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gr00t-atomic-baseline

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  1. experiment_cfg/conf.yaml +304 -0
  2. experiment_cfg/config.yaml +340 -0
  3. experiment_cfg/dataset_statistics.json +317 -0
  4. experiment_cfg/final_model_config.json +53 -0
  5. experiment_cfg/final_processor_config.json +0 -0
experiment_cfg/conf.yaml ADDED
@@ -0,0 +1,304 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ load_config_path: null
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+ model:
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+ model_type: Gr00tN1d6
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+ model_dtype: bfloat16
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+ model_name: nvidia/Eagle-Block2A-2B-v2
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+ backbone_model_type: eagle
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+ model_revision: null
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+ tune_top_llm_layers: 4
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+ backbone_embedding_dim: 2048
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+ tune_llm: false
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+ tune_visual: false
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+ select_layer: 16
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+ reproject_vision: false
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+ use_flash_attention: true
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+ load_bf16: false
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+ collator_overwrite_image_inputs: false
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+ eagle_collator: true
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+ backbone_trainable_params_fp32: true
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+ image_crop_size: null
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+ image_target_size: null
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+ shortest_image_edge: 256
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+ crop_fraction: 0.95
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+ random_rotation_angle: null
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+ color_jitter_params: null
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+ use_albumentations_transforms: true
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+ formalize_language: true
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+ apply_sincos_state_encoding: false
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+ use_relative_action: true
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+ max_state_dim: 29
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+ max_action_dim: 29
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+ action_horizon: 16
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+ hidden_size: 1024
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+ input_embedding_dim: 1536
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+ add_pos_embed: true
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+ attn_dropout: 0.2
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+ use_vlln: true
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+ max_seq_len: 1024
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+ use_alternate_vl_dit: true
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+ attend_text_every_n_blocks: 2
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+ diffusion_model_cfg:
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+ positional_embeddings: null
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+ num_layers: 32
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+ num_attention_heads: 32
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+ attention_head_dim: 48
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+ norm_type: ada_norm
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+ dropout: 0.2
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+ final_dropout: true
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+ output_dim: 1024
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+ interleave_self_attention: true
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+ num_inference_timesteps: 4
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+ noise_beta_alpha: 1.5
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+ noise_beta_beta: 1.0
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+ noise_s: 0.999
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+ num_timestep_buckets: 1000
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+ tune_projector: true
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+ tune_diffusion_model: true
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+ tune_vlln: true
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+ state_dropout_prob: 0.0
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+ state_additive_noise_scale: 0.0
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+ max_num_embodiments: 32
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+ data:
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+ datasets:
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+ - dataset_paths:
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CheesyBread/20250714/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseBlenderLid/20250822/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseCabinet/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseDishwasher/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseDrawer/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseFridge/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseMicrowave/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseOven/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseStandMixerHead/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CoffeeServeMug/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CoffeeSetupMug/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/LowerHeat/20250805/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/MakeIcedCoffee/20250801/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenBlenderLid/20250822/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenCabinet/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenDishwasher/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenDrawer/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenFridge/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenMicrowave/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenOven/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenStandMixerHead/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenToasterOvenDoor/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PackDessert/20250806/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToDrawer/20250821/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToSink/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceCounterToToasterOven/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceFridgeShelfToDrawer/20250821/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceStoveToCounter/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/PreheatOven/20250903/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/SlideDishwasherRack/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/SlideOvenRack/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/SlideToasterOvenRack/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/StartCoffeeMachine/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOffMicrowave/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOffStove/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOnBlender/20250822/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOnMicrowave/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOnStove/20250819/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOnToaster/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnOnToasterOven/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/TurnSinkSpout/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/target/atomic/CloseBlenderLid/20250822/lerobot
