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gr00t-evButtonPush-260618-1

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jjhrobo commited on
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checkpoint-16000 (inference only)

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Files changed (12) hide show
  1. checkpoint-16000/config.json +70 -0
  2. checkpoint-16000/embodiment_id.json +10 -0
  3. checkpoint-16000/experiment_cfg/conf.yaml +204 -0
  4. checkpoint-16000/experiment_cfg/config.yaml +239 -0
  5. checkpoint-16000/experiment_cfg/dataset_statistics.json +892 -0
  6. checkpoint-16000/experiment_cfg/final_model_config.json +53 -0
  7. checkpoint-16000/experiment_cfg/final_processor_config.json +0 -0
  8. checkpoint-16000/model-00001-of-00002.safetensors +3 -0
  9. checkpoint-16000/model-00002-of-00002.safetensors +3 -0
  10. checkpoint-16000/model.safetensors.index.json +0 -0
  11. checkpoint-16000/processor_config.json +454 -0
  12. checkpoint-16000/statistics.json +0 -0
checkpoint-16000/config.json ADDED
@@ -0,0 +1,70 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_horizon": 50,
3
+ "add_pos_embed": true,
4
+ "apply_sincos_state_encoding": true,
5
+ "architectures": [
6
+ "Gr00tN1d6"
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+ ],
8
+ "attn_dropout": 0.2,
9
+ "attn_implementation": null,
10
+ "backbone_embedding_dim": 2048,
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+ "backbone_model_type": "eagle",
12
+ "backbone_trainable_params_fp32": true,
13
+ "collator_overwrite_image_inputs": false,
14
+ "color_jitter_params": {
15
+ "brightness": 0.1,
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+ "contrast": 0.1,
17
+ "hue": 0.1,
18
+ "saturation": 0.1
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+ },
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+ "crop_fraction": 0.95,
21
+ "diffusion_model_cfg": {
22
+ "attention_head_dim": 48,
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+ "dropout": 0.2,
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+ "final_dropout": true,
25
+ "interleave_self_attention": true,
26
+ "norm_type": "ada_norm",
27
+ "num_attention_heads": 32,
28
+ "num_layers": 32,
29
+ "output_dim": 1024,
30
+ "positional_embeddings": null
31
+ },
32
+ "eagle_collator": true,
33
+ "formalize_language": true,
34
+ "gemma_collator": false,
35
+ "hidden_size": 1024,
36
+ "image_crop_size": null,
37
+ "image_target_size": null,
38
+ "input_embedding_dim": 1536,
39
+ "load_bf16": true,
40
+ "max_action_dim": 128,
41
+ "max_num_embodiments": 32,
42
+ "max_seq_len": 1024,
43
+ "max_state_dim": 128,
44
+ "model_dtype": "bfloat16",
45
+ "model_name": "nvidia/Eagle-Block2A-2B-v2",
46
+ "model_type": "Gr00tN1d6",
47
+ "noise_beta_alpha": 1.5,
48
+ "noise_beta_beta": 1.0,
49
+ "noise_s": 0.999,
50
+ "num_inference_timesteps": 4,
51
+ "num_timestep_buckets": 1000,
52
+ "random_rotation_angle": null,
53
+ "reproject_vision": false,
54
+ "select_layer": 16,
55
+ "shortest_image_edge": 256,
56
+ "state_dropout_prob": 0.0,
57
+ "torch_dtype": "bfloat16",
58
+ "transformers_version": "4.51.3",
59
+ "tune_diffusion_model": true,
60
+ "tune_llm": false,
61
+ "tune_projector": true,
62
+ "tune_top_llm_layers": 4,
63
+ "tune_visual": false,
64
+ "tune_vlln": true,
65
+ "use_albumentations_transforms": true,
66
+ "use_alternate_vl_dit": true,
67
+ "use_flash_attention": true,
68
+ "use_relative_action": true,
69
+ "use_vlln": true
70
+ }
checkpoint-16000/embodiment_id.json ADDED
@@ -0,0 +1,10 @@
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robocasa_panda_omron": 13,
3
+ "gr1": 20,
4
+ "behavior_r1_pro": 24,
5
+ "unitree_g1": 8,
6
+ "oxe_google": 0,
7
+ "oxe_widowx": 1,
8
+ "libero_panda": 2,
9
+ "new_embodiment": 10
10
+ }
checkpoint-16000/experiment_cfg/conf.yaml ADDED
@@ -0,0 +1,204 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 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
16
+ collator_overwrite_image_inputs: false
17
+ eagle_collator: true
18
+ backbone_trainable_params_fp32: true
19
+ image_crop_size:
20
+ - 224
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+ - 224
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+ image_target_size:
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+ - 224
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+ - 224
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+ shortest_image_edge: null
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+ crop_fraction: null
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+ random_rotation_angle: null
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+ color_jitter_params: null
29
+ use_albumentations_transforms: false
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+ formalize_language: true
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+ apply_sincos_state_encoding: false
32
+ use_relative_action: true
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+ max_state_dim: 29
34
+ max_action_dim: 29
35
+ action_horizon: 16
36
+ hidden_size: 1024
37
+ input_embedding_dim: 1536
38
+ add_pos_embed: true
39
+ attn_dropout: 0.2
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+ use_vlln: true
41
+ max_seq_len: 1024
42
+ use_alternate_vl_dit: true
43
+ attend_text_every_n_blocks: 2
44
+ diffusion_model_cfg:
45
+ positional_embeddings: null
46
+ num_layers: 32
47
+ num_attention_heads: 32
48
+ attention_head_dim: 48
49
+ norm_type: ada_norm
50
+ dropout: 0.2
51
+ final_dropout: true
52
+ output_dim: 1024
53
+ interleave_self_attention: true
54
+ num_inference_timesteps: 4
55
+ noise_beta_alpha: 1.5
56
+ noise_beta_beta: 1.0
57
+ noise_s: 0.999
58
+ num_timestep_buckets: 1000
59
+ tune_projector: true
60
+ tune_diffusion_model: true
61
+ tune_vlln: true
62
+ state_dropout_prob: 0.0
63
+ state_additive_noise_scale: 0.0
64
+ max_num_embodiments: 32
65
+ data:
66
+ datasets:
67
+ - dataset_paths:
68
+ - /data/datasets/evButtonPush-260608-260615-10fps-rated-merged
69
+ embodiment_tag: new_embodiment
70
+ mix_ratio: 1.0
71
+ dataset_type: physical_embodiment
