  "real_r1_pro_sharpa_relative_joint": 29,
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+  "oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
+  "oxe_droid_relative_eef_relative_joint_3view": 24,
+  "oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
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+  "robocasa_gr1_tabletop": 10
+}

groot-wbc-8/checkpoint-5000/experiment_cfg/conf.yaml

@@ -0,0 +1,253 @@
+load_config_path: null
+model:
+  model_type: Gr00tN1d7
+  model_dtype: bfloat16
+  model_name: nvidia/Cosmos-Reason2-2B
+  backbone_model_type: qwen
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+  backbone_trainable_params_fp32: true
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+  use_relative_action: true
+  max_state_dim: 132
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+  hidden_size: 1024
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+  state_history_length: 1
+  add_pos_embed: true
+  attn_dropout: 0.2
+  use_vlln: true
+  max_seq_len: 1024
+  use_alternate_vl_dit: true
+  attend_text_every_n_blocks: 2
+  diffusion_model_cfg:
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+    num_layers: 16
+    num_attention_heads: 32
+    attention_head_dim: 48
+    norm_type: ada_norm
+    dropout: 0.2
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+    output_dim: 1024
+    interleave_self_attention: true
+  num_inference_timesteps: 4
+  noise_beta_alpha: 1.5
+  noise_beta_beta: 1.0
+  noise_s: 0.999
+  num_timestep_buckets: 1000
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+  state_dropout_prob: 0.2
+  exclude_state: false
+  use_mean_std: false
+  max_num_embodiments: 32
+data:
+  datasets:
+  - dataset_paths:
+    - /home/ubuntu/groot-files/dataset_wbc_train
+    embodiment_tag: unitree_g1_sonic
+    mix_ratio: 1.0
+    dataset_type: physical_embodiment
+    val_dataset_path: null
+  modality_configs:
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+        - right_leg
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+        - right_arm
+        - left_hand
+        - right_hand
+        - projected_gravity
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+        - right_hand_joints
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+        action_configs:
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
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+  download_cache: false
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+  multiprocessing_context: fork
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+  subsample_ratio: 1.0
+  image_crop_size:
+  - 244
+  - 244
+  image_target_size:
+  - 224
+  - 224
+  video_backend: torchcodec
+training:
+  output_dir: /home/ubuntu/groot-files/checkpoints/run-2026-05-28-101824
+  experiment_name: groot-wbc-8
+  max_steps: 10000
+  global_batch_size: 8
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+  gradient_accumulation_steps: 1
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+  start_from_checkpoint: nvidia/GR00T-N1.7-3B
+  skip_weight_loading: false
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+  save_best_eval_metric_name: ''
+  save_best_eval_metric_greater_is_better: true
+  eval_dataset_path: /home/ubuntu/groot-files/dataset_wbc_eval
+  eval_num_batches: 50
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+  remove_unused_columns: false
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+  wandb_project: groot-wbc
+  enable_profiling: false
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+  - 0
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groot-wbc-8/checkpoint-5000/experiment_cfg/config.yaml

@@ -0,0 +1,279 @@
+!!python/object:gr00t.configs.base_config.Config
+data: !!python/object:gr00t.configs.data.data_config.DataConfig
+  allow_padding: false
+  datasets:
+  - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
+    dataset_paths:
+    - /home/ubuntu/groot-files/dataset_wbc_train
+    dataset_type: physical_embodiment
+    embodiment_tag: unitree_g1_sonic
+    mix_ratio: 1.0
+    val_dataset_path: null
+  download_cache: false
+  episode_sampling_rate: 0.1
+  image_crop_size:
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+  - 244
+  image_target_size:
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+  - 224
+  mock_dataset_mode: false
+  modality_configs:
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+        - !!python/object:gr00t.data.types.ActionConfig
+          format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
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+      language: !!python/object:gr00t.data.types.ModalityConfig
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+        modality_keys:
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+      video: !!python/object:gr00t.data.types.ModalityConfig
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groot-wbc-8/checkpoint-5000/experiment_cfg/final_model_config.json

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+  "max_num_embodiments": 32
+}

groot-wbc-8/checkpoint-5000/processor_config.json

@@ -0,0 +1,1159 @@
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groot-wbc-8/checkpoint-5000/wandb_config.json

@@ -0,0 +1 @@
+{"project": "groot-wbc", "run_id": "groot-wbc-8"}

groot-wbc-8/config.json

@@ -0,0 +1,88 @@
+{
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+}

groot-wbc-8/experiment_cfg/conf.yaml

@@ -0,0 +1,253 @@
+load_config_path: null
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+  tune_vlln: true
+  state_dropout_prob: 0.2
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+  use_mean_std: false
+  max_num_embodiments: 32
+data:
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+    - /home/ubuntu/groot-files/dataset_wbc_train
+    embodiment_tag: unitree_g1_sonic
+    mix_ratio: 1.0
+    dataset_type: physical_embodiment
+    val_dataset_path: null
+  modality_configs:
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+  image_crop_size:
+  - 244
+  - 244
+  image_target_size:
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+  - 224
+  video_backend: torchcodec
+training:
+  output_dir: /home/ubuntu/groot-files/checkpoints/run-2026-05-28-101824
+  experiment_name: groot-wbc-8
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+  global_batch_size: 8
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+  start_from_checkpoint: nvidia/GR00T-N1.7-3B
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+  eval_batch_size: 2
+  save_best_eval_metric_name: ''
+  save_best_eval_metric_greater_is_better: true
+  eval_dataset_path: /home/ubuntu/groot-files/dataset_wbc_eval
+  eval_num_batches: 50
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+  remove_unused_columns: false
+  use_wandb: true
+  wandb_project: groot-wbc
+  enable_profiling: false
+  max_retries: 3
+  assert_loss_less_than: null
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+  enable_open_loop_eval: false
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+  - 0
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+max_steps: 10000
+save_steps: 500

