| !!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: |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CheesyBread/20250714/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseBlenderLid/20250822/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseCabinet/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseDishwasher/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseDrawer/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseFridge/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseMicrowave/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseOven/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseStandMixerHead/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CoffeeServeMug/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CoffeeSetupMug/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/LowerHeat/20250805/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/MakeIcedCoffee/20250801/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenBlenderLid/20250822/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenCabinet/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenDishwasher/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenDrawer/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenFridge/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenMicrowave/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenOven/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenStandMixerHead/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenToasterOvenDoor/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PackDessert/20250806/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToSink/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToToasterOven/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceStoveToCounter/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PreheatOven/20250903/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/SlideDishwasherRack/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/SlideOvenRack/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/SlideToasterOvenRack/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/StartCoffeeMachine/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOffMicrowave/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOffStove/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOnBlender/20250822/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOnMicrowave/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOnStove/20250819/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOnToaster/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOnToasterOven/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnSinkSpout/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/CloseBlenderLid/20250822/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/CloseFridge/20250816/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/CloseToasterOvenDoor/20250818/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/CoffeeSetupMug/20250813/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/OpenCabinet/20250813/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/OpenDrawer/20250816/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/OpenStandMixerHead/20250818/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/PickPlaceCounterToCabinet/20250811/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/PickPlaceCounterToStove/20250818/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/PickPlaceSinkToCounter/20250813/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/PickPlaceToasterToCounter/20250817/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/SlideDishwasherRack/20250820/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/TurnOffStove/20250812/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/TurnOnElectricKettle/20250817/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/TurnOnMicrowave/20250813/lerobot |
| - /root/robocasa/datasets/v1.0_train/target/atomic/TurnOnSinkFaucet/20250812/lerobot |
| dataset_type: physical_embodiment |
| embodiment_tag: robocasa_panda_omron |
| 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: |
| robocasa_panda_omron: |
| 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 |
| - !!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 |
| mean_std_embedding_keys: null |
| modality_keys: |
| - end_effector_position |
| - end_effector_rotation |
| - gripper_close |
| - base_motion |
| - control_mode |
| 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: |
| - end_effector_position_relative |
| - end_effector_rotation_relative |
| - gripper_qpos |
| - base_position |
| - base_rotation |
| 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: |
| - res256_image_side_0 |
| - res256_image_side_1 |
| - res256_image_wrist_0 |
| sin_cos_embedding_keys: null |
| mode: single_turn |
| multiprocessing_context: fork |
| num_shards_per_epoch: 100000 |
| override_pretraining_statistics: false |
| 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_n1d6.Gr00tN1d6Config |
| _attn_implementation_autoset: false |
| _attn_implementation_internal: null |
| _commit_hash: null |
| _name_or_path: '' |
| add_cross_attention: false |
| architectures: null |
| backbone_model_type: eagle |
| 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: null |
| 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: 32 |
| output_dim: 1024 |
| positional_embeddings: null |
| diversity_penalty: 0.0 |
| do_sample: false |
| eagle_collator: true |
| early_stopping: false |
| encoder_no_repeat_ngram_size: 0 |
| eos_token_id: null |
| exponential_decay_length_penalty: 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/Eagle-Block2A-2B-v2 |
| no_repeat_ngram_size: 0 |
| num_beam_groups: 1 |
| num_beams: 1 |
| num_return_sequences: 1 |
| output_attentions: false |
| 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: 0.0 |
| 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 |
| torch_dtype: null |
| 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: 4 |
| ddp_bucket_cap_mb: 100 |
| deepspeed_stage: 2 |
| enable_open_loop_eval: false |
| enable_profiling: false |
| eval_batch_size: 2 |
| eval_bf16: true |
| eval_set_split_ratio: 0.1 |
| eval_steps: 500 |
| eval_strategy: 'no' |
| experiment_name: null |
| fp16: false |
| global_batch_size: 64 |
| 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: 50000 |
| num_gpus: 8 |
| open_loop_eval_plot_indices: null |
| open_loop_eval_steps_per_traj: 100 |
| open_loop_eval_traj_ids: |
| - 0 |
| optim: adamw_torch |
| output_dir: /root/outputs/gr00t-robocasa-v1 |
| remove_unused_columns: false |
| save_best_eval_metric_greater_is_better: true |
| save_best_eval_metric_name: '' |
| save_steps: 2500 |
| save_total_limit: 5 |
| save_vl_model: false |
| start_from_checkpoint: nvidia/GR00T-N1.6-3B |
| 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: false |
| wandb_project: finetune-gr00t-n1d6 |
| warmup_ratio: 0.05 |
| warmup_steps: 0 |
| weight_decay: 1.0e-05 |
|
|