72
+ val_dataset_path: null
73
+ modality_configs:
74
+ new_embodiment:
75
+ video:
76
+ delta_indices:
77
+ - 0
78
+ modality_keys:
79
+ - cam_wrist
80
+ - cam_top
81
+ - cam_belly
82
+ sin_cos_embedding_keys: null
83
+ mean_std_embedding_keys: null
84
+ action_configs: null
85
+ state:
86
+ delta_indices:
87
+ - 0
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+ modality_keys:
89
+ - arm
90
+ sin_cos_embedding_keys: null
91
+ 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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+ - arm
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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: RELATIVE
117
+ type: NON_EEF
118
+ format: DEFAULT
119
+ state_key: null
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+ language:
121
+ delta_indices:
122
+ - 0
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+ modality_keys:
124
+ - annotation.human.task_description
125
+ sin_cos_embedding_keys: null
126
+ mean_std_embedding_keys: null
127
+ action_configs: null
128
+ download_cache: false
129
+ shard_size: 1024
130
+ episode_sampling_rate: 0.1
131
+ num_shards_per_epoch: 100000
132
+ override_pretraining_statistics: false
133
+ mode: single_turn
134
+ random_chop: 0.0
135
+ mock_dataset_mode: false
136
+ shuffle: true
137
+ seed: 42
138
+ multiprocessing_context: fork
139
+ allow_padding: false
140
+ subsample_ratio: 1.0
141
+ image_crop_size:
142
+ - 244
143
+ - 244
144
+ image_target_size:
145
+ - 224
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+ - 224
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+ video_backend: torchcodec
148
+ training:
149
+ output_dir: /data/checkpoints/20260618-evButtonPush-rated-merged-640
150
+ experiment_name: null
151
+ max_steps: 20000
152
+ global_batch_size: 32
153
+ batch_size: null
154
+ gradient_accumulation_steps: 1
155
+ learning_rate: 2.0e-05
156
+ lr_scheduler_type: cosine
157
+ weight_decay: 1.0e-05
158
+ warmup_ratio: 0.05
159
+ warmup_steps: 0
160
+ max_grad_norm: 1.0
161
+ optim: adamw_torch
162
+ start_from_checkpoint: nvidia/GR00T-N1.6-3B
163
+ tf32: true
164
+ fp16: false
165
+ bf16: true
166
+ eval_bf16: true
167
+ logging_steps: 10
168
+ save_steps: 1000
169
+ save_total_limit: 10
170
+ save_vl_model: false
171
+ upload_checkpoints: false
172
+ upload_every: 1000
173
+ upload_last_n_checkpoints: 5
174
+ max_concurrent_uploads: 2
175
+ eval_strategy: 'no'
176
+ eval_steps: 500
177
+ eval_set_split_ratio: 0.1
178
+ eval_batch_size: 2
179
+ save_best_eval_metric_name: ''
180
+ save_best_eval_metric_greater_is_better: true
181
+ deepspeed_stage: 2
182
+ gradient_checkpointing: false
183
+ transformers_trust_remote_code: true
184
+ transformers_local_files_only: false
185
+ transformers_cache_dir: null
186
+ 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: 1
190
+ dataloader_num_workers: 2
191
+ remove_unused_columns: false
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+ use_wandb: false
193
+ wandb_project: finetune-gr00t-n1d6
194
+ enable_profiling: false
195
+ max_retries: 3
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+ assert_loss_less_than: null
197
+ 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: 20000
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+ save_steps: 1000
checkpoint-16000/experiment_cfg/config.yaml ADDED
@@ -0,0 +1,239 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ !!python/object:gr00t.configs.base_config.Config
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+ data: !!python/object:gr00t.configs.data.data_config.DataConfig
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+ allow_padding: false
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+ datasets:
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+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
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+ dataset_paths:
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+ - /data/datasets/evButtonPush-260608-260615-10fps-rated-merged
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+ dataset_type: physical_embodiment
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+ embodiment_tag: new_embodiment
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+ mix_ratio: 1.0
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+ val_dataset_path: null
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+ download_cache: false
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+ episode_sampling_rate: 0.1
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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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+ mock_dataset_mode: false
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+ modality_configs:
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+ new_embodiment:
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+ action: !!python/object:gr00t.data.types.ModalityConfig
24
+ action_configs:
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+ - !!python/object:gr00t.data.types.ActionConfig
26
+ format: !!python/object/apply:gr00t.data.types.ActionFormat
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+ - default
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+ rep: !!python/object/apply:gr00t.data.types.ActionRepresentation
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+ - relative
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+ state_key: null
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+ type: !!python/object/apply:gr00t.data.types.ActionType
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+ - non_eef
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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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+ - 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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+ mean_std_embedding_keys: null
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+ modality_keys:
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+ - arm
