Hugging Face's logo

Whalswp
/
Insight_ckpt

Safetensors
Model card Files
xet
 Community
Whalswp commited on
Commit
eb8bb50
·
verified ·
1 Parent(s): a9c98c5

Remove duplicate 060000 checkpoint; retain checkpoint-60K

Browse files
Files changed (19) hide show
  1. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/action_space_manifest.json +0 -144
  2. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/phase_schedule.json +0 -36
  3. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/action_space_manifest.json +0 -144
  4. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/config.json +0 -122
  5. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/model.safetensors +0 -3
  6. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/phase_schedule.json +0 -36
  7. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/policy_postprocessor.json +0 -23
  8. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors +0 -3
  9. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/policy_preprocessor.json +0 -82
  10. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/policy_preprocessor_step_3_groot_n1_7_pack_inputs_v1.safetensors +0 -3
  11. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/prompt_manifest.json +0 -40
  12. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/train_config.json +0 -273
  13. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/prompt_manifest.json +0 -40
  14. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/resolved_config.yaml +0 -44
  15. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/source_config.yaml +0 -73
  16. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/training_state/optimizer_param_groups.json +0 -585
  17. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/training_state/rng_state.safetensors +0 -3
  18. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/training_state/scheduler_state.json +0 -18
  19. Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/training_state/training_step.json +0 -5
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/action_space_manifest.json DELETED
@@ -1,144 +0,0 @@
1
- {
2
- "schema_version": 2,
3
- "action_space": "ee_abs_rot6d",
4
- "action_views": [
5
- "ee_abs_rot6d"
6
- ],
7
- "source_feature": "action.ee_abs_rot6d",
8
- "canonical_feature": "action",
9
- "dtype": "float32",
10
- "shape": [
11
- 10
12
- ],
13
- "names": [
14
- "x",
15
- "y",
16
- "z",
17
- "r_col0_x",
18
- "r_col0_y",
19
- "r_col0_z",
20
- "r_col1_x",
21
- "r_col1_y",
22
- "r_col1_z",
23
- "gripper"
24
- ],
25
- "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
26
- "dataset_revision": "v3.0",
27
- "dataset_total_frames": 218367,
28
- "dataset_total_episodes": 4930,
29
- "dataset_fps": 10,
30
- "stats_sha256": "71698c7337070aa8267df5aea7ec08bc00d3925510f2649bc20c9201eeb669e4",
31
- "stats": {
32
- "min": [
33
- -0.21784618496894836,
34
- -0.4474811851978302,
35
- 0.1702737659215927,
36
- -0.9999986290931702,
37
- -0.9999991655349731,
38
- -0.9999999403953552,
39
- -0.9999990463256836,
40
- -0.9999998211860657,
41
- -0.9999988079071045,
42
- 0.0
43
- ],
44
- "max": [
45
- 0.6283698678016663,
46
- 0.4420371949672699,
47
- 1.051027774810791,
48
- 0.9999999403953552,
49
- 0.9999995231628418,
50
- 1.0,
51
- 0.9999995231628418,
52
- 1.0,
53
- 0.9999996423721313,
54
- 0.03999999910593033
55
- ],
56
- "mean": [
57
- 0.4040228037735655,
58
- -0.05247618696989652,
59
- 0.6993459771218912,
60
- 0.07011111991957117,
61
- -0.03520558904460197,
62
- 0.14470242846953205,
63
- 0.05491166606739672,
64
- -0.19073058893378805,
65
- -0.06988117661871228,
66
- 0.021167300266524632
67
- ],
68
- "std": [
69
- 0.11861927913357073,
70
- 0.11318943557281885,
71
- 0.17849160646987516,
72
- 0.4812528791886511,
73
- 0.7487196258736938,
74
- 0.4251126804030219,
75
- 0.47797229807769137,
76
- 0.6267695346407992,
77
- 0.5782954306815554,
78
- 0.01996590431050817
79
- ],
80
- "count": [
81
- 218367
82
- ],
83
- "q01": [
84
- 0.23988881827972064,
85
- -0.10387461883034811,
86
- 0.6297243923476871,
87
- -0.43622841955353464,
88
- -0.6885486527617446,
89
- -0.14103555388039019,
90
- -0.4327210063987595,
91
- -0.9304790915716145,
92
- -0.3465462258490417,
93
- -1.000000013351432e-10
94
- ],
95
- "q10": [
96
- 0.3042306436755216,
97
- -0.09609991620622624,
98
- 0.6394063072781145,
99
- -0.3351306352998669,
100
- -0.5751963015002924,
101
- -0.08490621283307866,
102
- -0.33849701676224275,
103
- -0.8340557712529717,
104
- -0.29760290790884514,
105
- -1.000000013351432e-10
106
- ],
107
- "q50": [
108
- 0.4160225263528291,
109
- -0.06267459152989589,
110
- 0.6811777491060801,
111
- 0.0543536902230377,
112
- -0.14012251058819217,
113
- 0.04772394280004727,
114
- 0.03838119138716219,
115
- -0.14865169094195635,
116
