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n17_pick_chestnuts_60k

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  1. config.json +88 -0
  2. embodiment_id.json +57 -0
  3. experiment_cfg/conf.yaml +213 -0
  4. experiment_cfg/config.yaml +238 -0
  5. experiment_cfg/dataset_statistics.json +257 -0
  6. experiment_cfg/final_model_config.json +55 -0
  7. experiment_cfg/final_processor_config.json +0 -0
  8. model-00001-of-00002.safetensors +3 -0
  9. model-00002-of-00002.safetensors +3 -0
  10. model.safetensors.index.json +0 -0
  11. optimizer.pt +3 -0
  12. processor_config.json +1122 -0
  13. rng_state.pth +3 -0
  14. scheduler.pt +3 -0
  15. statistics.json +0 -0
  16. trainer_state.json +0 -0
  17. training_args.bin +3 -0
  18. wandb_config.json +1 -0
config.json ADDED
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+ {
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+ "architectures": [
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+ "Gr00tN1d7"
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+ "random_rotation_angle": 0,
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+ "reproject_vision": false,
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+ "rtc_ramp_rate": 6.0,
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+ "select_layer": 16,
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+ "shortest_image_edge": 256,
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+ "state_dropout_prob": 0.2,
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+ "transformers_version": "4.57.3",
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+ "tune_diffusion_model": true,
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embodiment_id.json ADDED
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+ "unitree_g1_sonic": 11,
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+ "new_embodiment": 10,
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+ "robocasa_gr1_tabletop": 10
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experiment_cfg/conf.yaml ADDED
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+ attention_head_dim: 48
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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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+ noise_beta_beta: 1.0
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+ tune_projector: true
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+ tune_diffusion_model: true
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+ exclude_state: false
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+ data:
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+ embodiment_tag: new_embodiment
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+ mix_ratio: 1.0
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+ dataset_type: physical_embodiment
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+ training:
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+ experiment_name: null
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+ gradient_accumulation_steps: 1
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+ weight_decay: 1.0e-05
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+ save_best_eval_metric_name: ''
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+ save_steps: 10000
experiment_cfg/config.yaml ADDED
@@ -0,0 +1,238 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ - /root/groot_workspace/datasets/Task_000212_000238_Pick_chestnuts_WhiteShelf_Lift0_lerobot_merged
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+ model: !!python/object:gr00t.configs.model.gr00t_n1d7.Gr00tN1d7Config
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