Add files using upload-large-folder tool
Browse files- MGRKD/.launches/mgrkd_da_cls_transformer_bs128_gpu5_20260622_160217/command.txt +1 -0
- MGRKD/.launches/mgrkd_da_cls_transformer_bs128_gpu5_20260622_160217/pid +1 -0
- MGRKD/.launches/mgrkd_da_cls_transformer_bs128_gpu5_20260622_160217/train.log +0 -0
- MGRKD/launch_logs/mgrkd_raw_action_flatten_frozen_mlp_gpu5_bs128_20260622_165623.log +0 -0
- MGRKD/logs/mgrkd_da_flatten_action_encoder_gpu4_bs128_20260622_134555.log +0 -0
- MGRKD/mgrkd_distance_angle_cls_transformer_action_encoder/default/mgrkd_da_cls_transformer.yaml +67 -0
- MGRKD/mgrkd_distance_angle_cls_transformer_action_encoder/default/phase2/experiment_cfg/metadata.json +431 -0
- MGRKD/mgrkd_distance_angle_cls_transformer_action_encoder/default/resolved_config.yaml +68 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/mgrkd_da_flatten_action_encoder.yaml +61 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase2/config.json +84 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase2/experiment_cfg/metadata.json +431 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase2/model.safetensors.index.json +0 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase2/trainer_state.json +0 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase3/experiment_cfg/metadata.json +431 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/resolved_config.yaml +62 -0
- MGRKD/mgrkd_distance_angle_flatten_raw_action/default/mgrkd_da_flatten_raw_action.yaml +61 -0
- MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase2/config.json +90 -0
- MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase2/experiment_cfg/metadata.json +431 -0
- MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase2/model.safetensors.index.json +0 -0
- MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase3/experiment_cfg/metadata.json +431 -0
- MGRKD/mgrkd_distance_angle_flatten_raw_action/default/resolved_config.yaml +62 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-120000/experiment_cfg/metadata.json +431 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-120000/model.safetensors.index.json +0 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/config.json +77 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/model.safetensors.index.json +0 -0
- rkd_v2_2/launch_logs/action_encoder_flatten_gpu4_5_bs32_ngpu2_20260622_124039.log +757 -0
- rkd_v2_2/launch_logs/action_encoder_flatten_gpu4_5_bs64_ngpu2.pid +1 -0
- rkd_v2_2/launch_logs/action_encoder_flatten_gpu4_5_bs64_ngpu2_20260622_123748.log +865 -0
- rkd_v2_2/launch_logs/action_encoder_gpu4.pid +1 -0
- rkd_v2_2/launch_logs/action_encoder_gpu4_bs128_20260622_123336.log +351 -0
- rkd_v2_2/launch_logs/raw_action_gpu5.pid +1 -0
- rkd_v2_2/launch_logs/raw_action_gpu5_bs128_20260622_123336.log +351 -0
- rkd_v2_2/logs/rkd_v2_2_flatten_action_encoder_gpu45_bs32_20260622_131131.log +764 -0
- rkd_v2_2/logs/rkd_v2_2_flatten_action_encoder_gpu45_bs32_20260622_131131.log.pid +1 -0
- rkd_v2_2/logs/rkd_v2_2_flatten_action_encoder_gpu45_bs64_20260622_130844.log +871 -0
- rkd_v2_2/logs/rkd_v2_2_flatten_action_encoder_gpu45_bs64_20260622_130844.log.pid +1 -0
- rkd_v2_2/logs/rkd_v2_2_flatten_action_encoder_gpu4_bs128_20260622_130630.log +355 -0
- rkd_v2_2/logs/rkd_v2_2_flatten_action_encoder_gpu4_bs128_20260622_130630.log.pid +1 -0
- rkd_v2_2/logs/rkd_v2_2_flatten_raw_action_gpu45_bs32_20260622_132220.log +763 -0
- rkd_v2_2/logs/rkd_v2_2_flatten_raw_action_gpu45_bs32_20260622_132220.log.pid +1 -0
- rkd_v2_2/logs/rkd_v2_2_flatten_raw_action_gpu45_bs64_20260622_131850.log +871 -0
- rkd_v2_2/logs/rkd_v2_2_flatten_raw_action_gpu45_bs64_20260622_131850.log.pid +1 -0
- rkd_v2_2/logs/rkd_v2_2_flatten_raw_action_gpu4_bs128_20260622_131539.log +355 -0
- rkd_v2_2/logs/rkd_v2_2_flatten_raw_action_gpu4_bs128_20260622_131539.log.pid +1 -0
- rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2/experiment_cfg/metadata.json +431 -0
- rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/resolved_config.yaml +56 -0
- rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/rkd_v2.2_da_flatten_action_encoder.yaml +55 -0
- rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/phase2/experiment_cfg/metadata.json +431 -0
- rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/resolved_config.yaml +52 -0
- rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/rkd_v2.2_da_flatten_raw_action.yaml +51 -0
MGRKD/.launches/mgrkd_da_cls_transformer_bs128_gpu5_20260622_160217/command.txt
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CUDA_VISIBLE_DEVICES=5 TRANSFORMERS_VIDEO_BACKEND=av /home/ext_minje/miniforge3/envs/robocasa/bin/python my_scripts/gr00t_finetune.py --config /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/MGRKD/mgrkd_da_cls_transformer.yaml --num-gpus 1 --batch-size 128
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MGRKD/.launches/mgrkd_da_cls_transformer_bs128_gpu5_20260622_160217/pid
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2874182
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MGRKD/.launches/mgrkd_da_cls_transformer_bs128_gpu5_20260622_160217/train.log
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MGRKD/launch_logs/mgrkd_raw_action_flatten_frozen_mlp_gpu5_bs128_20260622_165623.log
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MGRKD/logs/mgrkd_da_flatten_action_encoder_gpu4_bs128_20260622_134555.log
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MGRKD/mgrkd_distance_angle_cls_transformer_action_encoder/default/mgrkd_da_cls_transformer.yaml
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experiment_name: mgrkd_distance_angle_cls_transformer_action_encoder_phase2_phase3_aux_fixed_0p5
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policy_type: groot_MGRKD
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base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
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output_root: ${HOME}/groot_robocasa/robocasa_v2/MGRKD/mgrkd_distance_angle_cls_transformer_action_encoder
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dataset:
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dataset_soup: my_atomic26_human
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training:
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num_gpus: 1
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batch_size: 128
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seed: 42
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model: null
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phases:
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- name: phase2_mgrkd_da_only
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max_steps: 30000
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save_steps: 0
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trainable:
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preset: processing_line_only
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tune_llm: false
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tune_visual: false
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tune_projector: false
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tune_diffusion_model: false
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losses:
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rkd_enabled: true
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rkd_fm_loss_weight: 0.0
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rkd_loss_weight: 1.0
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rkd_relation_mode: flatten
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rkd_loss_type: distance_angle
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rkd_teacher_source: action_encoder
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rkd_action_encoder_projector_enabled: true
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rkd_action_encoder_projector_dim: 512
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rkd_action_encoder_projector_pooling: cls_transformer
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rkd_action_encoder_cls_num_heads: 8
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rkd_action_encoder_cls_num_layers: 1
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rkd_action_encoder_cls_ffn_hidden_dim: 2048
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rkd_student_reconstruction_head_enabled: true
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rkd_student_reconstruction_head_dim: 512
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rkd_student_reconstruction_head_hidden_dim: 512
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rkd_distance_loss_weight: 1.0
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rkd_angle_loss_weight: 2.0
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rkd_exclude_diagonal: true
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| 41 |
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- name: phase3_fm_mgrkd_da_fixed_0p5
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max_steps: 30000
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save_steps: 0
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trainable:
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| 45 |
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tune_llm: false
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| 46 |
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tune_visual: false
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| 47 |
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tune_projector: true
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tune_diffusion_model: true
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| 49 |
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losses:
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rkd_enabled: true
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| 51 |
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rkd_fm_loss_weight: 1.0
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rkd_loss_weight: 0.5
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| 53 |
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rkd_relation_mode: flatten
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| 54 |
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rkd_loss_type: distance_angle
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| 55 |
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rkd_teacher_source: action_encoder
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| 56 |
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rkd_action_encoder_projector_enabled: true
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| 57 |
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rkd_action_encoder_projector_dim: 512
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| 58 |
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rkd_action_encoder_projector_pooling: cls_transformer
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| 59 |
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rkd_action_encoder_cls_num_heads: 8
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| 60 |
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rkd_action_encoder_cls_num_layers: 1
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| 61 |
