Add files using upload-large-folder tool

config.json

@@ -0,0 +1,70 @@
+{
+  "action_horizon": 50,
+  "add_pos_embed": true,
+  "apply_sincos_state_encoding": true,
+  "architectures": [
+    "Gr00tN1d6"
+  ],
+  "attn_dropout": 0.2,
+  "attn_implementation": null,
+  "backbone_embedding_dim": 2048,
+  "backbone_model_type": "eagle",
+  "backbone_trainable_params_fp32": true,
+  "collator_overwrite_image_inputs": false,
+  "color_jitter_params": {
+    "brightness": 0.1,
+    "contrast": 0.1,
+    "hue": 0.1,
+    "saturation": 0.1
+  },
+  "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
+  },
+  "eagle_collator": true,
+  "formalize_language": true,
+  "gemma_collator": false,
+  "hidden_size": 1024,
+  "image_crop_size": null,
+  "image_target_size": null,
+  "input_embedding_dim": 1536,
+  "load_bf16": true,
+  "max_action_dim": 128,
+  "max_num_embodiments": 32,
+  "max_seq_len": 1024,
+  "max_state_dim": 128,
+  "model_dtype": "bfloat16",
+  "model_name": "nvidia/Eagle-Block2A-2B-v2",
+  "model_type": "Gr00tN1d6",
+  "noise_beta_alpha": 1.5,
+  "noise_beta_beta": 1.0,
+  "noise_s": 0.999,
+  "num_inference_timesteps": 4,
+  "num_timestep_buckets": 1000,
+  "random_rotation_angle": null,
+  "reproject_vision": false,
+  "select_layer": 16,
+  "shortest_image_edge": 256,
+  "state_dropout_prob": 0.0,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3",
+  "tune_diffusion_model": true,
+  "tune_llm": false,
+  "tune_projector": true,
+  "tune_top_llm_layers": 4,
+  "tune_visual": false,
+  "tune_vlln": true,
+  "use_albumentations_transforms": true,
+  "use_alternate_vl_dit": true,
+  "use_flash_attention": true,
+  "use_relative_action": true,
+  "use_vlln": true
+}

embodiment_id.json

@@ -0,0 +1,11 @@
+{
+  "robocasa_panda_omron": 13,
+  "gr1": 20,
+  "behavior_r1_pro": 24,
+  "unitree_g1": 8,
+  "oxe_google": 0,
+  "oxe_widowx": 1,
+  "libero_panda": 2,
+  "oxe_droid": 16,
+  "new_embodiment": 10
+}

experiment_cfg/conf.yaml

@@ -0,0 +1,208 @@
+load_config_path: null
+model:
+  model_type: Gr00tN1d6
+  model_dtype: bfloat16
+  model_name: nvidia/Eagle-Block2A-2B-v2
+  backbone_model_type: eagle
+  model_revision: null
+  tune_top_llm_layers: 4
+  backbone_embedding_dim: 2048
+  tune_llm: false
+  tune_visual: false
+  select_layer: 16
+  reproject_vision: false
+  use_flash_attention: true
+  load_bf16: false
+  collator_overwrite_image_inputs: false
+  eagle_collator: true
+  backbone_trainable_params_fp32: true
+  image_crop_size: null
+  image_target_size: null
+  shortest_image_edge: 256
+  crop_fraction: 0.95
+  random_rotation_angle: null
+  color_jitter_params:
+    brightness: 0.3
+    contrast: 0.4
+    saturation: 0.5
+    hue: 0.08
+  use_albumentations_transforms: true
+  formalize_language: true
+  apply_sincos_state_encoding: false
+  use_relative_action: true
+  max_state_dim: 29
+  max_action_dim: 29
+  action_horizon: 16
+  hidden_size: 1024
+  input_embedding_dim: 1536
+  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: 32
+    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: 0.0
+  state_additive_noise_scale: 0.0
+  max_num_embodiments: 32
+data:
+  datasets:
+  - dataset_paths:
+    - /workspace/checkpoints/Dongkkka/Box_Packing_0320_lerobot
+    embodiment_tag: new_embodiment
+    mix_ratio: 1.0
+    dataset_type: physical_embodiment
+    val_dataset_path: null
+  modality_configs:
+    new_embodiment:
+      video:
+        delta_indices:
+        - 0
+        modality_keys:
+        - cam_left_head
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+      state:
+        delta_indices:
+        - 0
+        modality_keys:
+        - arm_left
+        - arm_right
+        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
+        - 10
+        - 11
+        - 12
+        - 13
+        - 14
+        - 15
+        modality_keys:
+        - arm_left
+        - arm_right
+        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
+      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: false
+  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: /workspace/checkpoints/model/Box_Packing_0320_lerobot_model
+  experiment_name: null
+  max_steps: 50000
+  global_batch_size: 48
+  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-N1.6-3B
+  tf32: true
+  fp16: false
+  bf16: true
+  eval_bf16: true
+  logging_steps: 10
+  save_steps: 10000
+  save_total_limit: 10
+  save_vl_model: false
+  upload_checkpoints: false
+  upload_every: 1000
+  upload_last_n_checkpoints: 5
+  max_concurrent_uploads: 2
+  eval_strategy: 'no'
+  eval_steps: 500
+  eval_set_split_ratio: 0.1
+  eval_batch_size: 2
+  save_best_eval_metric_name: ''
+  save_best_eval_metric_greater_is_better: true
+  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: 8
+  remove_unused_columns: false
+  use_wandb: false
+  wandb_project: finetune-gr00t-n1d6
+  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: 50000
+save_steps: 10000