- -0.2073069401172425,
117
- 0.020772594934870346
118
- ],
119
- "q90": [
120
- 0.46641008755679864,
121
- 0.020233143101890064,
122
- 0.8095135405259374,
123
- 0.48172401592474906,
124
- 0.7398737043070319,
125
- 0.5970841215636613,
126
- 0.4674752875999555,
127
- 0.36281754777672676,
128
- 0.5033361883834496,
129
- 0.039998362213352394
130
- ],
131
- "q99": [
132
- 0.47320723171849244,
133
- 0.04114262476135705,
134
- 0.8467967259270389,
135
- 0.5867781409980988,
136
- 0.8529584859257228,
137
- 0.7953936054341789,
138
- 0.5768269858732034,
139
- 0.49353349323389695,
140
- 0.7168914440776504,
141
- 0.03999983541667277
142
- ]
143
- }
144
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/phase_schedule.json DELETED
@@ -1,36 +0,0 @@
1
- {
2
- "schema_version": 1,
3
- "step_interval": "[start_step, until_step)",
4
- "total_steps": 60000,
5
- "optimizer_lifecycle": "single_continuous_optimizer",
6
- "scheduler_lifecycle": "single_continuous_scheduler",
7
- "phases": [
8
- {
9
- "index": 0,
10
- "name": "rscl_rkd_down_consistency_up_cosine_60K",
11
- "start_step": 0,
12
- "until_step": 60000,
13
- "policy": {
14
- "rkd_enabled": true,
15
- "rkd_fm_loss_weight": 1.0,
16
- "rkd_loss_weight": 1.0,
17
- "rkd_loss_weight_end": 0.0,
18
- "rkd_loss_weight_schedule": "cosine",
19
- "rkd_distance_weight": 1.0,
20
- "rkd_angle_weight": 2.0,
21
- "action_consistency_enabled": true,
22
- "action_consistency_loss_weight": 0.0,
23
- "action_consistency_loss_weight_end": 0.3,
24
- "action_consistency_loss_weight_schedule": "cosine"
25
- },
26
- "trainable": {
27
- "tune_llm": false,
28
- "tune_visual": false,
29
- "tune_top_llm_layers": 0,
30
- "tune_projector": true,
31
- "tune_diffusion_model": true,
32
- "tune_vlln": true
33
- }
34
- }
35
- ]
36
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/action_space_manifest.json DELETED
@@ -1,144 +0,0 @@
1
- {
2
- "schema_version": 2,
3
- "action_space": "ee_abs_rot6d",
4
- "action_views": [
5
- "ee_abs_rot6d"
6
- ],
7
- "source_feature": "action.ee_abs_rot6d",
8
- "canonical_feature": "action",
9
- "dtype": "float32",
10
- "shape": [
11
- 10
12
- ],
13
- "names": [
14
- "x",
15
- "y",
16
- "z",
17
- "r_col0_x",
18
- "r_col0_y",
19
- "r_col0_z",
20
- "r_col1_x",
21
- "r_col1_y",
22
- "r_col1_z",
23
- "gripper"
24
- ],
25
- "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
26
- "dataset_revision": "v3.0",
27
- "dataset_total_frames": 218367,
28
- "dataset_total_episodes": 4930,
29
- "dataset_fps": 10,
30
- "stats_sha256": "71698c7337070aa8267df5aea7ec08bc00d3925510f2649bc20c9201eeb669e4",
31
- "stats": {
32
- "min": [
33
- -0.21784618496894836,
34
- -0.4474811851978302,
35
- 0.1702737659215927,
36
- -0.9999986290931702,
37
- -0.9999991655349731,
38
- -0.9999999403953552,
39
- -0.9999990463256836,
40
- -0.9999998211860657,
41
- -0.9999988079071045,
42
- 0.0
43
- ],
44
- "max": [
45
- 0.6283698678016663,
46
- 0.4420371949672699,
47
- 1.051027774810791,
48
- 0.9999999403953552,
49
- 0.9999995231628418,
50
- 1.0,
51
- 0.9999995231628418,
52
- 1.0,
53
- 0.9999996423721313,
54
- 0.03999999910593033
55
- ],
56
- "mean": [
57
- 0.4040228037735655,
58
- -0.05247618696989652,
59
- 0.6993459771218912,
60
- 0.07011111991957117,
61
- -0.03520558904460197,
62
- 0.14470242846953205,
63
- 0.05491166606739672,
64
- -0.19073058893378805,
65
- -0.06988117661871228,
66
- 0.021167300266524632
67
- ],
68
- "std": [
69
- 0.11861927913357073,
70
- 0.11318943557281885,
71
- 0.17849160646987516,
72
- 0.4812528791886511,
73
- 0.7487196258736938,
74
- 0.4251126804030219,
75
- 0.47797229807769137,
76
- 0.6267695346407992,
77
- 0.5782954306815554,
78
- 0.01996590431050817
79
- ],
80
- "count": [
81
- 218367
82
- ],
83
- "q01": [
84
- 0.23988881827972064,
85
- -0.10387461883034811,
86
- 0.6297243923476871,
87
- -0.43622841955353464,
88
- -0.6885486527617446,
89
- -0.14103555388039019,
90
- -0.4327210063987595,
91
- -0.9304790915716145,
92
- -0.3465462258490417,
93
- -1.000000013351432e-10
94
- ],
95
- "q10": [
96
- 0.3042306436755216,
97
- -0.09609991620622624,
98
- 0.6394063072781145,
99
- -0.3351306352998669,
100
- -0.5751963015002924,
101
- -0.08490621283307866,
102
- -0.33849701676224275,
103
- -0.8340557712529717,
104
- -0.29760290790884514,
105
- -1.000000013351432e-10
106
- ],
107
- "q50": [
108
- 0.4160225263528291,
109
- -0.06267459152989589,
110
- 0.6811777491060801,
111
- 0.0543536902230377,
112
- -0.14012251058819217,
113
- 0.04772394280004727,
114
- 0.03838119138716219,
115
- -0.14865169094195635,
116
- -0.2073069401172425,
117
- 0.020772594934870346
118
- ],
119
- "q90": [
120
- 0.46641008755679864,
121
- 0.020233143101890064,
122
- 0.8095135405259374,
123
- 0.48172401592474906,
124
- 0.7398737043070319,
125
- 0.5970841215636613,
126
- 0.4674752875999555,