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rkd_action_encoder_cls_ffn_hidden_dim: 2048
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| 62 |
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rkd_student_reconstruction_head_enabled: true
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rkd_student_reconstruction_head_dim: 512
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rkd_student_reconstruction_head_hidden_dim: 512
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rkd_distance_loss_weight: 1.0
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rkd_angle_loss_weight: 2.0
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| 67 |
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rkd_exclude_diagonal: true
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MGRKD/mgrkd_distance_angle_cls_transformer_action_encoder/default/phase2/experiment_cfg/metadata.json
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+
1
|
| 400 |
+
],
|
| 401 |
+
"continuous": true
|
| 402 |
+
},
|
| 403 |
+
"end_effector_position": {
|
| 404 |
+
"absolute": true,
|
| 405 |
+
"rotation_type": null,
|
| 406 |
+
"shape": [
|
| 407 |
+
3
|
| 408 |
+
],
|
| 409 |
+
"continuous": true
|
| 410 |
+
},
|
| 411 |
+
"end_effector_rotation": {
|
| 412 |
+
"absolute": true,
|
| 413 |
+
"rotation_type": "axis_angle",
|
| 414 |
+
"shape": [
|
| 415 |
+
3
|
| 416 |
+
],
|
| 417 |
+
"continuous": true
|
| 418 |
+
},
|
| 419 |
+
"gripper_close": {
|
| 420 |
+
"absolute": true,
|
| 421 |
+
"rotation_type": null,
|
| 422 |
+
"shape": [
|
| 423 |
+
1
|
| 424 |
+
],
|
| 425 |
+
"continuous": true
|
| 426 |
+
}
|
| 427 |
+
}
|
| 428 |
+
},
|
| 429 |
+
"embodiment_tag": "new_embodiment"
|
| 430 |
+
}
|
| 431 |
+
}
|
MGRKD/mgrkd_distance_angle_cls_transformer_action_encoder/default/resolved_config.yaml
ADDED
|
@@ -0,0 +1,68 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: mgrkd_distance_angle_cls_transformer_action_encoder_phase2_phase3_aux_fixed_0p5
|
| 2 |
+
policy_type: groot_MGRKD
|
| 3 |
+
base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 4 |
+
output_root: ${HOME}/groot_robocasa/robocasa_v2/MGRKD/mgrkd_distance_angle_cls_transformer_action_encoder
|
| 5 |
+
dataset:
|
| 6 |
+
dataset_soup: my_atomic26_human
|
| 7 |
+
training:
|
| 8 |
+
num_gpus: 1
|
| 9 |
+
batch_size: 128
|
| 10 |
+
seed: 42
|
| 11 |
+
model: null
|
| 12 |
+
phases:
|
| 13 |
+
- name: phase2_mgrkd_da_only
|
| 14 |
+
max_steps: 30000
|
| 15 |
+
save_steps: 0
|
| 16 |
+
trainable:
|
| 17 |
+
preset: processing_line_only
|
| 18 |
+
tune_llm: false
|
| 19 |
+
tune_visual: false
|
| 20 |
+
tune_projector: false
|
| 21 |
+
tune_diffusion_model: false
|
| 22 |
+
losses:
|
| 23 |
+
rkd_enabled: true
|
| 24 |
+
rkd_fm_loss_weight: 0.0
|
| 25 |
+
rkd_loss_weight: 1.0
|
| 26 |
+
rkd_relation_mode: flatten
|
| 27 |
+
rkd_loss_type: distance_angle
|
| 28 |
+
rkd_teacher_source: action_encoder
|
| 29 |
+
rkd_action_encoder_projector_enabled: true
|
| 30 |
+
rkd_action_encoder_projector_dim: 512
|
| 31 |
+
rkd_action_encoder_projector_pooling: cls_transformer
|
| 32 |
+
rkd_action_encoder_cls_num_heads: 8
|
| 33 |
+
rkd_action_encoder_cls_num_layers: 1
|
| 34 |
+
rkd_action_encoder_cls_ffn_hidden_dim: 2048
|
| 35 |
+
rkd_student_reconstruction_head_enabled: true
|
| 36 |
+
rkd_student_reconstruction_head_dim: 512
|
| 37 |
+
rkd_student_reconstruction_head_hidden_dim: 512
|
| 38 |
+
rkd_distance_loss_weight: 1.0
|
| 39 |
+
rkd_angle_loss_weight: 2.0
|
| 40 |
+
rkd_exclude_diagonal: true
|
| 41 |
+
- name: phase3_fm_mgrkd_da_fixed_0p5
|
| 42 |
+
max_steps: 30000
|
| 43 |
+
save_steps: 0
|
| 44 |
+
trainable:
|
| 45 |
+
tune_llm: false
|
| 46 |
+
tune_visual: false
|
| 47 |
+
tune_projector: true
|
| 48 |
+
tune_diffusion_model: true
|
| 49 |
+
losses:
|
| 50 |
+
rkd_enabled: true
|
| 51 |
+
rkd_fm_loss_weight: 1.0
|
| 52 |
+
rkd_loss_weight: 0.5
|
| 53 |
+
rkd_relation_mode: flatten
|
| 54 |
+
rkd_loss_type: distance_angle
|
| 55 |
+
rkd_teacher_source: action_encoder
|
| 56 |
+
rkd_action_encoder_projector_enabled: true
|
| 57 |
+
rkd_action_encoder_projector_dim: 512
|
| 58 |
+
rkd_action_encoder_projector_pooling: cls_transformer
|
| 59 |
+
rkd_action_encoder_cls_num_heads: 8
|
| 60 |
+
rkd_action_encoder_cls_num_layers: 1
|
| 61 |
+
rkd_action_encoder_cls_ffn_hidden_dim: 2048
|
| 62 |
+
rkd_student_reconstruction_head_enabled: true
|
| 63 |
+
rkd_student_reconstruction_head_dim: 512
|
| 64 |
+
rkd_student_reconstruction_head_hidden_dim: 512
|
| 65 |
+
rkd_distance_loss_weight: 1.0
|
| 66 |
+
rkd_angle_loss_weight: 2.0
|
| 67 |
+
rkd_exclude_diagonal: true
|
| 68 |
+
resolved_sweep: {}
|
MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/mgrkd_da_flatten_action_encoder.yaml
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: mgrkd_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5
|
| 2 |
+
policy_type: groot_MGRKD
|
| 3 |
+
base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 4 |
+
output_root: ${HOME}/groot_robocasa/robocasa_v2/MGRKD/mgrkd_distance_angle_flatten_action_encoder
|
| 5 |
+
dataset:
|
| 6 |
+
dataset_soup: my_atomic26_human
|
| 7 |
+
training:
|
| 8 |
+
num_gpus: 1
|
| 9 |
+
batch_size: 128
|
| 10 |
+
seed: 42
|
| 11 |
+
model: null
|
| 12 |
+
phases:
|
| 13 |
+
- name: phase2_mgrkd_da_only
|
| 14 |
+
max_steps: 30000
|
| 15 |
+
save_steps: 0
|
| 16 |
+
trainable:
|
| 17 |
+
preset: processing_line_only
|
| 18 |
+
tune_llm: false
|
| 19 |
+
tune_visual: false
|
| 20 |
+
tune_projector: false
|
| 21 |
+
tune_diffusion_model: false
|
| 22 |
+
losses:
|
| 23 |
+
rkd_enabled: true
|
| 24 |
+
rkd_fm_loss_weight: 0.0
|
| 25 |
+
rkd_loss_weight: 1.0
|
| 26 |
+
rkd_relation_mode: flatten
|
| 27 |
+
rkd_loss_type: distance_angle
|
| 28 |
+
rkd_teacher_source: action_encoder
|
| 29 |
+
rkd_action_encoder_projector_enabled: true
|
| 30 |
+
rkd_action_encoder_projector_dim: 512
|
| 31 |
+
rkd_action_encoder_projector_pooling: flatten
|
| 32 |
+
rkd_student_reconstruction_head_enabled: true
|
| 33 |
+
rkd_student_reconstruction_head_dim: 512
|
| 34 |
+
rkd_student_reconstruction_head_hidden_dim: 512
|
| 35 |
+
rkd_distance_loss_weight: 1.0
|
| 36 |
+
rkd_angle_loss_weight: 2.0
|
| 37 |
+
rkd_exclude_diagonal: true
|
| 38 |
+
- name: phase3_fm_mgrkd_da_fixed_0p5
|
| 39 |
+
max_steps: 30000
|
| 40 |
+
save_steps: 0
|
| 41 |
+
trainable:
|
| 42 |
+
tune_llm: false
|
| 43 |
+
tune_visual: false
|
| 44 |
+
tune_projector: true
|
| 45 |
+
tune_diffusion_model: true
|
| 46 |
+
losses:
|
| 47 |
+
rkd_enabled: true
|
| 48 |
+
rkd_fm_loss_weight: 1.0
|
| 49 |
+
rkd_loss_weight: 0.5
|
| 50 |
+
rkd_relation_mode: flatten
|
| 51 |
+
rkd_loss_type: distance_angle
|
| 52 |
+
rkd_teacher_source: action_encoder
|
| 53 |
+
rkd_action_encoder_projector_enabled: true
|
| 54 |
+
rkd_action_encoder_projector_dim: 512
|
| 55 |
+
rkd_action_encoder_projector_pooling: flatten
|
| 56 |
+
rkd_student_reconstruction_head_enabled: true
|
| 57 |
+
rkd_student_reconstruction_head_dim: 512
|
| 58 |
+
rkd_student_reconstruction_head_hidden_dim: 512
|
| 59 |
+
rkd_distance_loss_weight: 1.0
|
| 60 |
+
rkd_angle_loss_weight: 2.0
|
| 61 |
+
rkd_exclude_diagonal: true
|
MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase2/config.json
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"action_dim": 32,
|
| 5 |
+
"action_horizon": 16,
|
| 6 |
+
"add_pos_embed": true,
|
| 7 |
+
"backbone_embedding_dim": 2048,
|
| 8 |
+
"diffusion_model_cfg": {
|
| 9 |
+
"attention_head_dim": 48,
|
| 10 |
+
"cross_attention_dim": 2048,
|
| 11 |
+
"dropout": 0.2,
|
| 12 |
+
"final_dropout": true,
|
| 13 |
+
"interleave_self_attention": true,
|
| 14 |
+
"norm_type": "ada_norm",
|
| 15 |
+
"num_attention_heads": 32,
|
| 16 |
+
"num_layers": 16,
|
| 17 |
+
"output_dim": 1024,
|
| 18 |
+
"positional_embeddings": null
|
| 19 |
+
},
|
| 20 |
+
"hidden_size": 1024,
|
| 21 |
+
"input_embedding_dim": 1536,
|
| 22 |
+
"max_action_dim": 32,
|
| 23 |
+
"max_state_dim": 64,
|
| 24 |
+
"model_dtype": "float32",
|
| 25 |
+
"noise_beta_alpha": 1.5,
|
| 26 |
+
"noise_beta_beta": 1.0,
|
| 27 |
+
"noise_s": 0.999,
|
| 28 |
+
"num_inference_timesteps": 4,
|
| 29 |
+
"num_target_vision_tokens": 32,
|
| 30 |
+
"num_timestep_buckets": 1000,
|
| 31 |
+
"tune_diffusion_model": true,
|
| 32 |
+
"tune_projector": true,
|
| 33 |
+
"use_vlln": true,
|
| 34 |
+
"vl_self_attention_cfg": {
|
| 35 |
+
"attention_head_dim": 64,
|
| 36 |
+
"dropout": 0.2,
|
| 37 |
+
"final_dropout": true,
|
| 38 |
+
"num_attention_heads": 32,
|
| 39 |
+
"num_layers": 4,
|
| 40 |
+
"positional_embeddings": null
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"action_horizon": 16,
|
| 44 |
+
"architectures": [
|
| 45 |
+
"GR00T_N1_5_RKD"
|
| 46 |
+
],
|
| 47 |
+
"attn_implementation": null,
|
| 48 |
+
"backbone_cfg": {
|
| 49 |
+
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
| 50 |
+
"load_bf16": false,
|
| 51 |
+
"project_to_dim": null,
|
| 52 |
+
"reproject_vision": false,
|
| 53 |
+
"select_layer": 12,
|
| 54 |
+
"tune_llm": false,
|
| 55 |
+
"tune_visual": true,
|
| 56 |
+
"use_flash_attention": true
|
| 57 |
+
},
|
| 58 |
+
"compute_dtype": "bfloat16",
|
| 59 |
+
"hidden_size": 2048,
|
| 60 |
+
"model_dtype": "float32",
|
| 61 |
+
"model_type": "gr00t_n1_5",
|
| 62 |
+
"rkd_action_encoder_projector_dim": 512,
|
| 63 |
+
"rkd_action_encoder_projector_enabled": true,
|
| 64 |
+
"rkd_action_encoder_projector_pooling": "flatten",
|
| 65 |
+
"rkd_action_temp": 0.1,
|
| 66 |
+
"rkd_angle_loss_weight": 2.0,
|
| 67 |
+
"rkd_distance_loss_weight": 1.0,
|
| 68 |
+
"rkd_enabled": true,
|
| 69 |
+
"rkd_exclude_diagonal": true,
|
| 70 |
+
"rkd_fm_loss_weight": 0.0,
|
| 71 |
+
"rkd_loss_type": "distance_angle",
|
| 72 |
+
"rkd_loss_weight": 1.0,
|
| 73 |
+
"rkd_loss_weight_end": 0.0,
|
| 74 |
+
"rkd_loss_weight_schedule": null,
|
| 75 |
+
"rkd_loss_weight_start": 0.1,
|
| 76 |
+
"rkd_relation_mode": "flatten",
|
| 77 |
+
"rkd_student_reconstruction_head_dim": 512,
|
| 78 |
+
"rkd_student_reconstruction_head_enabled": true,
|
| 79 |
+
"rkd_student_reconstruction_head_hidden_dim": 512,
|
| 80 |
+
"rkd_teacher_source": "action_encoder",
|
| 81 |
+
"rkd_vlm_temp": 0.07,
|
| 82 |
+
"torch_dtype": "bfloat16",
|
| 83 |
+
"transformers_version": "4.51.3"
|
| 84 |
+
}
|
MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase2/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,431 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase2/model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase2/trainer_state.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase3/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,431 @@
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| 1 |
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|
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|
| 431 |
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}
|
MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/resolved_config.yaml
ADDED
|
@@ -0,0 +1,62 @@
|
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|
|
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|
|
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|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: mgrkd_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5
|
| 2 |
+
policy_type: groot_MGRKD
|
| 3 |
+
base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 4 |
+
