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  1. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/action_space_manifest.json +205 -0
  2. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/phase_schedule.json +32 -0
  3. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/pretrained_model/action_space_manifest.json +205 -0
  4. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/pretrained_model/config.json +118 -0
  5. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/pretrained_model/model.safetensors +3 -0
  6. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/pretrained_model/phase_schedule.json +32 -0
  7. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/pretrained_model/policy_postprocessor.json +23 -0
  8. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors +3 -0
  9. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/pretrained_model/policy_preprocessor.json +82 -0
  10. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/pretrained_model/policy_preprocessor_step_3_groot_n1_7_pack_inputs_v1.safetensors +3 -0
  11. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/pretrained_model/prompt_manifest.json +40 -0
  12. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/pretrained_model/train_config.json +269 -0
  13. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/prompt_manifest.json +40 -0
  14. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/resolved_config.yaml +34 -0
  15. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/source_config.yaml +60 -0
  16. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/training_state/optimizer_param_groups.json +585 -0
  17. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/training_state/rng_state.safetensors +3 -0
  18. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/training_state/scheduler_state.json +18 -0
  19. Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/training_state/training_step.json +5 -0
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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/060000/prompt_manifest.json ADDED
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+ {
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+ "mapping_sha256": "f71954786e94cdeceb135dde09fdc6b65db0b87ab3b09d25060129d0f0fde018",
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+ "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
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+ "dataset_revision": "v3.0",
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+ "task_count": 13,
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+ "task_codes": [
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+ "5f",
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+ "5g",
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+ "1ext",
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+ "3b",
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+ "5b",
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+ "3a",
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+ "3c": "Open the door, rotate clockwise and pull.",
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+ "5h": "Close the bottle in counter-clockwise direction.",
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+ "5d": "Close the bottle in clockwise direction.",
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+ "3d": "Open the door, rotate counter-clockwise and pull.",
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+ "5e": "Close the bottle in counter-clockwise direction.",
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+ "5a": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in counter-clockwise direction.",
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+ "5c": "Open the bottle in clockwise direction."
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+ }
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+ }
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+ dataset:
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+ repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
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+ root: /home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
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+ policy:
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+ type: groot_rkd
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+ device: cuda
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+ chunk_size: 16
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+ n_action_steps: 16
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+ push_to_hub: false
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+ warmup_steps: 3000
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+ tune_llm: false
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+ tune_visual: false
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+ tune_top_llm_layers: 0
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+ tune_projector: true
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+ tune_diffusion_model: true
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+ tune_vlln: true
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+ rkd_enabled: true
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+ rkd_vae_checkpoint: ${HOME}/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84
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+ rkd_student_pooling: attention
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+ rkd_student_attention_hidden_dim: 512
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+ rkd_student_attention_output_dim: 512
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+ rkd_fm_loss_weight: 1.0
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+ rkd_loss_weight: 1.0
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+ rkd_distance_weight: 1.0
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+ rkd_angle_weight: 2.0
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+ seed: 42
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+ batch_size: 128
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+ steps: 60000
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+ log_freq: 200
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+ output_dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K
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+ job_name: INSIGHT_RD_RKD_TimewarpVAE_RSCLstyle_C60
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+ wandb:
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+ enable: true
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+ disable_artifact: true
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+ # INSIGHT GR00T N1.7 RKD training with RS-CL-style full-training regularization.
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+ # Common RKD values live in the top-level policy; the phase contains schedule overrides only.
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+ insight:
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+ # Composite policy action: ee_abs_rot6d 10D + ee_delta 6D (duplicate gripper removed)
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+ action_space: ee_abs_rot6d+ee_delta
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+ # Options: coarse | detailed
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+ prompt_set: detailed
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+ save_steps: ["60K"]
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+ phases:
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+ - name: rscl_rkd_cosine_decay_60K
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+ until_step: 60K
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+ policy:
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+ # Inherits RKD=1.0 below and follows a half-cosine decay to zero.
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+ rkd_loss_weight_end: 0.0
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+ rkd_loss_weight_schedule: cosine
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+
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+ dataset:
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+ repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
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+ root: ${HOME}/INSIGHTfixposV4_filtered_multispace_v2
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+
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+ policy:
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+ type: groot_rkd
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+ device: cuda
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+ chunk_size: 16
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+ n_action_steps: 16
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+ push_to_hub: false
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+ # RS-CL GR00T uses exactly 3K warmup updates.
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+ warmup_steps: 3000
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+
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+ # VLM
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+ tune_llm: false
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+ tune_visual: false
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+ tune_top_llm_layers: 0
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+ # Action Expert
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+ tune_projector: true
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+ tune_diffusion_model: true
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+
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+ # Frozen RD TimewarpVAE teacher: ee_abs_rot6d 10D + ee_delta 6D (gripper deduplicated).
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+ rkd_enabled: true
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+ rkd_vae_checkpoint: ${HOME}/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84
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+ rkd_fm_loss_weight: 1.0
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+ rkd_distance_weight: 1.0
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+ rkd_angle_weight: 2.0
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+
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+ seed: 42
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+ # Single GPU/process, so this is also the global batch size.
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+ batch_size: 128
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+ steps: 60000
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+ log_freq: 200
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+ output_dir: "${HOME}/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K"
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+ job_name: INSIGHT_RD_RKD_TimewarpVAE_RSCLstyle_C60
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+
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+ wandb:
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+ enable: true
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+ disable_artifact: true
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