File size: 1,678 Bytes
aa55d05 | 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 | # INSIGHT GR00T N1.7 training config
# INSIGHT wrapper-only fields are stripped before LeRobot config parsing.
insight:
# Options: joint_abs | ee_abs_quat | ee_abs_rot6d | ee_delta
action_space: joint_abs
# Options: coarse | detailed
prompt_set: detailed
save_steps: ["60K"]
dataset:
repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
root: ${HOME}/INSIGHTfixposV4_filtered_multispace_v2
policy:
type: groot
device: cuda
chunk_size: 16
n_action_steps: 16
push_to_hub: false
# Trainable scope. This baseline trains projector, diffusion, and VLLN; LLM/vision stay frozen.
# VLM
tune_llm: false
tune_visual: false
tune_top_llm_layers: 0
# Action Expert
tune_projector: true
tune_diffusion_model: true
tune_vlln: true
seed: 42
batch_size: 128
steps: 60000
log_freq: 200
output_dir: "${HOME}/groot_insight/train_ckpt/Abs_Joint/Baseline"
job_name: INSIGHT_RD_baseline
wandb:
enable: true
disable_artifact: true
# Omitted because these match LeRobot/GR00T defaults or are unused in this setup:
#
# dataset:
# eval_split: 0.0
# image_transforms:
# enable: false # default; set true only for train-image augmentation.
#
# policy:
# base_model_path: nvidia/GR00T-N1.7-3B
# embodiment_tag: new_embodiment
# use_relative_actions: false
# use_bf16: true
# repo_id: Whalswp/INSIGHT # unused while push_to_hub is false
#
# save_checkpoint: true
# use_policy_training_preset: true
# eval_steps: 0
# env_eval_freq: 0
#
# insight.prompt_set options:
# coarse: High-level task text that requires following the visual guide.
# detailed: Direction- and interaction-specific text, including rotation and push/pull details.
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