output_root: ${HOME}/groot_robocasa/robocasa_v2/MGRKD/mgrkd_distance_angle_flatten_action_encoder
|
| 5 |
+
dataset:
|
| 6 |
+
dataset_soup: my_atomic26_human
|
| 7 |
+
training:
|
| 8 |
+
num_gpus: 1
|
| 9 |
+
batch_size: 128
|
| 10 |
+
seed: 42
|
| 11 |
+
model: null
|
| 12 |
+
phases:
|
| 13 |
+
- name: phase2_mgrkd_da_only
|
| 14 |
+
max_steps: 30000
|
| 15 |
+
save_steps: 0
|
| 16 |
+
trainable:
|
| 17 |
+
preset: processing_line_only
|
| 18 |
+
tune_llm: false
|
| 19 |
+
tune_visual: false
|
| 20 |
+
tune_projector: false
|
| 21 |
+
tune_diffusion_model: false
|
| 22 |
+
losses:
|
| 23 |
+
rkd_enabled: true
|
| 24 |
+
rkd_fm_loss_weight: 0.0
|
| 25 |
+
rkd_loss_weight: 1.0
|
| 26 |
+
rkd_relation_mode: flatten
|
| 27 |
+
rkd_loss_type: distance_angle
|
| 28 |
+
rkd_teacher_source: action_encoder
|
| 29 |
+
rkd_action_encoder_projector_enabled: true
|
| 30 |
+
rkd_action_encoder_projector_dim: 512
|
| 31 |
+
rkd_action_encoder_projector_pooling: flatten
|
| 32 |
+
rkd_student_reconstruction_head_enabled: true
|
| 33 |
+
rkd_student_reconstruction_head_dim: 512
|
| 34 |
+
rkd_student_reconstruction_head_hidden_dim: 512
|
| 35 |
+
rkd_distance_loss_weight: 1.0
|
| 36 |
+
rkd_angle_loss_weight: 2.0
|
| 37 |
+
rkd_exclude_diagonal: true
|
| 38 |
+
- name: phase3_fm_mgrkd_da_fixed_0p5
|
| 39 |
+
max_steps: 30000
|
| 40 |
+
save_steps: 0
|
| 41 |
+
trainable:
|
| 42 |
+
tune_llm: false
|
| 43 |
+
tune_visual: false
|
| 44 |
+
tune_projector: true
|
| 45 |
+
tune_diffusion_model: true
|
| 46 |
+
losses:
|
| 47 |
+
rkd_enabled: true
|
| 48 |
+
rkd_fm_loss_weight: 1.0
|
| 49 |
+
rkd_loss_weight: 0.5
|
| 50 |
+
rkd_relation_mode: flatten
|
| 51 |
+
rkd_loss_type: distance_angle
|
| 52 |
+
rkd_teacher_source: action_encoder
|
| 53 |
+
rkd_action_encoder_projector_enabled: true
|
| 54 |
+
rkd_action_encoder_projector_dim: 512
|
| 55 |
+
rkd_action_encoder_projector_pooling: flatten
|
| 56 |
+
rkd_student_reconstruction_head_enabled: true
|
| 57 |
+
rkd_student_reconstruction_head_dim: 512
|
| 58 |
+
rkd_student_reconstruction_head_hidden_dim: 512
|
| 59 |
+
rkd_distance_loss_weight: 1.0
|
| 60 |
+
rkd_angle_loss_weight: 2.0
|
| 61 |
+
rkd_exclude_diagonal: true
|
| 62 |
+
resolved_sweep: {}
|
MGRKD/mgrkd_distance_angle_flatten_raw_action/default/mgrkd_da_flatten_raw_action.yaml
ADDED
|
@@ -0,0 +1,61 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: mgrkd_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5
|
| 2 |
+
policy_type: groot_MGRKD
|
| 3 |
+
base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 4 |
+
output_root: ${HOME}/groot_robocasa/robocasa_v2/MGRKD/mgrkd_distance_angle_flatten_raw_action
|
| 5 |
+
dataset:
|
| 6 |
+
dataset_soup: my_atomic26_human
|
| 7 |
+
training:
|
| 8 |
+
num_gpus: 1
|
| 9 |
+
batch_size: 128
|
| 10 |
+
seed: 42
|
| 11 |
+
model: null
|
| 12 |
+
phases:
|
| 13 |
+
- name: phase2_mgrkd_da_only
|
| 14 |
+
max_steps: 30000
|
| 15 |
+
save_steps: 0
|
| 16 |
+
trainable:
|
| 17 |
+
preset: processing_line_only
|
| 18 |
+
tune_llm: false
|
| 19 |
+
tune_visual: false
|
| 20 |
+
tune_projector: false
|
| 21 |
+
tune_diffusion_model: false
|
| 22 |
+
losses:
|
| 23 |
+
rkd_enabled: true
|
| 24 |
+
rkd_fm_loss_weight: 0.0
|
| 25 |
+
rkd_loss_weight: 1.0
|
| 26 |
+
rkd_relation_mode: flatten
|
| 27 |
+
rkd_loss_type: distance_angle
|
| 28 |
+
rkd_teacher_source: raw_action
|
| 29 |
+
rkd_raw_action_projector_enabled: true
|
| 30 |
+
rkd_raw_action_projector_dim: 512
|
| 31 |
+
rkd_raw_action_projector_pooling: flatten
|
| 32 |
+
rkd_student_reconstruction_head_enabled: true
|
| 33 |
+
rkd_student_reconstruction_head_dim: 512
|
| 34 |
+
rkd_student_reconstruction_head_hidden_dim: 512
|
| 35 |
+
rkd_distance_loss_weight: 1.0
|
| 36 |
+
rkd_angle_loss_weight: 2.0
|
| 37 |
+
rkd_exclude_diagonal: true
|
| 38 |
+
- name: phase3_fm_mgrkd_da_fixed_0p5
|
| 39 |
+
max_steps: 30000
|
| 40 |
+
save_steps: 0
|
| 41 |
+
trainable:
|
| 42 |
+
tune_llm: false
|
| 43 |
+
tune_visual: false
|
| 44 |
+
tune_projector: true
|
| 45 |
+
tune_diffusion_model: true
|
| 46 |
+
losses:
|
| 47 |
+
rkd_enabled: true
|
| 48 |
+
rkd_fm_loss_weight: 1.0
|
| 49 |
+
rkd_loss_weight: 0.5
|
| 50 |
+
rkd_relation_mode: flatten
|
| 51 |
+
rkd_loss_type: distance_angle
|
| 52 |
+
rkd_teacher_source: raw_action
|
| 53 |
+
rkd_raw_action_projector_enabled: true
|
| 54 |
+
rkd_raw_action_projector_dim: 512
|
| 55 |
+
rkd_raw_action_projector_pooling: flatten
|
| 56 |
+
rkd_student_reconstruction_head_enabled: true
|
| 57 |
+
rkd_student_reconstruction_head_dim: 512
|
| 58 |
+
rkd_student_reconstruction_head_hidden_dim: 512
|
| 59 |
+
rkd_distance_loss_weight: 1.0
|
| 60 |
+
rkd_angle_loss_weight: 2.0
|
| 61 |
+
rkd_exclude_diagonal: true
|
MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase2/config.json
ADDED
|
@@ -0,0 +1,90 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"action_dim": 32,
|
| 5 |
+
"action_horizon": 16,
|
| 6 |
+
"add_pos_embed": true,
|
| 7 |
+
"backbone_embedding_dim": 2048,
|
| 8 |
+
"diffusion_model_cfg": {
|
| 9 |
+
"attention_head_dim": 48,
|
| 10 |
+
"cross_attention_dim": 2048,
|
| 11 |
+
"dropout": 0.2,
|
| 12 |
+
"final_dropout": true,
|
| 13 |
+
"interleave_self_attention": true,
|
| 14 |
+
"norm_type": "ada_norm",
|
| 15 |
+
"num_attention_heads": 32,
|
| 16 |
+
"num_layers": 16,
|
| 17 |
+
"output_dim": 1024,
|
| 18 |
+
"positional_embeddings": null
|
| 19 |
+
},
|
| 20 |
+
"hidden_size": 1024,
|
| 21 |
+
"input_embedding_dim": 1536,
|
| 22 |
+
"max_action_dim": 32,
|
| 23 |
+
"max_state_dim": 64,
|
| 24 |
+
"model_dtype": "float32",
|
| 25 |
+
"noise_beta_alpha": 1.5,
|
| 26 |
+
"noise_beta_beta": 1.0,
|
| 27 |
+
"noise_s": 0.999,
|
| 28 |
+
"num_inference_timesteps": 4,
|
| 29 |
+
"num_target_vision_tokens": 32,
|
| 30 |
+
"num_timestep_buckets": 1000,
|
| 31 |
+
"tune_diffusion_model": true,
|
| 32 |
+
"tune_projector": true,
|
| 33 |
+
"use_vlln": true,
|
| 34 |
+
"vl_self_attention_cfg": {
|
| 35 |
+
"attention_head_dim": 64,
|
| 36 |
+
"dropout": 0.2,
|
| 37 |
+
"final_dropout": true,
|
| 38 |
+
"num_attention_heads": 32,
|
| 39 |
+
"num_layers": 4,
|
| 40 |
+
"positional_embeddings": null
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"action_horizon": 16,
|
| 44 |
+
"architectures": [
|
| 45 |
+
"GR00T_N1_5_RKD"
|
| 46 |
+
],
|
| 47 |
+
"attn_implementation": null,
|
| 48 |
+
"backbone_cfg": {
|
| 49 |
+
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
| 50 |
+
"load_bf16": false,
|
| 51 |
+
"project_to_dim": null,
|
| 52 |
+
"reproject_vision": false,
|
| 53 |
+
"select_layer": 12,
|
| 54 |
+
"tune_llm": false,
|
| 55 |
+
"tune_visual": true,
|
| 56 |
+
"use_flash_attention": true
|
| 57 |
+
},
|
| 58 |
+
"compute_dtype": "bfloat16",
|
| 59 |
+
"hidden_size": 2048,
|
| 60 |
+
"model_dtype": "float32",
|
| 61 |
+
"model_type": "gr00t_n1_5",
|
| 62 |
+
"rkd_action_encoder_cls_ffn_hidden_dim": 2048,
|
| 63 |
+
"rkd_action_encoder_cls_num_heads": 8,
|
| 64 |
+
"rkd_action_encoder_cls_num_layers": 1,
|
| 65 |
+
"rkd_action_encoder_projector_dim": 512,
|
| 66 |
+
"rkd_action_encoder_projector_enabled": false,
|
| 67 |
+
"rkd_action_encoder_projector_pooling": "flatten",
|
| 68 |
+
"rkd_action_temp": 0.1,
|
| 69 |
+
"rkd_angle_loss_weight": 2.0,
|
| 70 |
+
"rkd_distance_loss_weight": 1.0,
|
| 71 |
+
"rkd_enabled": true,
|
| 72 |
+
"rkd_exclude_diagonal": true,
|
| 73 |
+
"rkd_fm_loss_weight": 0.0,
|
| 74 |
+
"rkd_loss_type": "distance_angle",
|
| 75 |
+
"rkd_loss_weight": 1.0,
|
| 76 |
+
"rkd_loss_weight_end": 0.0,
|
| 77 |
+
"rkd_loss_weight_schedule": null,
|
| 78 |
+
"rkd_loss_weight_start": 0.1,
|
| 79 |
+
"rkd_raw_action_projector_dim": 512,
|
| 80 |
+
"rkd_raw_action_projector_enabled": true,
|
| 81 |
+
"rkd_raw_action_projector_pooling": "flatten",
|
| 82 |
+
"rkd_relation_mode": "flatten",
|
| 83 |
+
"rkd_student_reconstruction_head_dim": 512,
|
| 84 |
+
"rkd_student_reconstruction_head_enabled": true,
|
| 85 |
+
"rkd_student_reconstruction_head_hidden_dim": 512,
|
| 86 |
+
"rkd_teacher_source": "raw_action",
|
| 87 |
+
"rkd_vlm_temp": 0.07,
|
| 88 |
+
"torch_dtype": "bfloat16",
|
| 89 |
+
"transformers_version": "4.51.3"
|
| 90 |
+
}
|
MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase2/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,431 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
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|
|
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|
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|
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|
|
|
|
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|
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|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
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|
MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase2/model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase3/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,431 @@
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}
|
MGRKD/mgrkd_distance_angle_flatten_raw_action/default/resolved_config.yaml
ADDED
|
@@ -0,0 +1,62 @@
|
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|
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|
|
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|
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|
|
|
| 1 |
+
experiment_name: mgrkd_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5
|
| 2 |
+
policy_type: groot_MGRKD
|
| 3 |
+
base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 4 |
+
output_root: ${HOME}/groot_robocasa/robocasa_v2/MGRKD/mgrkd_distance_angle_flatten_raw_action
|
| 5 |
+
dataset:
|
| 6 |
+
dataset_soup: my_atomic26_human
|
| 7 |
+
training:
|
| 8 |
+
num_gpus: 1
|
| 9 |
+
batch_size: 128
|
| 10 |
+
seed: 42
|
| 11 |
+
model: null
|
| 12 |
+
phases:
|
| 13 |
+
- name: phase2_mgrkd_da_only
|
| 14 |
+
max_steps: 30000
|
| 15 |
+
save_steps: 0
|
| 16 |
+
trainable:
|
| 17 |
+
preset: processing_line_only
|
| 18 |
+
tune_llm: false
|
| 19 |
+
tune_visual: false
|
| 20 |
+
tune_projector: false
|
| 21 |
+
tune_diffusion_model: false
|
| 22 |
+
losses:
|
| 23 |
+
rkd_enabled: true
|
| 24 |
+
rkd_fm_loss_weight: 0.0
|
| 25 |
+
rkd_loss_weight: 1.0
|
| 26 |
+
rkd_relation_mode: flatten
|
| 27 |
+
rkd_loss_type: distance_angle
|
| 28 |
+
rkd_teacher_source: raw_action
|
| 29 |
+
rkd_raw_action_projector_enabled: true
|
| 30 |
+
rkd_raw_action_projector_dim: 512
|
| 31 |
+
rkd_raw_action_projector_pooling: flatten
|
| 32 |
+
rkd_student_reconstruction_head_enabled: true
|
| 33 |
+
rkd_student_reconstruction_head_dim: 512
|
| 34 |
+
rkd_student_reconstruction_head_hidden_dim: 512
|
| 35 |
+
rkd_distance_loss_weight: 1.0
|
| 36 |
+
rkd_angle_loss_weight: 2.0
|
| 37 |
+
rkd_exclude_diagonal: true
|
| 38 |
+
- name: phase3_fm_mgrkd_da_fixed_0p5
|
| 39 |
+
max_steps: 30000
|
| 40 |
+
save_steps: 0
|
| 41 |
+
trainable:
|
| 42 |
+
tune_llm: false
|
| 43 |
+
tune_visual: false
|
| 44 |
+
tune_projector: true
|
| 45 |
+
tune_diffusion_model: true
|
| 46 |
+
losses:
|
| 47 |
+
rkd_enabled: true
|
| 48 |
+
rkd_fm_loss_weight: 1.0
|
| 49 |
+
rkd_loss_weight: 0.5
|
| 50 |
+
rkd_relation_mode: flatten
|
| 51 |
+
rkd_loss_type: distance_angle
|
| 52 |
+
rkd_teacher_source: raw_action
|
| 53 |
+
rkd_raw_action_projector_enabled: true
|
| 54 |
+
rkd_raw_action_projector_dim: 512
|
| 55 |
+