127
- 0.36281754777672676,
128
- 0.5033361883834496,
129
- 0.039998362213352394
130
- ],
131
- "q99": [
132
- 0.47320723171849244,
133
- 0.04114262476135705,
134
- 0.8467967259270389,
135
- 0.5867781409980988,
136
- 0.8529584859257228,
137
- 0.7953936054341789,
138
- 0.5768269858732034,
139
- 0.49353349323389695,
140
- 0.7168914440776504,
141
- 0.03999983541667277
142
- ]
143
- }
144
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/config.json DELETED
@@ -1,122 +0,0 @@
1
- {
2
- "type": "gr00t_n1_7_rkd",
3
- "n_obs_steps": 1,
4
- "input_features": {
5
- "observation.state": {
6
- "type": "STATE",
7
- "shape": [
8
- 16
9
- ]
10
- },
11
- "observation.images.wrist": {
12
- "type": "VISUAL",
13
- "shape": [
14
- 3,
15
- 224,
16
- 224
17
- ]
18
- },
19
- "observation.images.right_shoulder": {
20
- "type": "VISUAL",
21
- "shape": [
22
- 3,
23
- 224,
24
- 224
25
- ]
26
- },
27
- "observation.images.guide": {
28
- "type": "VISUAL",
29
- "shape": [
30
- 3,
31
- 224,
32
- 224
33
- ]
34
- }
35
- },
36
- "output_features": {
37
- "action": {
38
- "type": "ACTION",
39
- "shape": [
40
- 10
41
- ]
42
- }
43
- },
44
- "device": "cuda",
45
- "use_amp": false,
46
- "use_peft": false,
47
- "push_to_hub": false,
48
- "repo_id": null,
49
- "private": null,
50
- "tags": null,
51
- "license": null,
52
- "pretrained_path": null,
53
- "pretrained_revision": null,
54
- "chunk_size": 16,
55
- "n_action_steps": 16,
56
- "max_state_dim": 132,
57
- "max_action_dim": 132,
58
- "normalization_mapping": {
59
- "VISUAL": "IDENTITY",
60
- "STATE": "IDENTITY",
61
- "ACTION": "IDENTITY"
62
- },
63
- "base_model_path": "nvidia/GR00T-N1.7-3B",
64
- "action_decode_transform": null,
65
- "embodiment_tag": "new_embodiment",
66
- "tune_llm": false,
67
- "tune_visual": false,
68
- "tune_projector": true,
69
- "tune_diffusion_model": true,
70
- "tune_vlln": true,
71
- "tune_top_llm_layers": 0,
72
- "num_inference_timesteps": null,
73
- "rtc_ramp_rate": null,
74
- "use_flash_attention": false,
75
- "use_relative_actions": false,
76
- "relative_exclude_joints": [],
77
- "optimizer_lr": 0.0001,
78
- "optimizer_betas": [
79
- 0.9,
80
- 0.999
81
- ],
82
- "optimizer_eps": 1e-08,
83
- "optimizer_weight_decay": 1e-05,
84
- "warmup_steps": 3000,
85
- "warmup_ratio": 0.05,
86
- "use_bf16": true,
87
- "model_params_fp32": true,
88
- "image_size": [
89
- 256,
90
- 256
91
- ],
92
- "tokenizer_assets_repo": null,
93
- "lora_rank": 0,
94
- "lora_alpha": 16,
95
- "lora_dropout": 0.1,
96
- "lora_full_model": false,
97
- "video_backend": "decord",
98
- "balance_dataset_weights": true,
99
- "balance_trajectory_weights": true,
100
- "dataset_paths": null,
101
- "output_dir": "./tmp/gr00t",
102
- "save_steps": 1000,
103
- "max_steps": 10000,
104
- "batch_size": 32,
105
- "dataloader_num_workers": 8,
106
- "report_to": "wandb",
107
- "resume": false,
108
- "action_expert_num_layers": 32,
109
- "rkd_enabled": true,
110
- "rkd_teacher_checkpoint": "/home/seonho/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",
111
- "rkd_teacher_type": "timewarp_vae",
112
- "rkd_action_feature": "action",
113
- "rkd_student_pooling": "attention",
114
- "rkd_student_attention_hidden_dim": 512,
115
- "rkd_student_attention_output_dim": 512,
116
- "rkd_fm_loss_weight": 1.0,
117
- "rkd_loss_weight": 1.0,
118
- "rkd_distance_weight": 1.0,
119
- "rkd_angle_weight": 2.0,
120
- "action_consistency_enabled": true,
121
- "action_consistency_loss_weight": 0.0
122
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/model.safetensors DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:7280eafcf9bc009ca42324b86c3bbd7bc64c5680a5830d074c0c4b51e3106fd0
3
- size 12582992260
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/phase_schedule.json DELETED
@@ -1,36 +0,0 @@
1
- {
2
- "schema_version": 1,
3
- "step_interval": "[start_step, until_step)",
4
- "total_steps": 60000,
5
- "optimizer_lifecycle": "single_continuous_optimizer",
6
- "scheduler_lifecycle": "single_continuous_scheduler",
7
- "phases": [
8
- {
9
- "index": 0,
10
- "name": "rscl_rkd_down_consistency_up_cosine_60K",
11
- "start_step": 0,
12
- "until_step": 60000,
13
- "policy": {
14
- "rkd_enabled": true,
15
- "rkd_fm_loss_weight": 1.0,
16
- "rkd_loss_weight": 1.0,
17
- "rkd_loss_weight_end": 0.0,
18
- "rkd_loss_weight_schedule": "cosine",
19
- "rkd_distance_weight": 1.0,
20
- "rkd_angle_weight": 2.0,
21
- "action_consistency_enabled": true,
22
- "action_consistency_loss_weight": 0.0,
23
- "action_consistency_loss_weight_end": 0.3,
24
- "action_consistency_loss_weight_schedule": "cosine"
25
- },
26
- "trainable": {
27
- "tune_llm": false,
28
- "tune_visual": false,
29
- "tune_top_llm_layers": 0,
30
- "tune_projector": true,
31
- "tune_diffusion_model": true,
32
- "tune_vlln": true