experiment_cfg/config.yaml

@@ -0,0 +1,241 @@
+!!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:
+    - /workspace/checkpoints/Dongkkka/Box_Packing_0320_lerobot
+    dataset_type: physical_embodiment
+    embodiment_tag: new_embodiment
+    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:
+    new_embodiment:
+      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
+        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:
+        - arm_left
+        - arm_right
+        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:
+        - arm_left
+        - arm_right
+        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:
+        - cam_left_head
+        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:
+    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: 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: 8
+  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: 48
+  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: 1
+  open_loop_eval_plot_indices: null
+  open_loop_eval_steps_per_traj: 100
+  open_loop_eval_traj_ids:
+  - 0
+  optim: adamw_torch
+  output_dir: /workspace/checkpoints/model/Box_Packing_0320_lerobot_model
+  remove_unused_columns: false
+  save_best_eval_metric_greater_is_better: true
+  save_best_eval_metric_name: ''
+  save_steps: 10000
+  save_total_limit: 10
+  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

experiment_cfg/dataset_statistics.json

@@ -0,0 +1,257 @@
+{
+  "new_embodiment": {
+    "state": {
+      "arm_left": {
+        "min": [
+          -1.040446400642395,
+          -0.00017976337403524667,
+          -1.2547483444213867,
+          -2.3187437057495117,
+          -1.3268334865570068,
+          -0.9030593037605286,
+          -1.2854517698287964,
+          0.0
+        ],
+        "max": [
+          0.9663000106811523,
+          0.7367781400680542,
+          0.5400571227073669,
+          -0.7592845559120178,
+          1.5720906257629395,
+          1.5657269954681396,
+          0.2666449248790741,
+          1.0
+        ],
+        "mean": [
+          0.049500223249197006,
+          0.202315092086792,
+          -0.14248345792293549,
+          -1.7501721382141113,
+          -0.11155878007411957,
+          0.15117862820625305,
+          -0.20862539112567902,
+          0.421645849943161
+        ],
+        "std": [
+          0.48967358469963074,
+          0.13500156998634338,
+          0.3402341604232788,
+          0.24770542979240417,
+          0.5848802328109741,
+          0.48957449197769165,
+          0.24857880175113678,
+          0.38907936215400696
+        ],
+        "q01": [
+          -0.94666987657547,
+          0.0,
+          -1.068766963481903,
+          -2.1590683579444887,
+          -1.1686416864395142,
+          -0.5971877157688141,
+          -1.0124290406703949,
+          0.11042070388793945
+        ],
+        "q99": [
+          0.8475315928459172,
+          0.5942887216806414,
+          0.3706948429346091,
+          -1.028668290376662,
+          1.1839396059513096,
+          1.3001326322555542,
+          0.15171746462583544,
+          1.0
+        ]
+      },
+      "arm_right": {
+        "min": [
+          -0.6212142705917358,
+          -0.8272590637207031,
+          -1.2627418041229248,
+          -2.7542264461517334,
+          -0.49333062767982483,
+          -0.7774885892868042,
+          -0.7931810617446899,
+          0.0
+        ],
+        "max": [
+          0.6666824221611023,
+          -0.0020013656467199326,
+          0.4161761701107025,
+          -0.48478585481643677,
+          1.6210821866989136,
+          0.4454296827316284,
+          0.22090955078601837,
+          0.22853723168373108
+        ],
+        "mean": [
+          -0.12877272069454193,
+          -0.2153315395116806,
+          -0.04238507151603699,
+          -1.434108018875122,
+          0.27934524416923523,
+          -0.3126658797264099,
+          -0.25879907608032227,
+          0.16445133090019226
+        ],
+        "std": [
+          0.32200026512145996,
+          0.09513258934020996,
+          0.3042828142642975,
+          0.8548151850700378,
+          0.597506046295166,
+          0.2752605080604553,
+          0.2458854615688324,
+          0.023125283420085907
+        ],
+        "q01": [
+          -0.541259127855301,
+          -0.49224483519792556,
+          -0.8095595329999924,
+          -2.591925394535065,
+          -0.35722817331552503,
+          -0.7064988255500794,
+          -0.6845486432313919,
+          0.12166989594697952
+        ],
+        "q99": [
+          0.4248299956321717,