rkd_raw_action_projector_pooling: flatten
|
| 56 |
+
rkd_student_reconstruction_head_enabled: true
|
| 57 |
+
rkd_student_reconstruction_head_dim: 512
|
| 58 |
+
rkd_student_reconstruction_head_hidden_dim: 512
|
| 59 |
+
rkd_distance_loss_weight: 1.0
|
| 60 |
+
rkd_angle_loss_weight: 2.0
|
| 61 |
+
rkd_exclude_diagonal: true
|
| 62 |
+
resolved_sweep: {}
|
rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-120000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,431 @@
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|
rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-120000/model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/config.json
ADDED
|
@@ -0,0 +1,77 @@
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
|
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|
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|
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|
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|
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|
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|
| 72 |
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| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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}
|
rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rkd_v2_2/launch_logs/action_encoder_flatten_gpu4_5_bs32_ngpu2_20260622_124039.log
ADDED
|
@@ -0,0 +1,757 @@
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|
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|
|
|
|
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|
|
|
|
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|
|
|
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|
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| 0 |
0%| | 0/30000 [00:00<?, ?it/s][rank1]: Traceback (most recent call last):
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| 1 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 2 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 3 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 4 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 5 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 6 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 7 |
+
check_for_updates()
|
| 8 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 9 |
+
|
| 10 |
+
*****************************************
|
| 11 |
+
Setting OMP_NUM_THREADS environment variable for each process to be 1 in default, to avoid your system being overloaded, please further tune the variable for optimal performance in your application as needed.
|
| 12 |
+
*****************************************
|
| 13 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 14 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 15 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 16 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 17 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 18 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 19 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 20 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 21 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 22 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 23 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 24 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 25 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 26 |
+
check_for_updates()
|
| 27 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 28 |
+
check_for_updates()
|
| 29 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 30 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 31 |
+
|
| 32 |
+
==================================================
|
| 33 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 34 |
+
==================================================
|
| 35 |
+
config: experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml
|
| 36 |
+
dataset_soup: None
|
| 37 |
+
output_dir: /tmp/gr00t
|
| 38 |
+
output_root: None
|
| 39 |
+
data_config: panda_omron
|
| 40 |
+
batch_size: 32
|
| 41 |
+
max_steps: 300000
|
| 42 |
+
num_gpus: 2
|
| 43 |
+
save_steps: 20000
|
| 44 |
+
run_name: None
|
| 45 |
+
save_total_limit: 100
|
| 46 |
+
seed: 42
|
| 47 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 48 |
+
tune_llm: False
|
| 49 |
+
tune_visual: False
|
| 50 |
+
tune_projector: True
|
| 51 |
+
tune_diffusion_model: True
|
| 52 |
+
resume: False
|
| 53 |
+
learning_rate: 3e-05
|
| 54 |
+
weight_decay: 1e-05
|
| 55 |
+
warmup_ratio: 0.05
|
| 56 |
+
lora_rank: 0
|
| 57 |
+
lora_alpha: 16
|
| 58 |
+
lora_dropout: 0.1
|
| 59 |
+
lora_full_model: False
|
| 60 |
+
dataloader_num_workers: 8
|
| 61 |
+
report_to: wandb
|
| 62 |
+
embodiment_tag: new_embodiment
|
| 63 |
+
video_backend: opencv
|
| 64 |
+
balance_dataset_weights: True
|
| 65 |
+
balance_trajectory_weights: True
|
| 66 |
+
ds_weights_alpha: 0.4
|
| 67 |
+
==================================================
|
| 68 |
+
|
| 69 |
+
Using 2 GPUs
|
| 70 |
+
|
| 71 |
+
================================================================================
|
| 72 |
+
Starting sweep branch: default
|
| 73 |
+
Sweep vars: {}
|
| 74 |
+
================================================================================
|
| 75 |
+
|
| 76 |
+
--------------------------------------------------------------------------------
|
| 77 |
+
Running phase 1: phase2_rkd_da_only
|
| 78 |
+
Policy type: groot_rkd_v2
|
| 79 |
+
Base model path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 80 |
+
Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2
|
| 81 |
+
Trainable preset: processing_line_only
|
| 82 |
+
Policy overrides: {'rkd_enabled': True, 'rkd_fm_loss_weight': 0.0, 'rkd_loss_weight': 1.0, 'rkd_relation_mode': 'flatten', 'rkd_loss_type': 'distance_angle', 'rkd_teacher_source': 'action_encoder', 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True}
|
| 83 |
+
--------------------------------------------------------------------------------
|
| 84 |
+
|
| 85 |
+
[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]
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Using 100 subset demos for filter_key: 100_demos
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/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
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self.statistics[key] = torch.tensor(value)
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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==================================================
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GR00T FINE-TUNING CONFIGURATION:
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==================================================
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config: experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml
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dataset_soup: None
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output_dir: /tmp/gr00t
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output_root: None
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data_config: panda_omron
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batch_size: 32
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max_steps: 300000
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num_gpus: 2
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save_steps: 20000
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run_name: None
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save_total_limit: 100
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seed: 42
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base_model_path: nvidia/GR00T-N1.5-3B
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tune_llm: False
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tune_visual: False
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tune_projector: True
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tune_diffusion_model: True
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resume: False
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learning_rate: 3e-05
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weight_decay: 1e-05
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warmup_ratio: 0.05
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lora_rank: 0
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lora_alpha: 16
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lora_dropout: 0.1
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lora_full_model: False
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dataloader_num_workers: 8
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report_to: wandb
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embodiment_tag: new_embodiment
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video_backend: opencv
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balance_dataset_weights: True
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balance_trajectory_weights: True
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ds_weights_alpha: 0.4
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==================================================
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 154 |
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 156 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 157 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 158 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 159 |
+
Using 2 GPUs
|
| 160 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 161 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 162 |
+
|
| 163 |
+
================================================================================
|
| 164 |
+
Starting sweep branch: default
|
| 165 |
+
Sweep vars: {}
|
| 166 |
+
================================================================================
|
| 167 |
+
|
| 168 |
+
--------------------------------------------------------------------------------
|
| 169 |
+
Running phase 1: phase2_rkd_da_only
|
| 170 |
+
Policy type: groot_rkd_v2
|
| 171 |
+
Base model path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
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+
Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2
|
| 173 |
+
Trainable preset: processing_line_only
|
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+
Policy overrides: {'rkd_enabled': True, 'rkd_fm_loss_weight': 0.0, 'rkd_loss_weight': 1.0, 'rkd_relation_mode': 'flatten', 'rkd_loss_type': 'distance_angle', 'rkd_teacher_source': 'action_encoder', 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True}
|
| 175 |
+
--------------------------------------------------------------------------------
|
| 176 |
+
|
| 177 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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+
/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
|
| 183 |
+
self.statistics[key] = torch.tensor(value)
|
| 184 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
|
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
|
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
|
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+
Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENTInitialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 209 |
+
