Add files using upload-large-folder tool

.gitattributes

@@ -87,3 +87,11 @@ Abs_6D/DiT_Layer/16/RSCLstyle_cosine_60K/wandb/run-20260723_005850-pgr3eari/run-
 Abs_6D/DiT_Layer/16/RSCLstyle_cosine_60K/wandb/run-20260722_021250-pgr3eari/run-pgr3eari.wandb filter=lfs diff=lfs merge=lfs -text
 Abs_6D/DiT_Layer/16/Baseline/wandb/run-20260722_021250-svym8k0w/run-svym8k0w.wandb filter=lfs diff=lfs merge=lfs -text
 Abs_6D/DiT_Layer/16/Baseline/wandb/run-20260723_005850-svym8k0w/run-svym8k0w.wandb filter=lfs diff=lfs merge=lfs -text
+Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/wandb/run-20260723_023125-x6da8gup/run-x6da8gup.wandb filter=lfs diff=lfs merge=lfs -text
+Abs_6D/DiT_Layer/8/Baseline/wandb/run-20260723_023123-2vl3enlf/run-2vl3enlf.wandb filter=lfs diff=lfs merge=lfs -text
+Abs_6D/DiT_Layer/8/Baseline/wandb/run-20260723_163501-2vl3enlf/run-2vl3enlf.wandb filter=lfs diff=lfs merge=lfs -text
+Abs_6D/DiT_Layer/16/RSCLstyle_cosine_60K/wandb/run-20260723_023125-rs1egwv8/run-rs1egwv8.wandb filter=lfs diff=lfs merge=lfs -text
+Abs_6D/DiT_Layer/16/RSCLstyle_cosine_60K/wandb/run-20260723_163501-rs1egwv8/run-rs1egwv8.wandb filter=lfs diff=lfs merge=lfs -text
+Abs_6D/DiT_Layer/16/Baseline/wandb/run-20260723_163501-jeqgwsec/run-jeqgwsec.wandb filter=lfs diff=lfs merge=lfs -text
+Abs_6D/DiT_Layer/16/Baseline/wandb/run-20260723_023124-jeqgwsec/run-jeqgwsec.wandb filter=lfs diff=lfs merge=lfs -text
+Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/wandb/run-20260723_163501-x6da8gup/run-x6da8gup.wandb filter=lfs diff=lfs merge=lfs -text

Abs_6D/DiT_Layer/16/Baseline/checkpoints/rolling_00/pretrained_model/config.json

@@ -0,0 +1,118 @@
+{
+    "type": "groot_rkd",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                16
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.right_shoulder": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.guide": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                10
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/16/Baseline/checkpoints/rolling_01/pretrained_model",
+    "pretrained_revision": null,
+    "chunk_size": 16,
+    "n_action_steps": 16,
+    "max_state_dim": 132,
+    "max_action_dim": 132,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "IDENTITY",
+        "ACTION": "IDENTITY"
+    },
+    "base_model_path": "nvidia/GR00T-N1.7-3B",
+    "action_decode_transform": null,
+    "embodiment_tag": "new_embodiment",
+    "tune_llm": false,
+    "tune_visual": false,
+    "tune_projector": true,
+    "tune_diffusion_model": true,
+    "tune_vlln": true,
+    "tune_top_llm_layers": 0,
+    "num_inference_timesteps": null,
+    "rtc_ramp_rate": null,
+    "use_flash_attention": false,
+    "use_relative_actions": false,
+    "relative_exclude_joints": [],
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.9,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-05,
+    "warmup_steps": null,
+    "warmup_ratio": 0.05,
+    "use_bf16": true,
+    "model_params_fp32": true,
+    "image_size": [
+        256,
+        256
+    ],
+    "tokenizer_assets_repo": null,
+    "lora_rank": 0,
+    "lora_alpha": 16,
+    "lora_dropout": 0.1,
+    "lora_full_model": false,
+    "video_backend": "decord",
+    "balance_dataset_weights": true,
+    "balance_trajectory_weights": true,
+    "dataset_paths": null,
+    "output_dir": "./tmp/gr00t",
+    "save_steps": 1000,
+    "max_steps": 10000,
+    "batch_size": 32,
+    "dataloader_num_workers": 8,
+    "report_to": "wandb",
+    "resume": false,
+    "action_expert_num_layers": 16,
+    "rkd_enabled": false,
+    "rkd_vae_checkpoint": null,
+    "rkd_student_pooling": "attention",
+    "rkd_student_attention_hidden_dim": 512,
+    "rkd_student_attention_output_dim": 512,
+    "rkd_fm_loss_weight": 1.0,
+    "rkd_loss_weight": 0.1,
+    "rkd_distance_weight": 1.0,
+    "rkd_angle_weight": 1.0
+}

Abs_6D/DiT_Layer/16/Baseline/checkpoints/rolling_00/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
+size 5760

Abs_6D/DiT_Layer/16/Baseline/checkpoints/rolling_00/pretrained_model/policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
+size 5760

Abs_6D/DiT_Layer/16/Baseline/checkpoints/rolling_00/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90ef7c34138ad2fc33d564d34bf373fa188035d4601ce36806ca5eba920a1ca8
+size 15708

Abs_6D/DiT_Layer/16/Baseline/checkpoints/rolling_01/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
+size 5760

Abs_6D/DiT_Layer/16/Baseline/checkpoints/rolling_01/pretrained_model/policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
+size 5760

Abs_6D/DiT_Layer/16/Baseline/checkpoints/rolling_01/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a21765d3848e5fd78b042c3e6b2cd28df36e3b0a6f539b82aebe8b58a3b4eb4
+size 15708

Abs_6D/DiT_Layer/16/Baseline/wandb/run-20260723_013342-svym8k0w/run-svym8k0w.wandb