33
- }
34
- }
35
- ]
36
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/policy_postprocessor.json DELETED
@@ -1,23 +0,0 @@
1
- {
2
- "name": "policy_postprocessor",
3
- "steps": [
4
- {
5
- "registry_name": "groot_action_unpack_unnormalize_v2",
6
- "config": {
7
- "env_action_dim": 10,
8
- "normalize_min_max": true,
9
- "clip_normalized_action": true,
10
- "libero_gripper_action": false,
11
- "libero_gripper_binarize": true
12
- },
13
- "state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors"
14
- },
15
- {
16
- "registry_name": "device_processor",
17
- "config": {
18
- "device": "cpu",
19
- "float_dtype": null
20
- }
21
- }
22
- ]
23
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
3
- size 5760
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/policy_preprocessor.json DELETED
@@ -1,82 +0,0 @@
1
- {
2
- "name": "policy_preprocessor",
3
- "steps": [
4
- {
5
- "registry_name": "rename_observations_processor",
6
- "config": {
7
- "rename_map": {}
8
- }
9
- },
10
- {
11
- "registry_name": "to_batch_processor",
12
- "config": {}
13
- },
14
- {
15
- "registry_name": "rkd_common_preserve_raw_action_v1",
16
- "config": {}
17
- },
18
- {
19
- "registry_name": "groot_n1_7_pack_inputs_v1",
20
- "config": {
21
- "state_horizon": 1,
22
- "action_horizon": 16,
23
- "valid_action_horizon": 16,
24
- "video_horizon": null,
25
- "max_state_dim": 132,
26
- "max_action_dim": 132,
27
- "language_key": "task",
28
- "formalize_language": true,
29
- "embodiment_tag": "new_embodiment",
30
- "embodiment_mapping": {
31
- "oxe_droid_relative_eef_relative_joint": 24,
32
- "xdof_relative_eef_relative_joint": 27,
33
- "xdof_relative_eef_relative_joint_subtask": 27,
34
- "real_g1_relative_eef_relative_joints": 25,
35
- "real_r1_pro_sharpa_relative_eef": 26,
36
- "real_r1_pro_sharpa_relative_eef_human": 26,
37
- "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
38
- "real_r1_pro_sharpa_relative_eef_mecka": 26,
39
- "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
40
- "simpler_env_google": 0,
41
- "simpler_env_widowx": 1,
42
- "libero_sim": 2,
43
- "new_embodiment": 10
44
- },
45
- "normalize_min_max": true,
46
- "state_dropout_prob": 0.0,
47
- "clip_outliers": true,
48
- "use_percentiles": false,
49
- "video_modality_keys": null,
50
- "raw_stats": null,
51
- "modality_config": null
52
- },
53
- "state_file": "policy_preprocessor_step_3_groot_n1_7_pack_inputs_v1.safetensors"
54
- },
55
- {
56
- "registry_name": "groot_n1_7_vlm_encode_v1",
57
- "config": {
58
- "model_name": "nvidia/Cosmos-Reason2-2B",
59
- "image_crop_size": [
60
- 230,
61
- 230
62
- ],
63
- "image_target_size": [
64
- 256,
65
- 256
66
- ],
67
- "shortest_image_edge": null,
68
- "crop_fraction": null,
69
- "use_albumentations": false,
70
- "letter_box_transform": false,
71
- "device": "cuda"
72
- }
73
- },
74
- {
75
- "registry_name": "device_processor",
76
- "config": {
77
- "device": "cuda",
78
- "float_dtype": null
79
- }
80
- }
81
- ]
82
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/policy_preprocessor_step_3_groot_n1_7_pack_inputs_v1.safetensors DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:26dfd80e5a89976015229cacc0729bde19729bc6140d22d604e83a82c30b3029
3
- size 5760
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/prompt_manifest.json DELETED
@@ -1,40 +0,0 @@
1
- {
2
- "schema_version": 1,
3
- "prompt_set": "detailed",
4
- "source_file": "task_prompts.json",
5
- "source_sha256": "0ba48fb372da9f49dcfcd7dcc2da8cce6ce991d3661060e664a104778d1ffacc",
6
- "mapping_sha256": "f71954786e94cdeceb135dde09fdc6b65db0b87ab3b09d25060129d0f0fde018",
7
- "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
8
- "dataset_revision": "v3.0",
9
- "task_count": 13,
10
- "task_codes": [
11
- "5f",
12
- "5g",
13
- "1ext",
14
- "3b",
15
- "5b",
16
- "3a",
17
- "3c",
18
- "5h",
19
- "5d",
20
- "3d",
21
- "5e",
22
- "5a",
23
- "5c"
24
- ],
25
- "prompts": {
26
- "5f": "Close the bottle in clockwise direction.",
27
- "5g": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in clockwise direction.",
28
- "1ext": "Find the arrow guide and open the indicated drawer.",
29
- "3b": "Open the door, rotate counter-clockwise and push.",
30
- "5b": "Open the bottle in counter-clockwise direction.",
31
- "3a": "Open the door, rotate clockwise and push.",
32
- "3c": "Open the door, rotate clockwise and pull.",
33
- "5h": "Close the bottle in counter-clockwise direction.",
34
- "5d": "Close the bottle in clockwise direction.",
35
- "3d": "Open the door, rotate counter-clockwise and pull.",
36
- "5e": "Close the bottle in counter-clockwise direction.",
37
- "5a": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in counter-clockwise direction.",
38
- "5c": "Open the bottle in clockwise direction."