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+ - /root/robocasa/datasets/v1.0_train/target/atomic/CloseFridge/20250816/lerobot
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+ - /root/robocasa/datasets/v1.0_train/target/atomic/CloseToasterOvenDoor/20250818/lerobot
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+ - /root/robocasa/datasets/v1.0_train/target/atomic/CoffeeSetupMug/20250813/lerobot
132
+ - /root/robocasa/datasets/v1.0_train/target/atomic/OpenCabinet/20250813/lerobot
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+ - /root/robocasa/datasets/v1.0_train/target/atomic/OpenDrawer/20250816/lerobot
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+ - /root/robocasa/datasets/v1.0_train/target/atomic/OpenStandMixerHead/20250818/lerobot
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+ - /root/robocasa/datasets/v1.0_train/target/atomic/PickPlaceCounterToCabinet/20250811/lerobot
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+ - /root/robocasa/datasets/v1.0_train/target/atomic/PickPlaceCounterToStove/20250818/lerobot
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+ - /root/robocasa/datasets/v1.0_train/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/target/atomic/PickPlaceSinkToCounter/20250813/lerobot
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+ - /root/robocasa/datasets/v1.0_train/target/atomic/PickPlaceToasterToCounter/20250817/lerobot
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+ - /root/robocasa/datasets/v1.0_train/target/atomic/SlideDishwasherRack/20250820/lerobot
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+ - /root/robocasa/datasets/v1.0_train/target/atomic/TurnOffStove/20250812/lerobot
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+ - /root/robocasa/datasets/v1.0_train/target/atomic/TurnOnElectricKettle/20250817/lerobot
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+ - /root/robocasa/datasets/v1.0_train/target/atomic/TurnOnMicrowave/20250813/lerobot
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+ - /root/robocasa/datasets/v1.0_train/target/atomic/TurnOnSinkFaucet/20250812/lerobot
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+ embodiment_tag: robocasa_panda_omron
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+ mix_ratio: 1.0
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+ dataset_type: physical_embodiment
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+ val_dataset_path: null
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+ modality_configs:
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+ robocasa_panda_omron:
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+ video:
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+ delta_indices:
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+ - 0
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+ modality_keys:
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+ - res256_image_side_0
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+ - res256_image_side_1
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+ - res256_image_wrist_0
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+ sin_cos_embedding_keys: null
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+ mean_std_embedding_keys: null
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+ action_configs: null
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+ state:
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+ delta_indices:
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+ - 0
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+ modality_keys:
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+ - end_effector_position_relative
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+ - end_effector_rotation_relative
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+ - gripper_qpos
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+ - base_position
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+ - base_rotation
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+ sin_cos_embedding_keys: null
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+ mean_std_embedding_keys: null
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+ action_configs: null
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+ action:
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+ delta_indices:
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+ - 0
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+ - 1
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+ - 2
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+ - 3
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+ - 4
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+ - 5
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+ - 6
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+ - 7
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+ - 8
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+ - 9
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+ - 10
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+ - 11
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+ - 12
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+ - 13
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+ - 14
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+ - 15
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+ modality_keys:
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+ - end_effector_position
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+ - end_effector_rotation
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+ - gripper_close
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+ - base_motion
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+ - control_mode
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+ sin_cos_embedding_keys: null
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+ mean_std_embedding_keys: null
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+ action_configs:
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+ - rep: ABSOLUTE
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+ type: NON_EEF
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+ format: DEFAULT
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+ state_key: null
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+ - rep: ABSOLUTE
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+ type: NON_EEF
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+ format: DEFAULT
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+ state_key: null
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+ - rep: ABSOLUTE
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+ type: NON_EEF
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+ format: DEFAULT
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+ state_key: null
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+ - rep: ABSOLUTE
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+ type: NON_EEF
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+ format: DEFAULT
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+ state_key: null
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+ - rep: ABSOLUTE
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+ type: NON_EEF
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+ format: DEFAULT
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+ state_key: null
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+ language:
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+ delta_indices:
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+ - 0
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+ modality_keys:
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+ - annotation.human.task_description
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+ sin_cos_embedding_keys: null