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a2cf2d18a44d0d311bc9aa14535d6d0edd613cd8c1a8b6708e4b97fa5ea264aa
-size 327680
+oid sha256:79c2e299595a9da36f5c4063d4bf401bc80f1c5d5c6f28d6a5edc2e69177a5c3
+size 973385

Abs_6D/DiT_Layer/16/Baseline/wandb/run-20260723_023124-jeqgwsec/run-jeqgwsec.wandb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afaa83bcce56075ca0c424707233d1abbc66d2589a388c73501b54545fd3450b
+size 11829248

Abs_6D/DiT_Layer/16/Baseline/wandb/run-20260723_163501-jeqgwsec/run-jeqgwsec.wandb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e48c2f67101831dbd9daec5dfa7ea57cc00d0070f24eee7f7b30e8e578b9dc8
+size 10177551

Abs_6D/DiT_Layer/16/RSCLstyle_cosine_60K/checkpoints/rolling_00/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
+size 5760

Abs_6D/DiT_Layer/16/RSCLstyle_cosine_60K/checkpoints/rolling_00/pretrained_model/policy_preprocessor_step_3_groot_n1_7_pack_inputs_v1.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
+size 5760

Abs_6D/DiT_Layer/16/RSCLstyle_cosine_60K/checkpoints/rolling_00/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe1751b78bbb44e85f2af079a3a2fd1e12174a0b6025138840ce6dcfe56e4a88
+size 15708

Abs_6D/DiT_Layer/16/RSCLstyle_cosine_60K/checkpoints/rolling_01/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
+size 5760

Abs_6D/DiT_Layer/16/RSCLstyle_cosine_60K/checkpoints/rolling_01/pretrained_model/policy_preprocessor_step_3_groot_n1_7_pack_inputs_v1.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
+size 5760

Abs_6D/DiT_Layer/16/RSCLstyle_cosine_60K/checkpoints/rolling_01/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef34ea64006c5f3f4a1a6964dcefbe678ad4c00368b5b71fbba7bfb141e13863
+size 15708

Abs_6D/DiT_Layer/16/RSCLstyle_cosine_60K/wandb/run-20260723_013342-pgr3eari/run-pgr3eari.wandb

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:be37f78629f5663413c1710678f64fe9ab14344078748e5030750a0f1fc7dbf6
-size 327680
+oid sha256:1365de14d1bd436fc23ee9aafe1c5638ffb41b5b471acd8ccf20ae99d52b6193
+size 974223

Abs_6D/DiT_Layer/16/RSCLstyle_cosine_60K/wandb/run-20260723_023125-rs1egwv8/run-rs1egwv8.wandb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeeb2387cb68ae73589296d622d45deafd554da14fcd1e84dd10c49887584035
+size 11993088

Abs_6D/DiT_Layer/16/RSCLstyle_cosine_60K/wandb/run-20260723_163501-rs1egwv8/run-rs1egwv8.wandb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:197132b2f84fcffb62c878eca17a5561973eab8a882d06cfa039d3a38922dd20
+size 10296737

Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_00/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
+size 5760

Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_00/pretrained_model/policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
+size 5760

Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_00/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb789c7d839399adcce55ab37945db1096f99a36f47ee9e2df18eca9b07a81a9
+size 15708

Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_01/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
+size 5760

Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_01/pretrained_model/policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
+size 5760

Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_01/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1b8cd64fa57005cc5941a07f5a18c9623615261e42da2b5eafed37d09b811be
+size 15708

Abs_6D/DiT_Layer/8/Baseline/wandb/run-20260723_013342-21sn30p5/run-21sn30p5.wandb

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1879ae257592d136065ba561f8f81f1a69b12929d6a4aa8f053977a21cd4721f
-size 327680
+oid sha256:ee34874efee6c8eabb675c655ab10e501a5a7c148e0af73369b2f86204890f2c
+size 974626

Abs_6D/DiT_Layer/8/Baseline/wandb/run-20260723_023123-2vl3enlf/run-2vl3enlf.wandb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c28c861c32b30673a1aaa9ba3f57379abc774f4a0c3d40c21c2ac38748facd2
+size 12615680

Abs_6D/DiT_Layer/8/Baseline/wandb/run-20260723_163501-2vl3enlf/run-2vl3enlf.wandb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dc31918df0aa04d2fea6eba77149359bbbaeea10bf885609742b059efd4bf04
+size 1879144

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_00/phase_schedule.json

@@ -0,0 +1,32 @@
+{
+  "schema_version": 1,
+  "step_interval": "[start_step, until_step)",
+  "total_steps": 60000,
+  "optimizer_lifecycle": "single_continuous_optimizer",
+  "scheduler_lifecycle": "single_continuous_scheduler",
+  "phases": [
+    {
+      "index": 0,
+      "name": "rscl_rkd_cosine_decay_60K",
+      "start_step": 0,
+      "until_step": 60000,
+      "policy": {
+        "rkd_enabled": true,
+        "rkd_fm_loss_weight": 1.0,
+        "rkd_loss_weight": 1.0,
+        "rkd_loss_weight_end": 0.0,
+        "rkd_loss_weight_schedule": "cosine",
+        "rkd_distance_weight": 1.0,
+        "rkd_angle_weight": 2.0
+      },
+      "trainable": {
+        "tune_llm": false,
+        "tune_visual": false,
+        "tune_top_llm_layers": 0,
+        "tune_projector": true,
+        "tune_diffusion_model": true,
+        "tune_vlln": true
+      }
+    }
+  ]
+}

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_00/pretrained_model/config.json

