Add INSIGHT consistency 1.0 checkpoint-60K

Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency10_60K/checkpoints/checkpoint-60K/action_space_manifest.json

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Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency10_60K/checkpoints/checkpoint-60K/phase_schedule.json

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Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency10_60K/checkpoints/checkpoint-60K/pretrained_model/action_space_manifest.json

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Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency10_60K/checkpoints/checkpoint-60K/pretrained_model/config.json

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Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency10_60K/checkpoints/checkpoint-60K/pretrained_model/phase_schedule.json

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Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency10_60K/checkpoints/checkpoint-60K/pretrained_model/policy_postprocessor.json

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+{
+  "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/consistency/DiT32_RSCL_RKD_ActionConsistency10_60K/checkpoints/checkpoint-60K/pretrained_model/train_config.json

@@ -0,0 +1,273 @@
+{
+    "dataset": {
+        "repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+        "root": "/home/junhyeong/INSIGHTfixposV4_filtered_multispace_v2",
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
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+                    "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": "gr00t_n1_7_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/junhyeong/groot_insight/train_ckpt/Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency10_60K/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": 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": 32,
+        "rkd_enabled": true,
+        "rkd_teacher_checkpoint": "/home/junhyeong/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_teacher_type": "timewarp_vae",
+        "rkd_action_feature": "action",
+        "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,
+        "action_consistency_enabled": true,
+        "action_consistency_loss_weight": 1.0
+    },
+    "reward_model": null,
+    "output_dir": "/home/junhyeong/groot_insight/train_ckpt/Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency10_60K",
+    "job_name": "INSIGHT_6D_GR00T_N1_7_DiT32_RKD_RSCL_C60_ActionConsistency10",
+    "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": 44,
+        "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": "5by4y1tf",
+        "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/junhyeong/groot_insight/train_ckpt/Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency10_60K/checkpoints/rolling_01"
+}

Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency10_60K/checkpoints/checkpoint-60K/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/consistency/DiT32_RSCL_RKD_ActionConsistency10_60K/checkpoints/checkpoint-60K/resolved_config.yaml

@@ -0,0 +1,44 @@
+dataset:
+  repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+  root: /home/junhyeong/INSIGHTfixposV4_filtered_multispace_v2
+policy:
+  type: gr00t_n1_7_rkd
+  device: cuda
+  push_to_hub: false
+  base_model_path: nvidia/GR00T-N1.7-3B
+  embodiment_tag: new_embodiment
+  chunk_size: 16
+  n_action_steps: 16
+  tune_llm: false
+  tune_visual: false
+  tune_top_llm_layers: 0
+  action_expert_num_layers: 32
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+  use_bf16: true
+  model_params_fp32: true
+  rkd_enabled: true
+  rkd_teacher_type: timewarp_vae
+  rkd_teacher_checkpoint: /home/junhyeong/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_action_feature: action
+  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
+  action_consistency_enabled: true
+  action_consistency_loss_weight: 1.0
+  optimizer_lr: 0.0001
+  warmup_steps: 3000
+seed: 42
+batch_size: 64
+steps: 60000
+log_freq: 200
+output_dir: /home/junhyeong/groot_insight/train_ckpt/Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency10_60K
+job_name: INSIGHT_6D_GR00T_N1_7_DiT32_RKD_RSCL_C60_ActionConsistency10
+wandb:
+  enable: true
+  disable_artifact: true

Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency10_60K/checkpoints/checkpoint-60K/source_config.yaml

@@ -0,0 +1,71 @@
+# INSIGHT GR00T N1.7 DiT32 RKD with RS-CL-style regularization.
+# Full 60K training from the N1.7 base model on ee_abs_rot6d actions.
+# RKD decays 1.0 -> 0.0 by half-cosine while action consistency stays fixed at 1.0.
+
+insight:
+  checkpoint_interval: 5K
+  checkpoint_slots: 2
+  action_space: ee_abs_rot6d
+  prompt_set: detailed
+  save_steps: ["60K"]
+  phases:
+    - name: rscl_rkd_cosine_decay_60K
+      until_step: 60K
+      policy:
+        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: gr00t_n1_7_rkd
+  device: cuda
+  push_to_hub: false
+  base_model_path: nvidia/GR00T-N1.7-3B
+  embodiment_tag: new_embodiment
+  chunk_size: 16
+  n_action_steps: 16
+
+  # Keep the VLM frozen and fine-tune the GR00T action path.
+  tune_llm: false
+  tune_visual: false
+  tune_top_llm_layers: 0
+  action_expert_num_layers: 32
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+  use_bf16: true
+  model_params_fp32: true
+
+  # Frozen INSIGHT ee_abs_rot6d TimewarpVAE teacher and learned-attention student head.
+  rkd_enabled: true
+  rkd_teacher_type: timewarp_vae
+  rkd_teacher_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_action_feature: action
+  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
+
+  action_consistency_enabled: true
+  action_consistency_loss_weight: 1.0
+
+  optimizer_lr: 1.0e-4
+  warmup_steps: 3000
+
+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/train_ckpt/Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency10_60K
+job_name: INSIGHT_6D_GR00T_N1_7_DiT32_RKD_RSCL_C60_ActionConsistency10
+
+wandb:
+  enable: true
+  disable_artifact: true

Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency10_60K/checkpoints/checkpoint-60K/training_state/optimizer_param_groups.json

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