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+ mean_std_embedding_keys: null
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+ action_configs: null
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+ download_cache: false
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+ shard_size: 1024
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+ episode_sampling_rate: 0.1
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+ num_shards_per_epoch: 100000
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+ override_pretraining_statistics: false
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+ mode: single_turn
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+ random_chop: 0.0
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+ mock_dataset_mode: false
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+ shuffle: true
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+ seed: 42
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+ multiprocessing_context: fork
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+ allow_padding: false
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+ subsample_ratio: 1.0
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+ image_crop_size:
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+ - 244
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+ - 244
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+ image_target_size:
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+ - 224
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+ - 224
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+ video_backend: torchcodec
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+ training:
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+ output_dir: /root/outputs/gr00t-robocasa-v1
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+ experiment_name: null
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+ max_steps: 50000
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+ global_batch_size: 64
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+ batch_size: null
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+ gradient_accumulation_steps: 1
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+ learning_rate: 0.0001
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+ lr_scheduler_type: cosine
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+ weight_decay: 1.0e-05
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+ warmup_ratio: 0.05
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+ warmup_steps: 0
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+ max_grad_norm: 1.0
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+ optim: adamw_torch
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+ start_from_checkpoint: nvidia/GR00T-N1.6-3B
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+ tf32: true
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+ fp16: false
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+ bf16: true
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+ eval_bf16: true
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+ logging_steps: 10
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+ save_steps: 2500
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+ save_total_limit: 5
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+ save_vl_model: false
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+ upload_checkpoints: false
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+ upload_every: 1000
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+ upload_last_n_checkpoints: 5
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+ max_concurrent_uploads: 2
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+ eval_strategy: 'no'
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+ eval_steps: 500
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+ eval_set_split_ratio: 0.1
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+ eval_batch_size: 2
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+ save_best_eval_metric_name: ''
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+ save_best_eval_metric_greater_is_better: true
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+ deepspeed_stage: 2
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+ gradient_checkpointing: false
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+ transformers_trust_remote_code: true
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+ transformers_local_files_only: false
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+ transformers_cache_dir: null
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+ transformers_access_token: null
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+ use_ddp: false
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+ ddp_bucket_cap_mb: 100
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+ num_gpus: 8
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+ dataloader_num_workers: 4
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+ remove_unused_columns: false
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+ use_wandb: false
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+ wandb_project: finetune-gr00t-n1d6
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+ enable_profiling: false
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+ max_retries: 3
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+ assert_loss_less_than: null
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+ add_rl_callback: false
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+ enable_open_loop_eval: false
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+ open_loop_eval_traj_ids:
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+ - 0
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+ open_loop_eval_steps_per_traj: 100
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+ open_loop_eval_plot_indices: null
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+ max_steps: 50000
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+ save_steps: 2500
experiment_cfg/config.yaml ADDED
@@ -0,0 +1,340 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ !!python/object:gr00t.configs.base_config.Config
2
+ data: !!python/object:gr00t.configs.data.data_config.DataConfig
3
+ allow_padding: false
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+ datasets:
5
+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
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+ dataset_paths:
7
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot
8
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot
9
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CheesyBread/20250714/lerobot
10
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseBlenderLid/20250822/lerobot
11
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseCabinet/20250819/lerobot
12
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseDishwasher/20250820/lerobot
13
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseDrawer/20250819/lerobot
14
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot
15
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseFridge/20250819/lerobot
16
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot
17
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseMicrowave/20250819/lerobot
18
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseOven/20250820/lerobot
19
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseStandMixerHead/20250820/lerobot
20
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot
21
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CoffeeServeMug/20250819/lerobot
22
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/CoffeeSetupMug/20250819/lerobot
23
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/LowerHeat/20250805/lerobot
24
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/MakeIcedCoffee/20250801/lerobot
25
+ - /root/robocasa/datasets/v1.0_train/pretrain/atomic/OpenBlenderLid/20250822/lerobot
26
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