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+ sin_cos_embedding_keys: null
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+ language: !!python/object:gr00t.data.types.ModalityConfig
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+ action_configs: null
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+ delta_indices:
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+ - 0
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+ mean_std_embedding_keys: null
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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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+ state: !!python/object:gr00t.data.types.ModalityConfig
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+ action_configs: null
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+ delta_indices:
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+ - 0
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+ mean_std_embedding_keys: null
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+ modality_keys:
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+ - arm
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+ sin_cos_embedding_keys: null
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+ video: !!python/object:gr00t.data.types.ModalityConfig
71
+ action_configs: null
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+ delta_indices:
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+ - 0
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+ mean_std_embedding_keys: null
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+ modality_keys:
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+ - cam_wrist
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+ - cam_top
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+ - cam_belly
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+ sin_cos_embedding_keys: null
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+ mode: single_turn
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+ multiprocessing_context: fork
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+ num_shards_per_epoch: 100000
83
+ override_pretraining_statistics: false
84
+ random_chop: 0.0
85
+ seed: 42
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+ shard_size: 1024
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+ shuffle: true
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+ subsample_ratio: 1.0
89
+ video_backend: torchcodec
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+ load_config_path: null
91
+ model: !!python/object:gr00t.configs.model.gr00t_n1d6.Gr00tN1d6Config
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+ _attn_implementation_autoset: false
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+ _attn_implementation_internal: null
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+ _commit_hash: null
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+ _name_or_path: ''
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+ add_cross_attention: false
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+ architectures: null
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+ backbone_model_type: eagle
99
+ backbone_trainable_params_fp32: true
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+ bad_words_ids: null
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+ begin_suppress_tokens: null
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+ bos_token_id: null
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+ chunk_size_feed_forward: 0
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+ color_jitter_params: null
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+ crop_fraction: null
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+ cross_attention_hidden_size: null
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+ decoder_start_token_id: null
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+ diffusion_model_cfg:
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+ attention_head_dim: 48
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+ dropout: 0.2
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+ final_dropout: true
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+ interleave_self_attention: true
113
+ norm_type: ada_norm
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+ num_attention_heads: 32
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+ num_layers: 32
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+ output_dim: 1024
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+ positional_embeddings: null
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+ diversity_penalty: 0.0
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+ do_sample: false
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+ eagle_collator: true
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+ early_stopping: false
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+ encoder_no_repeat_ngram_size: 0
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+ eos_token_id: null
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+ exponential_decay_length_penalty: null
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+ finetuning_task: null
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+ forced_bos_token_id: null
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+ forced_eos_token_id: null
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+ id2label:
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+ 0: LABEL_0
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+ 1: LABEL_1
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+ image_crop_size: &id001 !!python/tuple
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+ - 224
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+ - 224
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+ is_decoder: false
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+ LABEL_0: 0
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+ LABEL_1: 1