39
- }
40
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/pretrained_model/train_config.json DELETED
@@ -1,273 +0,0 @@
1
- {
2
- "dataset": {
3
- "repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
4
- "root": "/home/seonho/INSIGHTfixposV4_filtered_multispace_v2",
5
- "episodes": null,
6
- "image_transforms": {
7
- "enable": false,
8
- "max_num_transforms": 3,
9
- "random_order": false,
10
- "tfs": {
11
- "brightness": {
12
- "weight": 1.0,
13
- "type": "ColorJitter",
14
- "kwargs": {
15
- "brightness": [
16
- 0.8,
17
- 1.2
18
- ]
19
- }
20
- },
21
- "contrast": {
22
- "weight": 1.0,
23
- "type": "ColorJitter",
24
- "kwargs": {
25
- "contrast": [
26
- 0.8,
27
- 1.2
28
- ]
29
- }
30
- },
31
- "saturation": {
32
- "weight": 1.0,
33
- "type": "ColorJitter",
34
- "kwargs": {
35
- "saturation": [
36
- 0.5,
37
- 1.5
38
- ]
39
- }
40
- },
41
- "hue": {
42
- "weight": 1.0,
43
- "type": "ColorJitter",
44
- "kwargs": {
45
- "hue": [
46
- -0.05,
47
- 0.05
48
- ]
49
- }
50
- },
51
- "sharpness": {
52
- "weight": 1.0,
53
- "type": "SharpnessJitter",
54
- "kwargs": {
55
- "sharpness": [
56
- 0.5,
57
- 1.5
58
- ]
59
- }
60
- },
61
- "affine": {
62
- "weight": 1.0,
63
- "type": "RandomAffine",
64
- "kwargs": {
65
- "degrees": [
66
- -5.0,
67
- 5.0
68
- ],
69
- "translate": [
70
- 0.05,
71
- 0.05
72
- ]
73
- }
74
- }
75
- }
76
- },
77
- "revision": null,
78
- "use_imagenet_stats": true,
79
- "video_backend": "torchcodec",
80
- "return_uint8": false,
81
- "depth_output_unit": "mm",
82
- "streaming": false,
83
- "eval_split": 0.0
84
- },
85
- "env": null,
86
- "policy": {
87
- "type": "gr00t_n1_7_rkd",
88
- "n_obs_steps": 1,
89
- "input_features": {
90
- "observation.state": {
91
- "type": "STATE",
92
- "shape": [
93
- 16
94
- ]
95
- },
96
- "observation.images.wrist": {
97
- "type": "VISUAL",
98
- "shape": [
99
- 3,
100
- 224,
101
- 224
102
- ]
103
- },
104
- "observation.images.right_shoulder": {
105
- "type": "VISUAL",
106
- "shape": [
107
- 3,
108
- 224,
109
- 224
110
- ]
111
- },
112
- "observation.images.guide": {
113
- "type": "VISUAL",
114
- "shape": [
115
- 3,
116
- 224,
117
- 224
118
- ]
119
- }
120
- },
121
- "output_features": {
122
- "action": {
123
- "type": "ACTION",
124
- "shape": [
125
- 10
126
- ]
127
- }
128
- },
129
- "device": "cuda",
130
- "use_amp": false,
131
- "use_peft": false,
132
- "push_to_hub": false,
133
- "repo_id": null,
134
- "private": null,
135
- "tags": null,
136
- "license": null,
137
- "pretrained_path": null,
138
- "pretrained_revision": null,
139
- "chunk_size": 16,
140
- "n_action_steps": 16,
141
- "max_state_dim": 132,
142
- "max_action_dim": 132,
143
- "normalization_mapping": {
144
- "VISUAL": "IDENTITY",
145
- "STATE": "IDENTITY",
146
- "ACTION": "IDENTITY"
147
- },
148
- "base_model_path": "nvidia/GR00T-N1.7-3B",
149
- "action_decode_transform": null,
150
- "embodiment_tag": "new_embodiment",
151
- "tune_llm": false,
152
- "tune_visual": false,
153
- "tune_projector": true,
154
- "tune_diffusion_model": true,
155
- "tune_vlln": true,
156
- "tune_top_llm_layers": 0,
157
- "num_inference_timesteps": null,
158
- "rtc_ramp_rate": null,
159
- "use_flash_attention": false,
160
- "use_relative_actions": false,
161
- "relative_exclude_joints": [],
162
- "optimizer_lr": 0.0001,
163
- "optimizer_betas": [
164
- 0.9,
165
- 0.999
166
- ],
167
- "optimizer_eps": 1e-08,
168
- "optimizer_weight_decay": 1e-05,
169
- "warmup_steps": 3000,
170
- "warmup_ratio": 0.05,
171
- "use_bf16": true,
172
- "model_params_fp32": true,
173
- "image_size": [
174
- 256,
175
- 256
176
- ],
177
- "tokenizer_assets_repo": null,
178
- "lora_rank": 0,
179
- "lora_alpha": 16,
180
- "lora_dropout": 0.1,
181
- "lora_full_model": false,
182
- "video_backend": "decord",
183
- "balance_dataset_weights": true,
184
- "balance_trajectory_weights": true,
185
- "dataset_paths": null,
186
- "output_dir": "./tmp/gr00t",
187
- "save_steps": 1000,
188
- "max_steps": 10000,
189
- "batch_size": 32,
190
- "dataloader_num_workers": 8,
191
- "report_to": "wandb",
192
- "resume": false,
193
- "action_expert_num_layers": 32,
194
- "rkd_enabled": true,
195
- "rkd_teacher_checkpoint": "/home/seonho/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",
196
- "rkd_teacher_type": "timewarp_vae",
197
- "rkd_action_feature": "action",
198
- "rkd_student_pooling": "attention",
199
- "rkd_student_attention_hidden_dim": 512,
200
- "rkd_student_attention_output_dim": 512,
201
- "rkd_fm_loss_weight": 1.0,
202
- "rkd_loss_weight": 1.0,
203
- "rkd_distance_weight": 1.0,
204
- "rkd_angle_weight": 2.0,
205
- "action_consistency_enabled": true,
206
- "action_consistency_loss_weight": 0.0
207
- },
208
- "reward_model": null,
209
- "output_dir": "/home/seonho/groot_insight/train_ckpt/Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K",
210
- "job_name": "INSIGHT_6D_GR00T_N1_7_DiT32_RKD_RSCL_C60_ActionConsistency00to03",
211
- "resume": false,
212
- "seed": 42,
213
- "cudnn_deterministic": false,
214
- "num_workers": 4,
215
- "batch_size": 64,
216
- "prefetch_factor": 4,
217
- "persistent_workers": true,
218
- "steps": 60000,
219
- "env_eval_freq": 20000,
220
- "log_freq": 200,
221
- "eval_steps": 0,
222
- "max_eval_samples": 0,
223
- "tolerance_s": 0.0001,
224
- "save_checkpoint": true,
225
- "save_freq": 20000,
226
- "use_policy_training_preset": true,
227
- "optimizer": {
228
- "type": "adamw",
229
- "lr": 0.0001,
230
- "weight_decay": 1e-05,
231
- "grad_clip_norm": 1.0,
232
- "betas": [
233
- 0.9,
234
- 0.999
235
- ],
236
- "eps": 1e-08
237
- },
238
- "scheduler": {
239
- "type": "diffuser",
240
- "num_warmup_steps": 3000,
241
- "name": "cosine"
242
- },
243
- "eval": {
244
- "n_episodes": 50,
245
- "batch_size": 44,
246
- "use_async_envs": true,
247
- "recording": false,
248
- "recording_repo_id": null,