@@ -0,0 +1,118 @@
+{
+    "type": "groot_rkd",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                16
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.right_shoulder": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.guide": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                10
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/030000/pretrained_model",
+    "pretrained_revision": null,
+    "chunk_size": 16,
+    "n_action_steps": 16,
+    "max_state_dim": 132,
+    "max_action_dim": 132,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "IDENTITY",
+        "ACTION": "IDENTITY"
+    },
+    "base_model_path": "nvidia/GR00T-N1.7-3B",
+    "action_decode_transform": null,
+    "embodiment_tag": "new_embodiment",
+    "tune_llm": false,
+    "tune_visual": false,
+    "tune_projector": true,
+    "tune_diffusion_model": true,
+    "tune_vlln": true,
+    "tune_top_llm_layers": 0,
+    "num_inference_timesteps": null,
+    "rtc_ramp_rate": null,
+    "use_flash_attention": false,
+    "use_relative_actions": false,
+    "relative_exclude_joints": [],
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.9,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-05,
+    "warmup_steps": 3000,
+    "warmup_ratio": 0.05,
+    "use_bf16": true,
+    "model_params_fp32": true,
+    "image_size": [
+        256,
+        256
+    ],
+    "tokenizer_assets_repo": null,
+    "lora_rank": 0,
+    "lora_alpha": 16,
+    "lora_dropout": 0.1,
+    "lora_full_model": false,
+    "video_backend": "decord",
+    "balance_dataset_weights": true,
+    "balance_trajectory_weights": true,
+    "dataset_paths": null,
+    "output_dir": "./tmp/gr00t",
+    "save_steps": 1000,
+    "max_steps": 10000,
+    "batch_size": 32,
+    "dataloader_num_workers": 8,
+    "report_to": "wandb",
+    "resume": false,
+    "action_expert_num_layers": 8,
+    "rkd_enabled": true,
+    "rkd_vae_checkpoint": "/home/ext_minje/groot_insight/TimewarpVAE_ckpt/TimewarpVAE_combo_top8_30k/C8_01_C3_008_beta_5em05_latent_dim_16_granularity_4_decoder_hidden_dim_512/checkpoint-step-30000-epoch-39.11",
+    "rkd_student_pooling": "attention",
+    "rkd_student_attention_hidden_dim": 512,
+    "rkd_student_attention_output_dim": 512,
+    "rkd_fm_loss_weight": 1.0,
+    "rkd_loss_weight": 1.0,
+    "rkd_distance_weight": 1.0,
+    "rkd_angle_weight": 2.0
+}

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_00/pretrained_model/phase_schedule.json

@@ -0,0 +1,32 @@
+{
+  "schema_version": 1,
+  "step_interval": "[start_step, until_step)",
+  "total_steps": 60000,
+  "optimizer_lifecycle": "single_continuous_optimizer",
+  "scheduler_lifecycle": "single_continuous_scheduler",
+  "phases": [
+    {
+      "index": 0,
+      "name": "rscl_rkd_cosine_decay_60K",
+      "start_step": 0,
+      "until_step": 60000,
+      "policy": {
+        "rkd_enabled": true,
+        "rkd_fm_loss_weight": 1.0,
+        "rkd_loss_weight": 1.0,
+        "rkd_loss_weight_end": 0.0,
+        "rkd_loss_weight_schedule": "cosine",
+        "rkd_distance_weight": 1.0,
+        "rkd_angle_weight": 2.0
+      },
+      "trainable": {
+        "tune_llm": false,
+        "tune_visual": false,
+        "tune_top_llm_layers": 0,
+        "tune_projector": true,
+        "tune_diffusion_model": true,
+        "tune_vlln": true
+      }
+    }
+  ]
+}

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_00/pretrained_model/policy_postprocessor.json

@@ -0,0 +1,23 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "groot_action_unpack_unnormalize_v2",
+      "config": {
+        "env_action_dim": 10,
+        "normalize_min_max": true,
+        "clip_normalized_action": true,
+        "libero_gripper_action": false,
+        "libero_gripper_binarize": true
+      },
+      "state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_00/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
+size 5760

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_00/pretrained_model/policy_preprocessor_step_3_groot_n1_7_pack_inputs_v1.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
+size 5760

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_00/prompt_manifest.json

@@ -0,0 +1,40 @@
+{
+  "schema_version": 1,
+  "prompt_set": "detailed",
+  "source_file": "task_prompts.json",
+  "source_sha256": "0ba48fb372da9f49dcfcd7dcc2da8cce6ce991d3661060e664a104778d1ffacc",
+  "mapping_sha256": "f71954786e94cdeceb135dde09fdc6b65db0b87ab3b09d25060129d0f0fde018",
+  "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+  "dataset_revision": "v3.0",
+  "task_count": 13,
+  "task_codes": [
+    "5f",
+    "5g",
+    "1ext",
+    "3b",
+    "5b",
+    "3a",
+    "3c",
+    "5h",
+    "5d",
+    "3d",
+    "5e",
+    "5a",
+    "5c"
+  ],
+  "prompts": {
+    "5f": "Close the bottle in clockwise direction.",
+    "5g": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in clockwise direction.",
+    "1ext": "Find the arrow guide and open the indicated drawer.",
+    "3b": "Open the door, rotate counter-clockwise and push.",
+    "5b": "Open the bottle in counter-clockwise direction.",
+    "3a": "Open the door, rotate clockwise and push.",
+    "3c": "Open the door, rotate clockwise and pull.",
+    "5h": "Close the bottle in counter-clockwise direction.",
+    "5d": "Close the bottle in clockwise direction.",
+    "3d": "Open the door, rotate counter-clockwise and pull.",
+    "5e": "Close the bottle in counter-clockwise direction.",
+    "5a": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in counter-clockwise direction.",
+    "5c": "Open the bottle in clockwise direction."
+  }
+}