groot-wbc-8/experiment_cfg/config.yaml

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+!!python/object:gr00t.configs.base_config.Config
+data: !!python/object:gr00t.configs.data.data_config.DataConfig
+  allow_padding: false
+  datasets:
+  - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
+    dataset_paths:
+    - /home/ubuntu/groot-files/dataset_wbc_train
+    dataset_type: physical_embodiment
+    embodiment_tag: unitree_g1_sonic
+    mix_ratio: 1.0
+    val_dataset_path: null
+  download_cache: false
+  episode_sampling_rate: 0.1
+  image_crop_size:
+  - 244
+  - 244
+  image_target_size:
+  - 224
+  - 224
+  mock_dataset_mode: false
+  modality_configs:
+    unitree_g1_sonic:
+      action: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs:
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
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+          rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation
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+      language: !!python/object:gr00t.data.types.ModalityConfig
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+  optim: adamw_torch
+  output_dir: /home/ubuntu/groot-files/checkpoints/run-2026-05-28-101824
+  remove_unused_columns: false
+  save_best_eval_metric_greater_is_better: true
+  save_best_eval_metric_name: ''
+  save_only_model: false
+  save_steps: 500
+  save_total_limit: 20
+  save_vl_model: false
+  skip_weight_loading: false
+  start_from_checkpoint: nvidia/GR00T-N1.7-3B
+  tf32: true
+  transformers_access_token: null
+  transformers_cache_dir: null
+  transformers_local_files_only: false
+  transformers_trust_remote_code: true
+  upload_checkpoints: false
+  upload_every: 1000
+  upload_last_n_checkpoints: 5
+  use_ddp: false
+  use_wandb: true
+  wandb_project: groot-wbc
+  warmup_ratio: 0.05
+  warmup_steps: 0
+  weight_decay: 1.0e-05

groot-wbc-8/experiment_cfg/dataset_statistics.json

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+}

groot-wbc-8/experiment_cfg/final_model_config.json

@@ -0,0 +1,55 @@
+{
+  "model_type": "Gr00tN1d7",
+  "model_dtype": "bfloat16",
+  "model_name": "nvidia/Cosmos-Reason2-2B",
+  "backbone_model_type": "qwen",
+  "model_revision": null,
+  "tune_top_llm_layers": 0,
+  "backbone_embedding_dim": 2048,
+  "tune_llm": false,
+  "tune_visual": false,
+  "select_layer": 16,
+  "reproject_vision": false,
+  "use_flash_attention": true,
+  "load_bf16": false,
+  "backbone_trainable_params_fp32": true,
+  "extra_augmentation_config": null,
+  "apply_sincos_state_encoding": false,
+  "use_percentiles": true,
+  "use_relative_action": false,
+  "max_state_dim": 132,
+  "max_action_dim": 132,
+  "action_horizon": 40,
+  "hidden_size": 1024,
+  "input_embedding_dim": 1536,
+  "state_history_length": 1,
+  "add_pos_embed": true,
+  "attn_dropout": 0.2,
+  "use_vlln": true,
+  "max_seq_len": 1024,
+  "use_alternate_vl_dit": true,
+  "attend_text_every_n_blocks": 2,
+  "diffusion_model_cfg": {
+    "attention_head_dim": 48,
+    "dropout": 0.2,
+    "final_dropout": true,
+    "interleave_self_attention": true,
+    "norm_type": "ada_norm",
+    "num_attention_heads": 32,
+    "num_layers": 32,
+    "output_dim": 1024,
+    "positional_embeddings": null
+  },
+  "num_inference_timesteps": 4,
+  "noise_beta_alpha": 1.5,
+  "noise_beta_beta": 1.0,
+  "noise_s": 0.999,
+  "num_timestep_buckets": 1000,
+  "tune_projector": true,
+  "tune_diffusion_model": true,
+  "tune_vlln": true,
+  "state_dropout_prob": 0.2,
+  "exclude_state": false,
+  "use_mean_std": false,
+  "max_num_embodiments": 32
+}

groot-wbc-8/wandb_config.json

@@ -0,0 +1 @@
+{"project": "groot-wbc", "run_id": "groot-wbc-8"}

training_params.txt

@@ -0,0 +1,22 @@
+timestamp           = 2026-05-28T10:18:24+00:00
+log_file            = /home/ubuntu/groot-files/logs/train-2026-05-28-101824.log
+base_model          = nvidia/GR00T-N1.7-3B
+embodiment_tag      = UNITREE_G1_SONIC
+dataset_dir         = /home/ubuntu/groot-files/dataset_wbc_train
+eval_dataset_dir    = /home/ubuntu/groot-files/dataset_wbc_eval
+eval_steps          = 250
+eval_num_batches    = 50
+checkpoint_dir      = /home/ubuntu/groot-files/checkpoints/run-2026-05-28-101824
+num_gpus            = 1
+global_batch_size   = 8
+max_steps           = 10000
+save_steps          = 500
+save_total_limit    = 20
+learning_rate       = 1e-4
+warmup_ratio        = 0.05
+weight_decay        = 1e-5
+dataloader_workers  = 6
+resume              = <none>
+use_wandb           = 1
+wandb_project       = groot-wbc
+wandb_run_name      = groot-wbc-8