+          -0.06495329849421971,
+          0.315976083278656,
+          -0.5046437382698059,
+          1.4662519514560723,
+          0.2226938612759115,
+          0.20540948137640974,
+          0.22010032832622528
+        ]
+      }
+    },
+    "action": {
+      "arm_left": {
+        "min": [
+          -1.0400389432907104,
+          -0.3067961633205414,
+          -1.2547962665557861,
+          -2.322446823120117,
+          -1.3268933296203613,
+          -0.9087768793106079,
+          -1.2854758501052856,
+          -0.2644738256931305
+        ],
+        "max": [
+          0.9664078950881958,
+          0.7378447651863098,
+          0.5445631742477417,
+          -0.7593204975128174,
+          1.572330355644226,
+          1.564000129699707,
+          0.2684466242790222,
+          2.259845018386841
+        ],
+        "mean": [
+          0.051741912961006165,
+          0.1994943916797638,
+          -0.14148958027362823,
+          -1.7508922815322876,
+          -0.11110030859708786,
+          0.14937299489974976,
+          -0.20768238604068756,
+          0.7344653010368347
+        ],
+        "std": [
+          0.48878252506256104,
+          0.14125312864780426,
+          0.3398240804672241,
+          0.24780994653701782,
+          0.5844447016716003,
+          0.4887670874595642,
+          0.24728405475616455,
+          0.967104434967041
+        ],
+        "q01": [
+          -0.9464661478996277,
+          -0.11044661700725555,
+          -1.0707186460494995,
+          -2.1598448753356934,
+          -1.1688933372497559,
+          -0.5958448052406311,
+          -1.0047574043273926,
+          0.0325048454105854
+        ],
+        "q99": [
+          0.8499020785093352,
+          0.5951845645904541,
+          0.37275734543800354,
+          -1.0277671813964844,
+          1.1857671737670898,
+          1.300155520439148,
+          0.15186409652233124,
+          2.249720573425293
+        ]
+      },
+      "arm_right": {
+        "min": [
+          -0.6212621927261353,
+          -0.8283496499061584,
+          -1.3606410026550293,
+          -2.756563425064087,
+          -0.4939418137073517,
+          -0.7829904556274414,
+          -0.7930680513381958,
+          -0.1328582763671875
+        ],
+        "max": [
+          0.6795535087585449,
+          -0.0015339808305725455,
+          0.4218447208404541,
+          -0.48473793268203735,
+          1.6244856119155884,
+          0.45033010840415955,
+          0.2208932340145111,
+          0.17424467206001282
+        ],
+        "mean": [
+          -0.1264759600162506,
+          -0.21621093153953552,
+          -0.0449027381837368,
+          -1.4389472007751465,
+          0.2804511487483978,
+          -0.31131044030189514,
+          -0.25912487506866455,
+          0.09730902314186096
+        ],
+        "std": [
+          0.3228287994861603,
+          0.09637373685836792,
+          0.30746692419052124,
+          0.8555927872657776,
+          0.5972351431846619,
+          0.27582842111587524,
+          0.2455405592918396,
+          0.02781537175178528
+        ],
+        "q01": [
+          -0.5414952039718628,
+          -0.4970097839832306,
+          -0.8160777688026428,
+          -2.5954954624176025,
+          -0.3574175238609314,
+          -0.7062913775444031,
+          -0.6841554045677185,
+          0.046003878116607666
+        ],
+        "q99": [
+          0.424912691116333,
+          -0.06442718952894211,
+          0.3160000443458557,
+          -0.5046796798706055,
+          1.4695535898208618,
+          0.22636891901493073,
+          0.20555342733860016,
+          0.1641203910112381
+        ]
+      }
+    },
+    "relative_action": {}
+  }
+}

experiment_cfg/final_model_config.json

@@ -0,0 +1,53 @@
+{
+  "model_type": "Gr00tN1d6",
+  "model_dtype": "bfloat16",
+  "model_name": "nvidia/Eagle-Block2A-2B-v2",
+  "backbone_model_type": "eagle",
+  "model_revision": null,
+  "tune_top_llm_layers": 4,
+  "backbone_embedding_dim": 2048,
+  "tune_llm": false,
+  "tune_visual": false,
+  "select_layer": 16,
+  "reproject_vision": false,
+  "use_flash_attention": true,
+  "load_bf16": true,
+  "collator_overwrite_image_inputs": false,
+  "eagle_collator": true,
+  "backbone_trainable_params_fp32": true,
+  "apply_sincos_state_encoding": true,
+  "use_relative_action": true,
+  "max_state_dim": 128,
+  "max_action_dim": 128,
+  "action_horizon": 50,
+  "hidden_size": 1024,
+  "input_embedding_dim": 1536,
+  "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": 0.0,
+  "state_additive_noise_scale": 0.0,
+  "max_num_embodiments": 32
+}