249
- "recording_private": false
250
- },
251
- "wandb": {
252
- "enable": true,
253
- "disable_artifact": true,
254
- "project": "lerobot",
255
- "entity": null,
256
- "notes": null,
257
- "run_id": "7vxpm5xk",
258
- "mode": null,
259
- "add_tags": true
260
- },
261
- "peft": null,
262
- "job": {
263
- "target": null,
264
- "image": "huggingface/lerobot-gpu:latest",
265
- "timeout": "2d",
266
- "detach": false,
267
- "tags": []
268
- },
269
- "save_checkpoint_to_hub": false,
270
- "sample_weighting": null,
271
- "rename_map": {},
272
- "checkpoint_path": null
273
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/prompt_manifest.json DELETED
@@ -1,40 +0,0 @@
1
- {
2
- "schema_version": 1,
3
- "prompt_set": "detailed",
4
- "source_file": "task_prompts.json",
5
- "source_sha256": "0ba48fb372da9f49dcfcd7dcc2da8cce6ce991d3661060e664a104778d1ffacc",
6
- "mapping_sha256": "f71954786e94cdeceb135dde09fdc6b65db0b87ab3b09d25060129d0f0fde018",
7
- "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
8
- "dataset_revision": "v3.0",
9
- "task_count": 13,
10
- "task_codes": [
11
- "5f",
12
- "5g",
13
- "1ext",
14
- "3b",
15
- "5b",
16
- "3a",
17
- "3c",
18
- "5h",
19
- "5d",
20
- "3d",
21
- "5e",
22
- "5a",
23
- "5c"
24
- ],
25
- "prompts": {
26
- "5f": "Close the bottle in clockwise direction.",
27
- "5g": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in clockwise direction.",
28
- "1ext": "Find the arrow guide and open the indicated drawer.",
29
- "3b": "Open the door, rotate counter-clockwise and push.",
30
- "5b": "Open the bottle in counter-clockwise direction.",
31
- "3a": "Open the door, rotate clockwise and push.",
32
- "3c": "Open the door, rotate clockwise and pull.",
33
- "5h": "Close the bottle in counter-clockwise direction.",
34
- "5d": "Close the bottle in clockwise direction.",
35
- "3d": "Open the door, rotate counter-clockwise and pull.",
36
- "5e": "Close the bottle in counter-clockwise direction.",
37
- "5a": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in counter-clockwise direction.",
38
- "5c": "Open the bottle in clockwise direction."
39
- }
40
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/resolved_config.yaml DELETED
@@ -1,44 +0,0 @@
1
- dataset:
2
- repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
3
- root: /home/seonho/INSIGHTfixposV4_filtered_multispace_v2
4
- policy:
5
- type: gr00t_n1_7_rkd
6
- device: cuda
7
- push_to_hub: false
8
- base_model_path: nvidia/GR00T-N1.7-3B
9
- embodiment_tag: new_embodiment
10
- chunk_size: 16
11
- n_action_steps: 16
12
- tune_llm: false
13
- tune_visual: false
14
- tune_top_llm_layers: 0
15
- action_expert_num_layers: 32
16
- tune_projector: true
17
- tune_diffusion_model: true
18
- tune_vlln: true
19
- use_bf16: true
20
- model_params_fp32: true
21
- rkd_enabled: true
22
- rkd_teacher_type: timewarp_vae
23
- rkd_teacher_checkpoint: /home/seonho/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
24
- rkd_action_feature: action
25
- rkd_student_pooling: attention
26
- rkd_student_attention_hidden_dim: 512
27
- rkd_student_attention_output_dim: 512
28
- rkd_fm_loss_weight: 1.0
29
- rkd_loss_weight: 1.0
30
- rkd_distance_weight: 1.0
31
- rkd_angle_weight: 2.0
32
- action_consistency_enabled: true
33
- action_consistency_loss_weight: 0.0
34
- optimizer_lr: 0.0001
35
- warmup_steps: 3000
36
- seed: 42
37
- batch_size: 64
38
- steps: 60000
39
- log_freq: 200
40
- output_dir: /home/seonho/groot_insight/train_ckpt/Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K
41
- job_name: INSIGHT_6D_GR00T_N1_7_DiT32_RKD_RSCL_C60_ActionConsistency00to03
42
- wandb:
43
- enable: true
44
- disable_artifact: true
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/source_config.yaml DELETED
@@ -1,73 +0,0 @@
1
- # INSIGHT GR00T N1.7 DiT32 RKD with RS-CL-style regularization.
2
- # Full 60K training from the N1.7 base model on ee_abs_rot6d actions.
3
- # RKD decays 1.0 -> 0.0 while action consistency increases 0.0 -> 0.3, both by half-cosine.
4
-
5
- insight:
6
- checkpoint_interval: 5K
7
- checkpoint_slots: 2
8
- action_space: ee_abs_rot6d
9
- prompt_set: detailed
10
- save_steps: ["60K"]
11
- phases:
12
- - name: rscl_rkd_down_consistency_up_cosine_60K
13
- until_step: 60K
14
- policy:
15
- rkd_loss_weight_end: 0.0
16
- rkd_loss_weight_schedule: cosine
17
- action_consistency_loss_weight_end: 0.3
18
- action_consistency_loss_weight_schedule: cosine
19
-
20
- dataset:
21
- repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
22
- root: ${HOME}/INSIGHTfixposV4_filtered_multispace_v2
23
-
24
- policy:
25
- type: gr00t_n1_7_rkd
26
- device: cuda
27
- push_to_hub: false
28
- base_model_path: nvidia/GR00T-N1.7-3B
29
- embodiment_tag: new_embodiment
30
- chunk_size: 16
31
- n_action_steps: 16
32
-
33
- # Keep the VLM frozen and fine-tune the GR00T action path.
34
- tune_llm: false
35
- tune_visual: false
36
- tune_top_llm_layers: 0
37
- action_expert_num_layers: 32
38
- tune_projector: true
39
- tune_diffusion_model: true
40
- tune_vlln: true
41
- use_bf16: true
42
- model_params_fp32: true
43
-
44
- # Frozen INSIGHT ee_abs_rot6d TimewarpVAE teacher and learned-attention student head.
45
- rkd_enabled: true
46
- rkd_teacher_type: timewarp_vae
47
- 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
48
- rkd_action_feature: action
49
- rkd_student_pooling: attention
50
- rkd_student_attention_hidden_dim: 512
51
- rkd_student_attention_output_dim: 512
52
- rkd_fm_loss_weight: 1.0
53
- rkd_loss_weight: 1.0
54
- rkd_distance_weight: 1.0
55
- rkd_angle_weight: 2.0
56
-
57
- action_consistency_enabled: true
58
- action_consistency_loss_weight: 0.0
59
-
60
- optimizer_lr: 1.0e-4
61
- warmup_steps: 3000
62
-
63
- seed: 42
64
- # Single GPU/process, so this is also the global batch size.