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+
dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
|
| 211 |
+
0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
|
| 212 |
+
0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
|
| 213 |
+
0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
|
| 214 |
+
0.75517122 0.7973985 ]
|
| 215 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 216 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 217 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 218 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 219 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 220 |
+
Loaded 26 datasets
|
| 221 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 222 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 223 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 224 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 225 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 226 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 227 |
+
Loading pretrained dual brain from /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 228 |
+
Tune backbone vision tower: False
|
| 229 |
+
Tune backbone LLM: False
|
| 230 |
+
Tune action head projector: False
|
| 231 |
+
Tune action head DiT: False
|
| 232 |
+
Model not found or avail in the huggingface hub. Loading from local path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 233 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 234 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 235 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 236 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 237 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 238 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 239 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 240 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 241 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 242 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 243 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 244 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 245 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 246 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 247 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 248 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 249 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 250 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 251 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 252 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 253 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 254 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 255 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 256 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 257 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 258 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 259 |
+
dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
|
| 260 |
+
0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
|
| 261 |
+
0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
|
| 262 |
+
0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
|
| 263 |
+
0.75517122 0.7973985 ]
|
| 264 |
+
Loaded 26 datasets
|
| 265 |
+
Loading pretrained dual brain from /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 266 |
+
Tune backbone vision tower: False
|
| 267 |
+
Tune backbone LLM: False
|
| 268 |
+
Tune action head projector: False
|
| 269 |
+
Tune action head DiT: False
|
| 270 |
+
Model not found or avail in the huggingface hub. Loading from local path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 271 |
+
Tune backbone llm: False
|
| 272 |
+
Tune backbone visual: True
|
| 273 |
+
Total number of DiT parameters: 550386688
|
| 274 |
+
Tune backbone llm: False
|
| 275 |
+
Tune backbone visual: True
|
| 276 |
+
Total number of DiT parameters: 550386688
|
| 277 |
+
Total number of SelfAttentionTransformer parameters: 201433088
|
| 278 |
+
Tune action head projector: True
|
| 279 |
+
Tune action head diffusion model: True
|
| 280 |
+
|
| 281 |
+
Tune backbone llm: False
|
| 282 |
+
Tune backbone visual: False
|
| 283 |
+
Warning: No backbone trainable parameters found.
|
| 284 |
+
Tune action head projector: False
|
| 285 |
+
Tune action head diffusion model: False
|
| 286 |
+
Action head trainable parameter: future_tokens.weight
|
| 287 |
+
Action head trainable parameter: vlln.weight
|
| 288 |
+
Action head trainable parameter: vlln.bias
|
| 289 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.weight
|
| 290 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.bias
|
| 291 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 292 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 293 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 294 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 295 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 296 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 297 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 298 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 299 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.weight
|
| 300 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.bias
|
| 301 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 302 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 303 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 304 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 305 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.weight
|
| 306 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.bias
|
| 307 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 308 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 309 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 310 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 311 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 312 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 313 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 314 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 315 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.weight
|
| 316 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.bias
|
| 317 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 318 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 319 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 320 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 321 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.weight
|
| 322 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.bias
|
| 323 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 324 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 325 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 326 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 327 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 328 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 329 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 330 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 331 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.weight
|
| 332 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.bias
|
| 333 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 334 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 335 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 336 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 337 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.weight
|
| 338 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.bias
|
| 339 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 340 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 341 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 342 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 343 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 344 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 345 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 346 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 347 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.weight
|
| 348 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.bias
|
| 349 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 350 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 351 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 352 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 353 |
+
Applied trainable preset: processing_line_only
|
| 354 |
+
Trainable parameter tensors after preset: 66
|
| 355 |
+
trainable: action_head.vlln.weight
|
| 356 |
+
trainable: action_head.vlln.bias
|
| 357 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.weight
|
| 358 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.bias
|
| 359 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 360 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 361 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 362 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 363 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 364 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 365 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 366 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 367 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.weight
|
| 368 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.bias
|
| 369 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 370 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 371 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 372 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 373 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.weight
|
| 374 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.bias
|
| 375 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 376 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 377 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 378 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 379 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 380 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 381 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 382 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 383 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.weight
|
| 384 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.bias
|
| 385 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 386 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 387 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 388 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 389 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.weight
|
| 390 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.bias
|
| 391 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 392 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 393 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 394 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 395 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 396 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 397 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 398 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 399 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.weight
|
| 400 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.bias
|