model-00001-of-00002.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b756336c9722175b4a898c726985060fd5cb5b6ac316674fc18be50bab14c57e
+size 4990120184

model-00002-of-00002.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae3c25fd466d72686cf47ef52ebfdf93450d06b32bd2faea2050dcbdc1529964
+size 4823190320

processor_config.json

@@ -0,0 +1,454 @@
+{
+  "processor_class": "Gr00tN1d6Processor",
+  "processor_kwargs": {
+    "modality_configs": {
+      "behavior_r1_pro": {
+        "video": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "observation.images.rgb.head_256_256",
+            "observation.images.rgb.left_wrist_256_256",
+            "observation.images.rgb.right_wrist_256_256"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "state": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "robot_pos",
+            "robot_ori_cos",
+            "robot_ori_sin",
+            "robot_2d_ori",
+            "robot_2d_ori_cos",
+            "robot_2d_ori_sin",
+            "robot_lin_vel",
+            "robot_ang_vel",
+            "arm_left_qpos",
+            "arm_left_qpos_sin",
+            "arm_left_qpos_cos",
+            "eef_left_pos",
+            "eef_left_quat",
+            "gripper_left_qpos",
+            "arm_right_qpos",
+            "arm_right_qpos_sin",
+            "arm_right_qpos_cos",
+            "eef_right_pos",
+            "eef_right_quat",
+            "gripper_right_qpos",
+            "trunk_qpos"
+          ],
+          "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,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31
+          ],
+          "modality_keys": [
+            "base",
+            "torso",
+            "left_arm",
+            "left_gripper",
+            "right_arm",
+            "right_gripper"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": [
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "trunk_qpos"
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "arm_left_qpos"
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "arm_right_qpos"
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            }
+          ]
+        },
+        "language": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "annotation.human.coarse_action"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        }
+      },
+      "gr1": {
+        "video": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "ego_view_bg_crop_pad_res256_freq20"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "state": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "left_arm",
+            "right_arm",
+            "left_hand",
+            "right_hand",
+            "waist"
+          ],
+          "sin_cos_embedding_keys": [
+            "left_arm",
+            "right_arm",
+            "left_hand",
+            "right_hand",
+            "waist"
+          ],
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "action": {
+          "delta_indices": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15
+          ],
+          "modality_keys": [
+            "left_arm",
+            "right_arm",
+            "left_hand",
+            "right_hand",
+            "waist"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": [
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            }
+          ]
+        },
+        "language": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "task"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        }
+      },
+      "robocasa_panda_omron": {
+        "video": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "res256_image_side_0",
+            "res256_image_side_1",
+            "res256_image_wrist_0"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "state": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "end_effector_position_relative",
+            "end_effector_rotation_relative",
+            "gripper_qpos",
+            "base_position",
+            "base_rotation"
+          ],
+          "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,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15
+          ],
+          "modality_keys": [
+            "end_effector_position",
+            "end_effector_rotation",
+            "gripper_close",
+            "base_motion",
+            "control_mode"
+          ],
+          "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
+            },
+            {
+              "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.action.task_description"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        }
+      },
+      "new_embodiment": {
+        "video": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "cam_left_head"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "state": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "arm_left",
+            "arm_right"
+          ],
+          "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,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15
+          ],
+          "modality_keys": [
+            "arm_left",
+            "arm_right"
+          ],
+          "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
+            }
+          ]
+        },
+        "language": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "annotation.human.task_description"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        }
+      }
+    },
+    "image_crop_size": null,
+    "image_target_size": null,
+    "use_albumentations": true,
+    "random_rotation_angle": null,
+    "color_jitter_params": {
+      "brightness": 0.3,
+      "contrast": 0.4,
+      "saturation": 0.5,
+      "hue": 0.08
+    },
+    "shortest_image_edge": 256,
+    "crop_fraction": 0.95,
+    "model_name": "nvidia/Eagle-Block2A-2B-v2",
+    "model_type": "eagle",
+    "formalize_language": true,
+    "max_state_dim": 128,
+    "max_action_dim": 128,
+    "max_action_horizon": 50,
+    "use_percentiles": false,
+    "clip_outliers": true,
+    "apply_sincos_state_encoding": true,
+    "use_relative_action": true
+  }
+}

training_args.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd3e56ff88f700f7691aef40f8d44ac4dc00d8d2e3e82372e26d0428b6f9961c
+size 5571

wandb_config.json

@@ -0,0 +1 @@
+{"project": "finetune-gr00t-n1d6", "run_id": "Box_Packing_0320_lerobot_model"}