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_00/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8694ffc7582b75a89c95f069c831dde0b114ac6e4174ae8866f3fcfb6fe8bf00
+size 15708

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_01/pretrained_model/action_space_manifest.json

@@ -0,0 +1,144 @@
+{
+  "schema_version": 2,
+  "action_space": "ee_abs_rot6d",
+  "action_views": [
+    "ee_abs_rot6d"
+  ],
+  "source_feature": "action.ee_abs_rot6d",
+  "canonical_feature": "action",
+  "dtype": "float32",
+  "shape": [
+    10
+  ],
+  "names": [
+    "x",
+    "y",
+    "z",
+    "r_col0_x",
+    "r_col0_y",
+    "r_col0_z",
+    "r_col1_x",
+    "r_col1_y",
+    "r_col1_z",
+    "gripper"
+  ],
+  "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+  "dataset_revision": "v3.0",
+  "dataset_total_frames": 218367,
+  "dataset_total_episodes": 4930,
+  "dataset_fps": 10,
+  "stats_sha256": "71698c7337070aa8267df5aea7ec08bc00d3925510f2649bc20c9201eeb669e4",
+  "stats": {
+    "min": [
+      -0.21784618496894836,
+      -0.4474811851978302,
+      0.1702737659215927,
+      -0.9999986290931702,
+      -0.9999991655349731,
+      -0.9999999403953552,
+      -0.9999990463256836,
+      -0.9999998211860657,
+      -0.9999988079071045,
+      0.0
+    ],
+    "max": [
+      0.6283698678016663,
+      0.4420371949672699,
+      1.051027774810791,
+      0.9999999403953552,
+      0.9999995231628418,
+      1.0,
+      0.9999995231628418,
+      1.0,
+      0.9999996423721313,
+      0.03999999910593033
+    ],
+    "mean": [
+      0.4040228037735655,
+      -0.05247618696989652,
+      0.6993459771218912,
+      0.07011111991957117,
+      -0.03520558904460197,
+      0.14470242846953205,
+      0.05491166606739672,
+      -0.19073058893378805,
+      -0.06988117661871228,
+      0.021167300266524632
+    ],
+    "std": [
+      0.11861927913357073,
+      0.11318943557281885,
+      0.17849160646987516,
+      0.4812528791886511,
+      0.7487196258736938,
+      0.4251126804030219,
+      0.47797229807769137,
+      0.6267695346407992,
+      0.5782954306815554,
+      0.01996590431050817
+    ],
+    "count": [
+      218367
+    ],
+    "q01": [
+      0.23988881827972064,
+      -0.10387461883034811,
+      0.6297243923476871,
+      -0.43622841955353464,
+      -0.6885486527617446,
+      -0.14103555388039019,
+      -0.4327210063987595,
+      -0.9304790915716145,
+      -0.3465462258490417,
+      -1.000000013351432e-10
+    ],
+    "q10": [
+      0.3042306436755216,
+      -0.09609991620622624,
+      0.6394063072781145,
+      -0.3351306352998669,
+      -0.5751963015002924,
+      -0.08490621283307866,
+      -0.33849701676224275,
+      -0.8340557712529717,
+      -0.29760290790884514,
+      -1.000000013351432e-10
+    ],
+    "q50": [
+      0.4160225263528291,
+      -0.06267459152989589,
+      0.6811777491060801,
+      0.0543536902230377,
+      -0.14012251058819217,
+      0.04772394280004727,
+      0.03838119138716219,
+      -0.14865169094195635,
+      -0.2073069401172425,
+      0.020772594934870346
+    ],
+    "q90": [
+      0.46641008755679864,
+      0.020233143101890064,
+      0.8095135405259374,
+      0.48172401592474906,
+      0.7398737043070319,
+      0.5970841215636613,
+      0.4674752875999555,
+      0.36281754777672676,
+      0.5033361883834496,
+      0.039998362213352394
+    ],
+    "q99": [
+      0.47320723171849244,
+      0.04114262476135705,
+      0.8467967259270389,
+      0.5867781409980988,
+      0.8529584859257228,
+      0.7953936054341789,
+      0.5768269858732034,
+      0.49353349323389695,
+      0.7168914440776504,
+      0.03999983541667277
+    ]
+  }
+}

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_01/pretrained_model/policy_postprocessor.json

@@ -0,0 +1,23 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "groot_action_unpack_unnormalize_v2",
+      "config": {
+        "env_action_dim": 10,
+        "normalize_min_max": true,
+        "clip_normalized_action": true,
+        "libero_gripper_action": false,
+        "libero_gripper_binarize": true
+      },
+      "state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_01/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
+size 5760

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_01/pretrained_model/policy_preprocessor.json

