| # 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: ee_abs_rot6d | |
| # Options: coarse | detailed | |
| prompt_set: detailed | |
| save_steps: ["50K"] | |
| 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: 64 | |
| steps: 60000 | |
| log_freq: 200 | |
| output_dir: ${HOME}/groot_insight/Abs_6D/Baseline | |
| job_name: INSIGHT_6D_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. | |