| 401 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 402 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 403 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 404 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 405 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.weight
|
| 406 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.bias
|
| 407 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 408 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 409 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 410 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 411 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 412 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 413 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 414 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 415 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.weight
|
| 416 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.bias
|
| 417 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 418 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 419 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 420 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 421 |
+
Trainable summary: {'trainable_preset': 'processing_line_only', 'trainable_modules': 'backbone.eagle_linear(0), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088)', 'trainable_module_names': 'backbone.eagle_linear, action_head.vlln, action_head.vl_self_attention', 'trainable_module_param_counts': {'backbone.eagle_linear': 0, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088}, 'trainable_param_count': 201437184, 'total_param_count': 2724163520, 'trainable_param_ratio': 0.0739446007998815}
|
| 422 |
+
Total number of SelfAttentionTransformer parameters: 201433088
|
| 423 |
+
Tune action head projector: True
|
| 424 |
+
Tune action head diffusion model: True
|
| 425 |
+
|
| 426 |
+
Tune backbone llm: False
|
| 427 |
+
Tune backbone visual: False
|
| 428 |
+
Warning: No backbone trainable parameters found.
|
| 429 |
+
Tune action head projector: False
|
| 430 |
+
Tune action head diffusion model: False
|
| 431 |
+
Action head trainable parameter: future_tokens.weight
|
| 432 |
+
Action head trainable parameter: vlln.weight
|
| 433 |
+
Action head trainable parameter: vlln.bias
|
| 434 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.weight
|
| 435 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.bias
|
| 436 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 437 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 438 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 439 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 440 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 441 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 442 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 443 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 444 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.weight
|
| 445 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.bias
|
| 446 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 447 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 448 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 449 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 450 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.weight
|
| 451 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.bias
|
| 452 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 453 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 454 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 455 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 456 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 457 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 458 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 459 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 460 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.weight
|
| 461 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.bias
|
| 462 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 463 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 464 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 465 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 466 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.weight
|
| 467 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.bias
|
| 468 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 469 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 470 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 471 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 472 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 473 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 474 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 475 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 476 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.weight
|
| 477 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.bias
|
| 478 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 479 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 480 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 481 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 482 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.weight
|
| 483 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.bias
|
| 484 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 485 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 486 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 487 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 488 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 489 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 490 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 491 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 492 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.weight
|
| 493 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.bias
|
| 494 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 495 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 496 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 497 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 498 |
+
Applied trainable preset: processing_line_only
|
| 499 |
+
Trainable parameter tensors after preset: 66
|
| 500 |
+
trainable: action_head.vlln.weight
|
| 501 |
+
trainable: action_head.vlln.bias
|
| 502 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.weight
|
| 503 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.bias
|
| 504 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 505 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 506 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 507 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 508 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 509 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 510 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 511 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 512 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.weight
|
| 513 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.bias
|
| 514 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 515 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 516 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 517 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 518 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.weight
|
| 519 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.bias
|
| 520 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 521 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 522 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 523 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 524 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 525 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 526 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 527 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 528 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.weight
|
| 529 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.bias
|
| 530 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 531 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 532 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 533 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 534 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.weight
|
| 535 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.bias
|
| 536 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 537 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 538 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 539 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 540 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 541 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 542 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 543 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 544 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.weight
|
| 545 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.bias
|
| 546 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 547 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 548 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 549 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 550 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.weight
|
| 551 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.bias
|
| 552 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 553 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 554 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 555 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 556 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 557 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 558 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 559 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 560 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.weight
|
| 561 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.bias
|
| 562 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 563 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 564 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 565 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 566 |
+
Trainable summary: {'trainable_preset': 'processing_line_only', 'trainable_modules': 'backbone.eagle_linear(0), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088)', 'trainable_module_names': 'backbone.eagle_linear, action_head.vlln, action_head.vl_self_attention', 'trainable_module_param_counts': {'backbone.eagle_linear': 0, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088}, 'trainable_param_count': 201437184, 'total_param_count': 2724163520, 'trainable_param_ratio': 0.0739446007998815}
|
| 567 |
+
Run name: rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2
|
| 568 |
+
Run name: rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2
|
| 569 |
+
train dataloader length: 6873
|
| 570 |
+
train dataset length: 439854
|
| 571 |
+
GPU memory before training: 7.076685905456543 GB
|
| 572 |
+
TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2/runs
|
| 573 |
+
train dataloader length: 6873
|
| 574 |
+
train dataset length: 439854
|
| 575 |
+
GPU memory before training: 7.076685905456543 GB
|
| 576 |
+
TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2/runs
|
| 577 |
+
wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from /home/ext_minje/.netrc.