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+ length_penalty: 1.0
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+ load_bf16: false
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+ max_length: 20
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+ min_length: 0
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+ model_name: nvidia/Eagle-Block2A-2B-v2
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+ no_repeat_ngram_size: 0
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+ num_beam_groups: 1
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+ num_return_sequences: 1
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+ return_dict: true
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+ sep_token_id: null
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+ shortest_image_edge: null
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+ state_dropout_prob: 0.0
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+ suppress_tokens: null
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+ task_specific_params: null
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+ temperature: 1.0
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+ tf_legacy_loss: false
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+ tie_encoder_decoder: false
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+ tie_word_embeddings: true
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+ tokenizer_class: null
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+ top_k: 50
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+ top_p: 1.0
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+ tune_diffusion_model: true
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+ tune_projector: true
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+ tune_visual: false
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+ typical_p: 1.0
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+ use_albumentations_transforms: false
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+ use_bfloat16: false
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+ use_relative_action: true
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+ training: !!python/object:gr00t.configs.training.training_config.TrainingConfig
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+ add_rl_callback: false
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+ assert_loss_less_than: null
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+ batch_size: null
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+ bf16: true
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+ dataloader_num_workers: 2
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+ ddp_bucket_cap_mb: 100
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+ deepspeed_stage: 2
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+ enable_open_loop_eval: false
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+ enable_profiling: false
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+ eval_batch_size: 2
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+ eval_bf16: true
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+ eval_set_split_ratio: 0.1
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+ eval_steps: 500
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+ eval_strategy: 'no'
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+ experiment_name: null
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+ fp16: false
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+ global_batch_size: 32
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+ gradient_accumulation_steps: 1
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+ gradient_checkpointing: false
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+ learning_rate: 2.0e-05
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+ logging_steps: 10
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+ lr_scheduler_type: cosine
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+ max_concurrent_uploads: 2
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+ max_grad_norm: 1.0
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+ max_retries: 3
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+ max_steps: 20000
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+ num_gpus: 1
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+ open_loop_eval_plot_indices: null
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+ open_loop_eval_steps_per_traj: 100
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+ open_loop_eval_traj_ids:
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+ - 0
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+ optim: adamw_torch
218
+ output_dir: /data/checkpoints/20260618-evButtonPush-rated-merged-640
219
+ remove_unused_columns: false
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+ save_best_eval_metric_greater_is_better: true
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+ save_best_eval_metric_name: ''
222
+ save_steps: 1000
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+ save_total_limit: 10
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+ save_vl_model: false
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+ start_from_checkpoint: nvidia/GR00T-N1.6-3B
226
+ tf32: true
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+ transformers_access_token: null
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+ transformers_cache_dir: null
229
+ transformers_local_files_only: false
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+ transformers_trust_remote_code: true
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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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+ use_ddp: false
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+ use_wandb: false
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+ wandb_project: finetune-gr00t-n1d6
237
+ warmup_ratio: 0.05
238
+ warmup_steps: 0
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