@@ -0,0 +1,82 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "rkd_preserve_raw_action",
+      "config": {}
+    },
+    {
+      "registry_name": "groot_n1_7_pack_inputs_v1",
+      "config": {
+        "state_horizon": 1,
+        "action_horizon": 16,
+        "valid_action_horizon": 16,
+        "video_horizon": null,
+        "max_state_dim": 132,
+        "max_action_dim": 132,
+        "language_key": "task",
+        "formalize_language": true,
+        "embodiment_tag": "new_embodiment",
+        "embodiment_mapping": {
+          "oxe_droid_relative_eef_relative_joint": 24,
+          "xdof_relative_eef_relative_joint": 27,
+          "xdof_relative_eef_relative_joint_subtask": 27,
+          "real_g1_relative_eef_relative_joints": 25,
+          "real_r1_pro_sharpa_relative_eef": 26,
+          "real_r1_pro_sharpa_relative_eef_human": 26,
+          "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
+          "real_r1_pro_sharpa_relative_eef_mecka": 26,
+          "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
+          "simpler_env_google": 0,
+          "simpler_env_widowx": 1,
+          "libero_sim": 2,
+          "new_embodiment": 10
+        },
+        "normalize_min_max": true,
+        "state_dropout_prob": 0.0,
+        "clip_outliers": true,
+        "use_percentiles": false,
+        "video_modality_keys": null,
+        "raw_stats": null,
+        "modality_config": null
+      },
+      "state_file": "policy_preprocessor_step_3_groot_n1_7_pack_inputs_v1.safetensors"
+    },
+    {
+      "registry_name": "groot_n1_7_vlm_encode_v1",
+      "config": {
+        "model_name": "nvidia/Cosmos-Reason2-2B",
+        "image_crop_size": [
+          230,
+          230
+        ],
+        "image_target_size": [
+          256,
+          256
+        ],
+        "shortest_image_edge": null,
+        "crop_fraction": null,
+        "use_albumentations": false,
+        "letter_box_transform": false,
+        "device": "cuda"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_01/pretrained_model/policy_preprocessor_step_3_groot_n1_7_pack_inputs_v1.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
+size 5760

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_01/pretrained_model/train_config.json

@@ -0,0 +1,269 @@
+{
+    "dataset": {
+        "repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+        "root": "/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2",
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "return_uint8": false,
+        "depth_output_unit": "mm",
+        "streaming": false,
+        "eval_split": 0.0
+    },
+    "env": null,
+    "policy": {
+        "type": "groot_rkd",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    16
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    224,
+                    224
+                ]
+            },
+            "observation.images.right_shoulder": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    224,
+                    224
+                ]
+            },
+            "observation.images.guide": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    224,
+                    224
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    10
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": false,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_00/pretrained_model",
+        "pretrained_revision": null,
+        "chunk_size": 16,
+        "n_action_steps": 16,
+        "max_state_dim": 132,
+        "max_action_dim": 132,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "IDENTITY",
+            "ACTION": "IDENTITY"
+        },
+        "base_model_path": "nvidia/GR00T-N1.7-3B",
+        "action_decode_transform": null,
+        "embodiment_tag": "new_embodiment",
+        "tune_llm": false,
+        "tune_visual": false,
+        "tune_projector": true,
+        "tune_diffusion_model": true,
+        "tune_vlln": true,
+        "tune_top_llm_layers": 0,
+        "num_inference_timesteps": null,
+        "rtc_ramp_rate": null,
+        "use_flash_attention": false,
+        "use_relative_actions": false,
+        "relative_exclude_joints": [],
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.9,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-05,
+        "warmup_steps": 3000,
+        "warmup_ratio": 0.05,
+        "use_bf16": true,
+        "model_params_fp32": true,
+        "image_size": [
+            256,
+            256
+        ],
+        "tokenizer_assets_repo": null,
+        "lora_rank": 0,
+        "lora_alpha": 16,
+        "lora_dropout": 0.1,
+        "lora_full_model": false,
+        "video_backend": "decord",
+        "balance_dataset_weights": true,
+        "balance_trajectory_weights": true,
+        "dataset_paths": null,
+        "output_dir": "./tmp/gr00t",
+        "save_steps": 1000,
+        "max_steps": 10000,
+        "batch_size": 32,
+        "dataloader_num_workers": 8,
+        "report_to": "wandb",
+        "resume": false,
+        "action_expert_num_layers": 8,
+        "rkd_enabled": true,
+        "rkd_vae_checkpoint": "/home/ext_minje/groot_insight/TimewarpVAE_ckpt/TimewarpVAE_combo_top8_30k/C8_01_C3_008_beta_5em05_latent_dim_16_granularity_4_decoder_hidden_dim_512/checkpoint-step-30000-epoch-39.11",
+        "rkd_student_pooling": "attention",
+        "rkd_student_attention_hidden_dim": 512,
+        "rkd_student_attention_output_dim": 512,
+        "rkd_fm_loss_weight": 1.0,
+        "rkd_loss_weight": 1.0,
+        "rkd_distance_weight": 1.0,
+        "rkd_angle_weight": 2.0
+    },
+    "reward_model": null,
+    "output_dir": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K",
+    "job_name": "INSIGHT_6D_DiT8_RKD_TimewarpVAE_RSCLstyle_C60",
+    "resume": true,
+    "seed": 42,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 64,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "steps": 60000,
+    "env_eval_freq": 20000,
+    "log_freq": 200,
+    "eval_steps": 0,
+    "max_eval_samples": 0,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 20000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.0001,
+        "weight_decay": 1e-05,
+        "grad_clip_norm": 1.0,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 3000,
+        "name": "cosine"
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": true,
+        "recording": false,
+        "recording_repo_id": null,
+        "recording_private": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": true,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "x6da8gup",
+        "mode": null,
+        "add_tags": true
+    },
+    "peft": null,
+    "job": {
+        "target": null,
+        "image": "huggingface/lerobot-gpu:latest",
+        "timeout": "2d",
+        "detach": false,
+        "tags": []
+    },
+    "save_checkpoint_to_hub": false,
+    "sample_weighting": null,
+    "rename_map": {},
+    "checkpoint_path": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_00"
+}

