File size: 2,795 Bytes
55dd87c
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
{
    "type": "groot",
    "n_obs_steps": 1,
    "input_features": {
        "observation.state": {
            "type": "STATE",
            "shape": [
                6
            ]
        },
        "observation.images.wrist": {
            "type": "VISUAL",
            "shape": [
                3,
                480,
                640
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                6
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "push_to_hub": false,
    "repo_id": null,
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": "nvidia/GR00T-N1.5-3B",
    "base_model_path": "nvidia/GR00T-N1.5-3B",
    "eagle_path": null,
    "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
    "tune_llm": true,
    "tune_visual": true,
    "eagle_select_layer": 12,
    "eagle_project_to_dim": null,
    "tune_projector": true,
    "tune_diffusion_model": true,
    "chunk_size": 16,
    "n_action_steps": 16,
    "max_state_dim": 64,
    "max_action_dim": 32,
    "noise_beta_alpha": 1.5,
    "noise_beta_beta": 1.0,
    "noise_s": 0.999,
    "num_timestep_buckets": 1000,
    "num_inference_steps": 4,
    "max_num_embodiments": 32,
    "embodiment_tag": "new_embodiment",
    "action_head_hidden_size": 1024,
    "action_head_input_embedding_dim": 1536,
    "action_head_backbone_embedding_dim": 2048,
    "add_pos_embed": true,
    "max_seq_len": 1024,
    "num_target_vision_tokens": 32,
    "use_vlln": true,
    "diffusion_model_cfg": {
        "attention_head_dim": 48,
        "cross_attention_dim": 2048,
        "dropout": 0.2,
        "final_dropout": true,
        "interleave_self_attention": true,
        "norm_type": "ada_norm",
        "num_attention_heads": 32,
        "num_layers": 16,
        "output_dim": 1024,
        "positional_embeddings": null
    },
    "vl_self_attention_cfg": {
        "attention_head_dim": 64,
        "dropout": 0.2,
        "final_dropout": true,
        "num_attention_heads": 32,
        "num_layers": 4,
        "positional_embeddings": null
    },
    "image_size": [
        448,
        448
    ],
    "tokenizer_max_length": 200,
    "use_bf16": true,
    "compile_model": false,
    "compile_mode": "max-autotune",
    "dtype": "bfloat16",
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "MEAN_STD",
        "ACTION": "MEAN_STD"
    },
    "optimizer_lr": 0.0001,
    "optimizer_betas": [
        0.95,
        0.999
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-05,
    "optimizer_grad_clip_norm": 1.0,
    "scheduler_warmup_steps": 500,
    "scheduler_decay_steps": 10000,
    "scheduler_decay_lr": 1e-05
}