|
| 578 |
+
wandb: Currently logged in as: minje227_hyu (minje227_hyu-hanyang-university) to https://api.wandb.ai. Use `wandb login --relogin` to force relogin
|
| 579 |
+
wandb: setting up run 8e8ggss5
|
| 580 |
+
wandb: Tracking run with wandb version 0.25.0
|
| 581 |
+
wandb: Run data is saved locally in /home/ext_minje/clvla/benchmarks/robocasa_v2/wandb/run-20260622_124109-8e8ggss5
|
| 582 |
+
wandb: Run `wandb offline` to turn off syncing.
|
| 583 |
+
wandb: Syncing run rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2
|
| 584 |
+
wandb: ⭐️ View project at https://wandb.ai/minje227_hyu-hanyang-university/robocasa_rkd_v2_2
|
| 585 |
+
wandb: 🚀 View run at https://wandb.ai/minje227_hyu-hanyang-university/robocasa_rkd_v2_2/runs/8e8ggss5
|
| 586 |
+
|
| 587 |
0%| | 0/30000 [00:00<?, ?it/s][rank1]: Traceback (most recent call last):
|
| 588 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1039, in <module>
|
| 589 |
+
[rank1]: run_yaml_experiment(
|
| 590 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 988, in run_yaml_experiment
|
| 591 |
+
[rank1]: main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 592 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 718, in main
|
| 593 |
+
[rank1]: experiment.train()
|
| 594 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 595 |
+
[rank1]: self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 596 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 597 |
+
[rank1]: return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 598 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 599 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 600 |
+
[rank1]: return inner_training_loop(
|
| 601 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^
|
| 602 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 603 |
+
[rank1]: tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 604 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 605 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3782, in training_step
|
| 606 |
+
[rank1]: self.accelerator.backward(loss, **kwargs)
|
| 607 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/accelerator.py", line 2838, in backward
|
| 608 |
+
[rank1]: loss.backward(**kwargs)
|
| 609 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/_tensor.py", line 648, in backward
|
| 610 |
+
[rank1]: torch.autograd.backward(
|
| 611 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/__init__.py", line 353, in backward
|
| 612 |
+
[rank1]: _engine_run_backward(
|
| 613 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/graph.py", line 824, in _engine_run_backward
|
| 614 |
+
[rank1]: return Variable._execution_engine.run_backward( # Calls into the C++ engine to run the backward pass
|
| 615 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 616 |
+
[rank1]: torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 26.09 GiB. GPU 1 has a total capacity of 139.80 GiB of which 12.59 GiB is free. Process 1961377 has 11.53 GiB memory in use. Including non-PyTorch memory, this process has 102.42 GiB memory in use. Of the allocated memory 83.76 GiB is allocated by PyTorch, and 17.12 GiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 617 |
+
wandb: updating run metadata
|
| 618 |
+
wandb: uploading config.yaml
|
| 619 |
+
wandb: 🚀 View run rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2 at: https://wandb.ai/minje227_hyu-hanyang-university/robocasa_rkd_v2_2/runs/8e8ggss5
|
| 620 |
+
wandb: ⭐️ View project at: https://wandb.ai/minje227_hyu-hanyang-university/robocasa_rkd_v2_2
|
| 621 |
+
wandb: Synced 5 W&B file(s), 0 media file(s), 0 artifact file(s) and 0 other file(s)
|
| 622 |
+
wandb: Find logs at: ./wandb/run-20260622_124109-8e8ggss5/logs
|
| 623 |
+
Traceback (most recent call last):
|
| 624 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1039, in <module>
|
| 625 |
+
run_yaml_experiment(
|
| 626 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 988, in run_yaml_experiment
|
| 627 |
+
main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 628 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 718, in main
|
| 629 |
+
experiment.train()
|
| 630 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 631 |
+
self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 632 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 633 |
+
return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 634 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 635 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 636 |
+
return inner_training_loop(
|
| 637 |
+
^^^^^^^^^^^^^^^^^^^^
|
| 638 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 639 |
+
tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 640 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 641 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3782, in training_step
|
| 642 |
+
self.accelerator.backward(loss, **kwargs)
|
| 643 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/accelerator.py", line 2838, in backward
|
| 644 |
+
loss.backward(**kwargs)
|
| 645 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/_tensor.py", line 648, in backward
|
| 646 |
+
torch.autograd.backward(
|
| 647 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/__init__.py", line 353, in backward
|
| 648 |
+
_engine_run_backward(
|
| 649 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/graph.py", line 824, in _engine_run_backward
|
| 650 |
+
return Variable._execution_engine.run_backward( # Calls into the C++ engine to run the backward pass
|
| 651 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 652 |
+
torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 26.09 GiB. GPU 0 has a total capacity of 139.80 GiB of which 12.49 GiB is free. Including non-PyTorch memory, this process has 127.29 GiB memory in use. Of the allocated memory 122.90 GiB is allocated by PyTorch, and 2.85 GiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 653 |
+
[rank0]: Traceback (most recent call last):
|
| 654 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1039, in <module>
|
| 655 |
+
[rank0]: run_yaml_experiment(
|
| 656 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 988, in run_yaml_experiment
|
| 657 |
+
[rank0]: main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 658 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 718, in main
|
| 659 |
+
[rank0]: experiment.train()
|
| 660 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 661 |
+
[rank0]: self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 662 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 663 |
+
[rank0]: return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 664 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 665 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 666 |
+
[rank0]: return inner_training_loop(
|
| 667 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^
|
| 668 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 669 |
+
[rank0]: tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 670 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 671 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3782, in training_step
|
| 672 |
+
[rank0]: self.accelerator.backward(loss, **kwargs)
|
| 673 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/accelerator.py", line 2838, in backward
|
| 674 |
+
[rank0]: loss.backward(**kwargs)
|
| 675 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/_tensor.py", line 648, in backward
|
| 676 |
+
[rank0]: torch.autograd.backward(
|
| 677 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/__init__.py", line 353, in backward
|
| 678 |
+
[rank0]: _engine_run_backward(
|
| 679 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/graph.py", line 824, in _engine_run_backward
|
| 680 |
+
[rank0]: return Variable._execution_engine.run_backward( # Calls into the C++ engine to run the backward pass
|
| 681 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 682 |
+
[rank0]: torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 26.09 GiB. GPU 0 has a total capacity of 139.80 GiB of which 12.49 GiB is free. Including non-PyTorch memory, this process has 127.29 GiB memory in use. Of the allocated memory 122.90 GiB is allocated by PyTorch, and 2.85 GiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 683 |
+
W0622 12:41:20.375000 2402310 site-packages/torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2402406 closing signal SIGTERM
|
| 684 |
+
E0622 12:41:20.892000 2402310 site-packages/torch/distributed/elastic/multiprocessing/api.py:874] failed (exitcode: 1) local_rank: 1 (pid: 2402408) of binary: /home/ext_minje/miniforge3/envs/robocasa/bin/python
|
| 685 |
+
Traceback (most recent call last):
|
| 686 |
+
File "<frozen runpy>", line 198, in _run_module_as_main
|
| 687 |
+
File "<frozen runpy>", line 88, in _run_code
|
| 688 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 896, in <module>
|
| 689 |
+
main()
|
| 690 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/elastic/multiprocessing/errors/__init__.py", line 355, in wrapper
|
| 691 |
+
return f(*args, **kwargs)
|
| 692 |
+
^^^^^^^^^^^^^^^^^^
|
| 693 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 892, in main
|
| 694 |
+
run(args)
|
| 695 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 883, in run
|
| 696 |
+
elastic_launch(
|
| 697 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/launcher/api.py", line 139, in __call__
|
| 698 |
+
return launch_agent(self._config, self._entrypoint, list(args))
|
| 699 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 700 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/launcher/api.py", line 270, in launch_agent
|
| 701 |
+
raise ChildFailedError(
|
| 702 |
+
torch.distributed.elastic.multiprocessing.errors.ChildFailedError:
|
| 703 |
+
============================================================
|
| 704 |
+
/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py FAILED
|
| 705 |
+
------------------------------------------------------------
|
| 706 |
+
Failures:
|
| 707 |
+
<NO_OTHER_FAILURES>
|
| 708 |
+
------------------------------------------------------------
|
| 709 |
+
Root Cause (first observed failure):
|
| 710 |
+
[0]:
|
| 711 |
+
time : 2026-06-22_12:41:20
|
| 712 |
+
host : DGX-H200-01
|
| 713 |
+
rank : 1 (local_rank: 1)
|
| 714 |
+
exitcode : 1 (pid: 2402408)
|
| 715 |
+
error_file: <N/A>
|
| 716 |
+
traceback : To enable traceback see: https://pytorch.org/docs/stable/elastic/errors.html
|
| 717 |
+
============================================================
|
| 718 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 719 |
+
|
| 720 |
+
==================================================
|
| 721 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 722 |
+
==================================================