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_01/prompt_manifest.json

@@ -0,0 +1,40 @@
+{
+  "schema_version": 1,
+  "prompt_set": "detailed",
+  "source_file": "task_prompts.json",
+  "source_sha256": "0ba48fb372da9f49dcfcd7dcc2da8cce6ce991d3661060e664a104778d1ffacc",
+  "mapping_sha256": "f71954786e94cdeceb135dde09fdc6b65db0b87ab3b09d25060129d0f0fde018",
+  "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+  "dataset_revision": "v3.0",
+  "task_count": 13,
+  "task_codes": [
+    "5f",
+    "5g",
+    "1ext",
+    "3b",
+    "5b",
+    "3a",
+    "3c",
+    "5h",
+    "5d",
+    "3d",
+    "5e",
+    "5a",
+    "5c"
+  ],
+  "prompts": {
+    "5f": "Close the bottle in clockwise direction.",
+    "5g": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in clockwise direction.",
+    "1ext": "Find the arrow guide and open the indicated drawer.",
+    "3b": "Open the door, rotate counter-clockwise and push.",
+    "5b": "Open the bottle in counter-clockwise direction.",
+    "3a": "Open the door, rotate clockwise and push.",
+    "3c": "Open the door, rotate clockwise and pull.",
+    "5h": "Close the bottle in counter-clockwise direction.",
+    "5d": "Close the bottle in clockwise direction.",
+    "3d": "Open the door, rotate counter-clockwise and pull.",
+    "5e": "Close the bottle in counter-clockwise direction.",
+    "5a": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in counter-clockwise direction.",
+    "5c": "Open the bottle in clockwise direction."
+  }
+}

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_01/source_config.yaml

@@ -0,0 +1,63 @@
+# INSIGHT GR00T N1.7 RKD training with RS-CL-style full-training regularization.
+# Common RKD values live in the top-level policy; the phase contains schedule overrides only.
+insight:
+  checkpoint_interval: 5K
+  checkpoint_slots: 2
+  # Options: joint_abs | ee_abs_quat | ee_abs_rot6d | ee_delta
+  action_space: ee_abs_rot6d
+  # Options: coarse | detailed
+  prompt_set: detailed
+  save_steps: ["10K", "30K", "60K"]
+  phases:
+    - name: rscl_rkd_cosine_decay_60K
+      until_step: 60K
+      policy:
+        # Inherits RKD=1.0 below and follows a half-cosine decay to zero.
+        rkd_loss_weight_end: 0.0
+        rkd_loss_weight_schedule: cosine
+
+dataset:
+  repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+  root: ${HOME}/INSIGHTfixposV4_filtered_multispace_v2
+
+policy:
+  type: groot_rkd
+  device: cuda
+  chunk_size: 16
+  n_action_steps: 16
+  push_to_hub: false
+  # RS-CL GR00T uses exactly 3K warmup updates.
+  warmup_steps: 3000
+
+  # VLM
+  tune_llm: false
+  tune_visual: false
+  tune_top_llm_layers: 0
+  # Action Expert
+  action_expert_num_layers: 8
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+
+  # Frozen TimewarpVAE teacher and common RKD objective.
+  rkd_enabled: true
+  rkd_vae_checkpoint: ${HOME}/groot_insight/TimewarpVAE_ckpt/TimewarpVAE_combo_top8_30k/C8_01_C3_008_beta_5em05_latent_dim_16_granularity_4_decoder_hidden_dim_512/checkpoint-step-30000-epoch-39.11
+  rkd_student_pooling: attention  # attention | mean
+  rkd_student_attention_hidden_dim: 512
+  rkd_student_attention_output_dim: 512
+  rkd_fm_loss_weight: 1.0
+  rkd_loss_weight: 1.0
+  rkd_distance_weight: 1.0
+  rkd_angle_weight: 2.0
+
+seed: 42
+# Single GPU/process, so this is also the global batch size.
+batch_size: 64
+steps: 60000
+log_freq: 200
+output_dir: ${HOME}/groot_insight/Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K
+job_name: INSIGHT_6D_DiT8_RKD_TimewarpVAE_RSCLstyle_C60
+
+wandb:
+  enable: true
+  disable_artifact: true

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_01/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53136c36e731295ef1af848cf98385d057d447f5c5603b709968335d283bc1cd
+size 15708

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_01/training_state/scheduler_state.json

@@ -0,0 +1,18 @@
+{
+    "base_lrs": [
+        0.0001,
+        0.0001
+    ],
+    "last_epoch": 60000,
+    "_step_count": 60001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        0.0,
+        0.0
+    ],
+    "lr_lambdas": [
+        null,
+        null
+    ]
+}

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/rscl_gpu0_rolling5k_20260723_022922.log