65
- batch_size: 64
66
- steps: 60000
67
- log_freq: 200
68
- output_dir: ${HOME}/groot_insight/train_ckpt/Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K
69
- job_name: INSIGHT_6D_GR00T_N1_7_DiT32_RKD_RSCL_C60_ActionConsistency00to03
70
-
71
- wandb:
72
- enable: true
73
- disable_artifact: true
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/training_state/optimizer_param_groups.json DELETED
@@ -1,585 +0,0 @@
1
- [
2
- {
3
- "lr": 0.0,
4
- "betas": [
5
- 0.9,
6
- 0.999
7
- ],
8
- "eps": 1e-08,
9
- "weight_decay": 1e-05,
10
- "amsgrad": false,
11
- "maximize": false,
12
- "foreach": null,
13
- "capturable": false,
14
- "differentiable": false,
15
- "fused": null,
16
- "decoupled_weight_decay": true,
17
- "initial_lr": 0.0001,
18
- "params": [
19
- 0,
20
- 1,
21
- 2,
22
- 3,
23
- 4,
24
- 5,
25
- 6,
26
- 7,
27
- 8,
28
- 9,
29
- 10,
30
- 11,
31
- 12,
32
- 13,
33
- 14,
34
- 15,
35
- 16,
36
- 17,
37
- 18,
38
- 19,
39
- 20,
40
- 21,
41
- 22,
42
- 23,
43
- 24,
44
- 25,
45
- 26,
46
- 27,
47
- 28,
48
- 29,
49
- 30,
50
- 31,
51
- 32,
52
- 33,
53
- 34,
54
- 35,
55
- 36,
56
- 37,
57
- 38,
58
- 39,
59
- 40,
60
- 41,
61
- 42,
62
- 43,
63
- 44,
64
- 45,
65
- 46,
66
- 47,
67
- 48,
68
- 49,
69
- 50,
70
- 51,
71
- 52,
72
- 53,
73
- 54,
74
- 55,
75
- 56,
76
- 57,
77
- 58,
78
- 59,
79
- 60,
80
- 61,
81
- 62,
82
- 63,
83
- 64,
84
- 65,
85
- 66,
86
- 67,
87
- 68,
88
- 69,
89
- 70,
90
- 71,
91
- 72,
92
- 73,
93
- 74,
94
- 75,
95
- 76,
96
- 77,
97
- 78,
98
- 79,
99
- 80,
100
- 81,
101
- 82,
102
- 83,
103
- 84,
104
- 85,
105
- 86,
106
- 87,
107
- 88,
108
- 89,
109
- 90,
110
- 91,
111
- 92,
112
- 93,
113
- 94,
114
- 95,
115
- 96,
116
- 97,
117
- 98,
118
- 99,
119
- 100,
120
- 101,
121
- 102,
122
- 103,
123
- 104,
124
- 105,
125
- 106,
126
- 107,
127
- 108,
128
- 109,
129
- 110,
130
- 111,
131
- 112,
132
- 113,
133
- 114,
134
- 115,
135
- 116,
136
- 117,
137
- 118,
138
- 119,
139
- 120,
140
- 121,
141
- 122,
142
- 123,
143
- 124,
144
- 125,
145
- 126,
146
- 127,
147
- 128,
148
- 129,
149
- 130,
150
- 131,
151
- 132,
152
- 133,
153
- 134,
154
- 135,
155
- 136,
156
- 137,
157
- 138,
158
- 139,
159
- 140,
160
- 141,
161
- 142,
162
- 143,
163
- 144,
164
- 145,
165
- 146,
166
- 147,
167
- 148,
168
- 149,
169
- 150,
170
- 151,
171
- 152,
172
- 153,
173
- 154,
174
- 155,
175
- 156,
176
- 157,
177
- 158,
178
- 159,
179
- 160,
180
- 161,
181
- 162,
182
- 163,
183
- 164,
184
- 165,
185
- 166,
186
- 167,
187
- 168,
188
- 169,
189
- 170,
190
- 171,
191
- 172,
192
- 173,
193
- 174,
194
- 175,
195
- 176,
196
- 177,
197
- 178,
198
- 179,
199
- 180,
200
- 181,
201
- 182,
202
- 183,
203
- 184,
204
- 185,
205
- 186,
206
- 187,
207
- 188,
208
- 189,
209
- 190,
210
- 191,
211
- 192,
212
- 193,
213
- 194,
214
- 195,
215
- 196,
216
- 197,
217
- 198,
218
- 199,
219
- 200,
220
- 201,
221
- 202,
222
- 203,
223
- 204,
224
- 205,
225
- 206,
226
- 207,
227
- 208,
228
- 209,
229
- 210,
230
- 211,
231
- 212,
232
- 213,
233
- 214,
234
- 215,
235
- 216,
236
- 217,
237
- 218,
238
- 219,
239
- 220,
240
- 221,
241
- 222,
242
- 223,
243
- 224,
244
- 225,
245
- 226,
246
- 227,
247
- 228,
248
- 229,
249
- 230,
250
- 231,
251
- 232,
252
- 233,
253
- 234,
254
- 235,
255
- 236,
256
- 237,
257
- 238,
258
- 239,
259
- 240,
260
- 241,
261
- 242,
262
- 243,
263
- 244,
264
- 245,
265
- 246,
266
- 247,
267
- 248,
268
- 249,
269
- 250,
270
- 251,
271
- 252,
272
- 253,
273
- 254,
274
- 255,
275
- 256,
276
- 257,
277
- 258,
278
- 259,
279
- 260,
280
- 261,
281
- 262,
282
- 263,
283
- 264,
284
- 265,
285
- 266,
286
- 267,
287
- 268,
288
- 269,
289
- 270
290
- ]
291
- },
292
- {
293
- "weight_decay": 0.0,
294
- "lr": 0.0,
295
- "betas": [
296
- 0.9,
297
- 0.999
298
- ],
299
- "eps": 1e-08,
300
- "amsgrad": false,
301
- "maximize": false,
302
- "foreach": null,
303
- "capturable": false,
304
- "differentiable": false,
305
- "fused": null,
306
- "decoupled_weight_decay": true,
307
- "initial_lr": 0.0001,
308
- "params": [