@@ -0,0 +1,198 @@
+INFO 2026-07-23 02:29:35 ot_train.py:281 {'batch_size': 64,
+ 'checkpoint_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/030000',
+ 'cudnn_deterministic': False,
+ 'dataset': {'depth_output_unit': 'mm',
+             'episodes': None,
+             'eval_split': 0.0,
+             'image_transforms': {'enable': False,
+                                  'max_num_transforms': 3,
+                                  'random_order': False,
+                                  'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
+                                                                            5.0],
+                                                                'translate': [0.05,
+                                                                              0.05]},
+                                                     'type': 'RandomAffine',
+                                                     'weight': 1.0},
+                                          'brightness': {'kwargs': {'brightness': [0.8,
+                                                                                   1.2]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'contrast': {'kwargs': {'contrast': [0.8,
+                                                                               1.2]},
+                                                       'type': 'ColorJitter',
+                                                       'weight': 1.0},
+                                          'hue': {'kwargs': {'hue': [-0.05,
+                                                                     0.05]},
+                                                  'type': 'ColorJitter',
+                                                  'weight': 1.0},
+                                          'saturation': {'kwargs': {'saturation': [0.5,
+                                                                                   1.5]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'sharpness': {'kwargs': {'sharpness': [0.5,
+                                                                                 1.5]},
+                                                        'type': 'SharpnessJitter',
+                                                        'weight': 1.0}}},
+             'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2',
+             'return_uint8': False,
+             'revision': None,
+             'root': '/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2',
+             'streaming': False,
+             'use_imagenet_stats': True,
+             'video_backend': 'torchcodec'},
+ 'env': None,
+ 'env_eval_freq': 20000,
+ 'eval': {'batch_size': 50,
+          'n_episodes': 50,
+          'recording': False,
+          'recording_private': False,
+          'recording_repo_id': None,
+          'use_async_envs': True},
+ 'eval_steps': 0,
+ 'job': {'detach': False,
+         'image': 'huggingface/lerobot-gpu:latest',
+         'tags': [],
+         'target': None,
+         'timeout': '2d'},
+ 'job_name': 'INSIGHT_6D_DiT8_RKD_TimewarpVAE_RSCLstyle_C60',
+ 'log_freq': 200,
+ 'max_eval_samples': 0,
+ 'num_workers': 4,
+ 'optimizer': {'betas': [0.9, 0.999],
+               'eps': 1e-08,
+               'grad_clip_norm': 1.0,
+               'lr': 0.0001,
+               'type': 'adamw',
+               'weight_decay': 1e-05},
+ 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K',
+ 'peft': None,
+ 'persistent_workers': True,
+ 'policy': {'action_decode_transform': None,
+            'action_expert_num_layers': 8,
+            'balance_dataset_weights': True,
+            'balance_trajectory_weights': True,
+            'base_model_path': 'nvidia/GR00T-N1.7-3B',
+            'batch_size': 32,
+            'chunk_size': 16,
+            'dataloader_num_workers': 8,
+            'dataset_paths': None,
+            'device': 'cuda',
+            'embodiment_tag': 'new_embodiment',
+            'image_size': [256, 256],
+            'input_features': {'observation.images.guide': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.right_shoulder': {'shape': [3,
+                                                                               224,
+                                                                               224],
+                                                                     'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.wrist': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.state': {'shape': [16],
+                                                     'type': <FeatureType.STATE: 'STATE'>}},
+            'license': None,
+            'lora_alpha': 16,
+            'lora_dropout': 0.1,
+            'lora_full_model': False,
+            'lora_rank': 0,
+            'max_action_dim': 132,
+            'max_state_dim': 132,
+            'max_steps': 10000,
+            'model_params_fp32': True,
+            'n_action_steps': 16,
+            'n_obs_steps': 1,
+            'normalization_mapping': {'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
+            'num_inference_timesteps': None,
+            'optimizer_betas': [0.9, 0.999],
+            'optimizer_eps': 1e-08,
+            'optimizer_lr': 0.0001,
+            'optimizer_weight_decay': 1e-05,
+            'output_dir': './tmp/gr00t',
+            'output_features': {'action': {'shape': [10],
+                                           'type': <FeatureType.ACTION: 'ACTION'>}},
+            'pretrained_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/030000/pretrained_model',
+            'pretrained_revision': None,
+            'private': None,
+            'push_to_hub': False,
+            'relative_exclude_joints': [],
+            'repo_id': None,
+            'report_to': 'wandb',
+            'resume': False,
+            'rkd_angle_weight': 2.0,
+            'rkd_distance_weight': 1.0,
+            'rkd_enabled': True,
+            'rkd_fm_loss_weight': 1.0,
+            'rkd_loss_weight': 1.0,
+            'rkd_student_attention_hidden_dim': 512,
+            'rkd_student_attention_output_dim': 512,
+            'rkd_student_pooling': 'attention',
+            'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/TimewarpVAE_combo_top8_30k/C8_01_C3_008_beta_5em05_latent_dim_16_granularity_4_decoder_hidden_dim_512/checkpoint-step-30000-epoch-39.11',
+            'rtc_ramp_rate': None,
+            'save_steps': 1000,
+            'tags': None,
+            'tokenizer_assets_repo': None,
+            'tune_diffusion_model': True,
+            'tune_llm': False,
+            'tune_projector': True,
+            'tune_top_llm_layers': 0,
+            'tune_visual': False,
+            'tune_vlln': True,
+            'type': 'groot_rkd',
+            'use_amp': False,
+            'use_bf16': True,
+            'use_flash_attention': False,
+            'use_peft': False,
+            'use_relative_actions': False,
+            'video_backend': 'decord',
+            'warmup_ratio': 0.05,
+            'warmup_steps': 3000},
+ 'prefetch_factor': 4,
+ 'rename_map': {},
+ 'resume': True,
+ 'reward_model': None,
+ 'sample_weighting': None,
+ 'save_checkpoint': True,
+ 'save_checkpoint_to_hub': False,
+ 'save_freq': 20000,
+ 'scheduler': {'name': 'cosine', 'num_warmup_steps': 3000, 'type': 'diffuser'},
+ 'seed': 42,
+ 'steps': 60000,
+ 'tolerance_s': 0.0001,
+ 'use_policy_training_preset': True,
+ 'wandb': {'add_tags': True,
+           'disable_artifact': True,
+           'enable': True,
+           'entity': None,
+           'mode': None,
+           'notes': None,
+           'project': 'lerobot',
+           'run_id': 'n29mechz'}}
+Traceback (most recent call last):
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1613, in <module>
+    main()
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1609, in main
+    train_module.main()
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 825, in main
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/configs/parser.py", line 320, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 285, in train
+    if not policy.is_trainable:
+                   ^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/common/wandb_utils.py", line 99, in __init__
+    wandb.init(
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/wandb_init.py", line 1528, in init
+    get_sentry().reraise(e)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/analytics/sentry.py", line 191, in reraise
+    raise exc.with_traceback(tb)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/wandb_init.py", line 1511, in init
+    run = wi.init(run_settings, run_config, run_printer)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/wandb_init.py", line 961, in init
+    raise error
+wandb.errors.errors.UsageError: You provided an invalid value for the `resume` argument. The value 'must' is not a valid option for resuming the run (n29mechz) that has not been initialized. Please check your inputs and try again with a valid run ID. If you are trying to start a new run, please omit the `resume` argument or use `resume='allow'`.