309
- 271,
310
- 272,
311
- 273,
312
- 274,
313
- 275,
314
- 276,
315
- 277,
316
- 278,
317
- 279,
318
- 280,
319
- 281,
320
- 282,
321
- 283,
322
- 284,
323
- 285,
324
- 286,
325
- 287,
326
- 288,
327
- 289,
328
- 290,
329
- 291,
330
- 292,
331
- 293,
332
- 294,
333
- 295,
334
- 296,
335
- 297,
336
- 298,
337
- 299,
338
- 300,
339
- 301,
340
- 302,
341
- 303,
342
- 304,
343
- 305,
344
- 306,
345
- 307,
346
- 308,
347
- 309,
348
- 310,
349
- 311,
350
- 312,
351
- 313,
352
- 314,
353
- 315,
354
- 316,
355
- 317,
356
- 318,
357
- 319,
358
- 320,
359
- 321,
360
- 322,
361
- 323,
362
- 324,
363
- 325,
364
- 326,
365
- 327,
366
- 328,
367
- 329,
368
- 330,
369
- 331,
370
- 332,
371
- 333,
372
- 334,
373
- 335,
374
- 336,
375
- 337,
376
- 338,
377
- 339,
378
- 340,
379
- 341,
380
- 342,
381
- 343,
382
- 344,
383
- 345,
384
- 346,
385
- 347,
386
- 348,
387
- 349,
388
- 350,
389
- 351,
390
- 352,
391
- 353,
392
- 354,
393
- 355,
394
- 356,
395
- 357,
396
- 358,
397
- 359,
398
- 360,
399
- 361,
400
- 362,
401
- 363,
402
- 364,
403
- 365,
404
- 366,
405
- 367,
406
- 368,
407
- 369,
408
- 370,
409
- 371,
410
- 372,
411
- 373,
412
- 374,
413
- 375,
414
- 376,
415
- 377,
416
- 378,
417
- 379,
418
- 380,
419
- 381,
420
- 382,
421
- 383,
422
- 384,
423
- 385,
424
- 386,
425
- 387,
426
- 388,
427
- 389,
428
- 390,
429
- 391,
430
- 392,
431
- 393,
432
- 394,
433
- 395,
434
- 396,
435
- 397,
436
- 398,
437
- 399,
438
- 400,
439
- 401,
440
- 402,
441
- 403,
442
- 404,
443
- 405,
444
- 406,
445
- 407,
446
- 408,
447
- 409,
448
- 410,
449
- 411,
450
- 412,
451
- 413,
452
- 414,
453
- 415,
454
- 416,
455
- 417,
456
- 418,
457
- 419,
458
- 420,
459
- 421,
460
- 422,
461
- 423,
462
- 424,
463
- 425,
464
- 426,
465
- 427,
466
- 428,
467
- 429,
468
- 430,
469
- 431,
470
- 432,
471
- 433,
472
- 434,
473
- 435,
474
- 436,
475
- 437,
476
- 438,
477
- 439,
478
- 440,
479
- 441,
480
- 442,
481
- 443,
482
- 444,
483
- 445,
484
- 446,
485
- 447,
486
- 448,
487
- 449,
488
- 450,
489
- 451,
490
- 452,
491
- 453,
492
- 454,
493
- 455,
494
- 456,
495
- 457,
496
- 458,
497
- 459,
498
- 460,
499
- 461,
500
- 462,
501
- 463,
502
- 464,
503
- 465,
504
- 466,
505
- 467,
506
- 468,
507
- 469,
508
- 470,
509
- 471,
510
- 472,
511
- 473,
512
- 474,
513
- 475,
514
- 476,
515
- 477,
516
- 478,
517
- 479,
518
- 480,
519
- 481,
520
- 482,
521
- 483,
522
- 484,
523
- 485,
524
- 486,
525
- 487,
526
- 488,
527
- 489,
528
- 490,
529
- 491,
530
- 492,
531
- 493,
532
- 494,
533
- 495,
534
- 496,
535
- 497,
536
- 498,
537
- 499,
538
- 500,
539
- 501,
540
- 502,
541
- 503,
542
- 504,
543
- 505,
544
- 506,
545
- 507,
546
- 508,
547
- 509,
548
- 510,
549
- 511,
550
- 512,
551
- 513,
552
- 514,
553
- 515,
554
- 516,
555
- 517,
556
- 518,
557
- 519,
558
- 520,
559
- 521,
560
- 522,
561
- 523,
562
- 524,
563
- 525,
564
- 526,
565
- 527,
566
- 528,
567
- 529,
568
- 530,
569
- 531,
570
- 532,
571
- 533,
572
- 534,
573
- 535,
574
- 536,
575
- 537,
576
- 538,
577
- 539,
578
- 540,
579
- 541,
580
- 542,
581
- 543,
582
- 544
583
- ]
584
- }
585
- ]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/training_state/rng_state.safetensors DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:6ff78b7c3ace1313ee605b77da117c0ff2a5c260b9aa83e4ac14a5d407d96d2b
3
- size 15708
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/training_state/scheduler_state.json DELETED
@@ -1,18 +0,0 @@
1
- {
2
- "base_lrs": [
3
- 0.0001,
4
- 0.0001
5
- ],
6
- "last_epoch": 60000,
7
- "_step_count": 60001,
8
- "_is_initial": false,
9
- "_get_lr_called_within_step": false,
10
- "_last_lr": [
11
- 0.0,
12
- 0.0
13
- ],
14
- "lr_lambdas": [
15
- null,
16
- null
17
- ]
18
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Abs_6D/consistency/DiT32_RSCL_RKD_ActionConsistency00to03_Cosine_60K/checkpoints/060000/training_state/training_step.json DELETED
@@ -1,5 +0,0 @@
1
- {
2
- "step": 60000,
3
- "num_processes": 1,
4
- "batch_size": 64
5
- }