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/wandb/run-20260723_013342-rd8tz18f/files/output.log

@@ -45,4 +45,46 @@ Training:   3%|▎         | 800/30000 [20:37<13:03:17,  1.61s/step]INFO 2026-07
 Training:   3%|▎         | 1000/30000 [26:07<13:31:18,  1.68s/step]INFO 2026-07-23 02:00:18 ot_train.py:649 step:31K smpl:2M ep:45K epch:9.09 loss:0.040 grdn:0.312 lr:5.2e-05 updt_s:0.866 data_s:0.777 smp/s:39 mem_gb:24.94
 Training:   4%|▍         | 1200/30000 [31:17<9:56:17,  1.24s/step]INFO 2026-07-23 02:05:28 ot_train.py:649 step:31K smpl:2M ep:45K epch:9.14 loss:0.039 grdn:0.308 lr:5.1e-05 updt_s:0.830 data_s:0.717 smp/s:41 mem_gb:24.94
 Training:   5%|▍         | 1400/30000 [36:24<11:16:40,  1.42s/step]INFO 2026-07-23 02:10:35 ot_train.py:649 step:31K smpl:2M ep:45K epch:9.20 loss:0.039 grdn:0.316 lr:5.1e-05 updt_s:0.784 data_s:0.750 smp/s:42 mem_gb:24.94
-Training:   5%|▍         | 1473/30000 [38:09<12:03:15,  1.52s/step]
+Training:   5%|▌         | 1600/30000 [41:16<18:49:48,  2.39s/step]INFO 2026-07-23 02:15:27 ot_train.py:649 step:32K smpl:2M ep:46K epch:9.26 loss:0.038 grdn:0.297 lr:5.0e-05 updt_s:0.790 data_s:0.668 smp/s:44 mem_gb:24.92
+Training:   6%|▌         | 1800/30000 [46:05<10:51:26,  1.39s/step]INFO 2026-07-23 02:20:16 ot_train.py:649 step:32K smpl:2M ep:46K epch:9.32 loss:0.037 grdn:0.295 lr:4.9e-05 updt_s:0.761 data_s:0.679 smp/s:44 mem_gb:24.93
+Training:   7%|▋         | 2000/30000 [50:46<11:05:33,  1.43s/step]INFO 2026-07-23 02:24:57 ot_train.py:649 step:32K smpl:2M ep:46K epch:9.38 loss:0.037 grdn:0.297 lr:4.9e-05 updt_s:0.750 data_s:0.652 smp/s:46 mem_gb:24.94
+Training:   7%|▋         | 2167/30000 [54:38<10:42:41,  1.39s/step]Traceback (most recent call last):
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1453, in <module>
+    config_path = Path(config_value).expanduser()
+    ^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1449, in main
+    config_value = _find_cli_value(args, "--config_path")
+    ^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 816, in main
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/configs/parser.py", line 320, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 618, in train
+    if is_eval_step:
+
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 196, in update_policy
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/accelerate/optimizer.py", line 179, in step
+    self.optimizer.step(closure)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/torch/optim/lr_scheduler.py", line 166, in wrapper
+    return func.__get__(opt, opt.__class__)(*args, **kwargs)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/torch/optim/optimizer.py", line 533, in wrapper
+    out = func(*args, **kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/torch/optim/optimizer.py", line 81, in _use_grad
+    ret = func(*args, **kwargs)
+          ^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/torch/optim/adam.py", line 248, in step
+    adam(
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/torch/optim/optimizer.py", line 151, in maybe_fallback
+    return func(*args, **kwargs)
+           ^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/torch/optim/adam.py", line 971, in adam
+    func(
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/torch/optim/adam.py", line 773, in _multi_tensor_adam
+    1 - beta1 ** _get_value(step) for step in device_state_steps
+                 ^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/torch/optim/optimizer.py", line 96, in _get_value
+    return x.item() if isinstance(x, torch.Tensor) else x
+           ^^^^^^^^
+KeyboardInterrupt

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/wandb/run-20260723_013342-rd8tz18f/files/wandb-summary.json

@@ -0,0 +1 @@
+{"train/episodes":53461.55783611993,"train/weighted_rkd_loss":0.0015427981270477176,"train/rkd_fm_loss_weight":1,"train/rkd_teacher_latent_norm":1,"train/dataloading_s":0.5598915206849051,"train/rkd_angle_loss":0.0018192616989836097,"train/rkd_runtime_enabled":1,"train/loss":0.027326801791787148,"train/rkd_loss_weight":0.3208404665513721,"train/grad_norm":0.2797527726739645,"train/training_phase_trainable_params":8.10087553e+08,"train/gpu_mem_gb":24.949302866458893,"train/samples_per_s":53.17522825604924,"train/lr":3.5336255062138e-05,"train/steps":37000,"train/training_phase_start_step":0,"train/weighted_flow_matching_loss":0.025784004479646683,"_runtime":59401,"train/rkd_distance_loss":0.001170090981759131,"_step":37000,"train/rkd_loss":0.004808614496141672,"train/rkd_student_feature_norm":17.118759155273438,"train/samples":2368000,"train/training_phase_until_step":60000,"train/update_s":0.6436764206096268,"_timestamp":1.7847404969708283e+09,"train/epochs":10.844129378523313,"train/flow_matching_loss":0.025784004479646683,"_wandb":{"runtime":59401},"train/rkd_student_pooling_id":1,"train/training_phase_index":0}