|
| 723 |
+
config: experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml
|
| 724 |
+
dataset_soup: None
|
| 725 |
+
output_dir: /tmp/gr00t
|
| 726 |
+
output_root: None
|
| 727 |
+
data_config: panda_omron
|
| 728 |
+
batch_size: 32
|
| 729 |
+
max_steps: 300000
|
| 730 |
+
num_gpus: 2
|
| 731 |
+
save_steps: 20000
|
| 732 |
+
run_name: None
|
| 733 |
+
save_total_limit: 100
|
| 734 |
+
seed: 42
|
| 735 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 736 |
+
tune_llm: False
|
| 737 |
+
tune_visual: False
|
| 738 |
+
tune_projector: True
|
| 739 |
+
tune_diffusion_model: True
|
| 740 |
+
resume: False
|
| 741 |
+
learning_rate: 3e-05
|
| 742 |
+
weight_decay: 1e-05
|
| 743 |
+
warmup_ratio: 0.05
|
| 744 |
+
lora_rank: 0
|
| 745 |
+
lora_alpha: 16
|
| 746 |
+
lora_dropout: 0.1
|
| 747 |
+
lora_full_model: False
|
| 748 |
+
dataloader_num_workers: 8
|
| 749 |
+
report_to: wandb
|
| 750 |
+
embodiment_tag: new_embodiment
|
| 751 |
+
video_backend: opencv
|
| 752 |
+
balance_dataset_weights: True
|
| 753 |
+
balance_trajectory_weights: True
|
| 754 |
+
ds_weights_alpha: 0.4
|
| 755 |
+
==================================================
|
| 756 |
+
|
| 757 |
+
Using 2 GPUs
|
| 758 |
+
Running torchrun command: ['/home/ext_minje/miniforge3/envs/robocasa/bin/python', '-m', 'torch.distributed.run', '--standalone', '--nproc_per_node=2', '--nnodes=1', '/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py', '--config', 'experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml', '--batch-size', '32', '--num-gpus', '2']
|
rkd_v2_2/launch_logs/action_encoder_flatten_gpu4_5_bs64_ngpu2.pid
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
2324826
|
rkd_v2_2/launch_logs/action_encoder_flatten_gpu4_5_bs64_ngpu2_20260622_123748.log
ADDED
|
@@ -0,0 +1,865 @@
|
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| 0 |
0%| | 0/30000 [00:00<?, ?it/s][rank1]: Traceback (most recent call last):
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|
| 1 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 2 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 3 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 4 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 5 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 6 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 7 |
+
check_for_updates()
|
| 8 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 9 |
+
|
| 10 |
+
*****************************************
|
| 11 |
+
Setting OMP_NUM_THREADS environment variable for each process to be 1 in default, to avoid your system being overloaded, please further tune the variable for optimal performance in your application as needed.
|
| 12 |
+
*****************************************
|
| 13 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 14 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 15 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 16 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 17 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 18 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 19 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 20 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 21 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 22 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 23 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 24 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 25 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 26 |
+
check_for_updates()
|
| 27 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 28 |
+
check_for_updates()
|
| 29 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 30 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 31 |
+
|
| 32 |
+
==================================================
|
| 33 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 34 |
+
==================================================
|
| 35 |
+
config: experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml
|
| 36 |
+
dataset_soup: None
|
| 37 |
+
output_dir: /tmp/gr00t
|
| 38 |
+
output_root: None
|
| 39 |
+
data_config: panda_omron
|
| 40 |
+
batch_size: 64
|
| 41 |
+
max_steps: 300000
|
| 42 |
+
num_gpus: 2
|
| 43 |
+
save_steps: 20000
|
| 44 |
+
run_name: None
|
| 45 |
+
save_total_limit: 100
|
| 46 |
+
seed: 42
|
| 47 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 48 |
+
tune_llm: False
|
| 49 |
+
tune_visual: False
|
| 50 |
+
tune_projector: True
|
| 51 |
+
tune_diffusion_model: True
|
| 52 |
+
resume: False
|
| 53 |
+
learning_rate: 3e-05
|
| 54 |
+
weight_decay: 1e-05
|
| 55 |
+
warmup_ratio: 0.05
|
| 56 |
+
lora_rank: 0
|
| 57 |
+
lora_alpha: 16
|
| 58 |
+
lora_dropout: 0.1
|
| 59 |
+
lora_full_model: False
|
| 60 |
+
dataloader_num_workers: 8
|
| 61 |
+
report_to: wandb
|
| 62 |
+
embodiment_tag: new_embodiment
|
| 63 |
+
video_backend: opencv
|
| 64 |
+
balance_dataset_weights: True
|
| 65 |
+
balance_trajectory_weights: True
|
| 66 |
+
ds_weights_alpha: 0.4
|
| 67 |
+
==================================================
|
| 68 |
+
|
| 69 |
+
Using 2 GPUs
|
| 70 |
+
|
| 71 |
+
================================================================================
|
| 72 |
+
Starting sweep branch: default
|
| 73 |
+
Sweep vars: {}
|
| 74 |
+
================================================================================
|
| 75 |
+
|
| 76 |
+
--------------------------------------------------------------------------------
|
| 77 |
+
Running phase 1: phase2_rkd_da_only
|
| 78 |
+
Policy type: groot_rkd_v2
|
| 79 |
+
Base model path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 80 |
+
Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2
|
| 81 |
+
Trainable preset: processing_line_only
|
| 82 |
+
Policy overrides: {'rkd_enabled': True, 'rkd_fm_loss_weight': 0.0, 'rkd_loss_weight': 1.0, 'rkd_relation_mode': 'flatten', 'rkd_loss_type': 'distance_angle', 'rkd_teacher_source': 'action_encoder', 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True}
|
| 83 |
+
--------------------------------------------------------------------------------
|
| 84 |
+
|
| 85 |
+
[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]
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Using 100 subset demos for filter_key: 100_demos
|
| 87 |
+
/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
|
| 88 |
+
self.statistics[key] = torch.tensor(value)
|
| 89 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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+
Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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| 100 |
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Using 100 subset demos for filter_key: 100_demos
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| 101 |
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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| 103 |
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 104 |
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Using 100 subset demos for filter_key: 100_demos
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| 105 |
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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| 107 |
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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| 109 |
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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| 111 |
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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| 126 |
+
|
| 127 |
+
==================================================
|
| 128 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 129 |
+
==================================================
|
| 130 |
+
config: experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml
|
| 131 |
+
dataset_soup: None
|
| 132 |
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output_dir: /tmp/gr00t
|
| 133 |
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output_root: None
|
| 134 |
+
data_config: panda_omron
|
| 135 |
+
batch_size: 64
|
| 136 |
+
max_steps: 300000
|
| 137 |
+
num_gpus: 2
|
| 138 |
+
save_steps: 20000
|
| 139 |
+
run_name: None
|
| 140 |
+
save_total_limit: 100
|
| 141 |
+
seed: 42
|
| 142 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 143 |
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tune_llm: False
|
| 144 |
+
tune_visual: False
|
| 145 |
+
tune_projector: True
|
| 146 |
+
tune_diffusion_model: True
|
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+
resume: False
|
| 148 |
+
learning_rate: 3e-05
|
| 149 |
+
weight_decay: 1e-05
|
| 150 |
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warmup_ratio: 0.05
|
| 151 |
+
lora_rank: 0
|
| 152 |
+
lora_alpha: 16
|
| 153 |
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lora_dropout: 0.1
|
| 154 |
+
lora_full_model: False
|
| 155 |
+
dataloader_num_workers: 8
|
| 156 |
+
report_to: wandb
|
| 157 |
+
embodiment_tag: new_embodiment
|
| 158 |
+
video_backend: opencv
|
| 159 |
+
balance_dataset_weights: True
|
| 160 |
+
balance_trajectory_weights: True
|
| 161 |
+
ds_weights_alpha: 0.4
|
| 162 |
+
==================================================
|
| 163 |
+
|
| 164 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
|
| 168 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
|
| 170 |
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 171 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 172 |
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 173 |
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Using 100 subset demos for filter_key: 100_demos
|
| 174 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 175 |
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Using 100 subset demos for filter_key: 100_demos
|
| 176 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 177 |
+
dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
|
| 178 |
+
0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
|
| 179 |
+
0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
|
| 180 |
+
0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
|
| 181 |
+
0.75517122 0.7973985 ]
|
| 182 |
+
Loaded 26 datasets
|
| 183 |
+
Using 2 GPUs
|
| 184 |
+
Loading pretrained dual brain from /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 185 |
+
Tune backbone vision tower: False
|
| 186 |
+
Tune backbone LLM: False
|
| 187 |
+
Tune action head projector: False
|
| 188 |
+
Tune action head DiT: False
|
| 189 |
+
Model not found or avail in the huggingface hub. Loading from local path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 190 |
+
|
| 191 |
+
================================================================================
|
| 192 |
+
Starting sweep branch: default
|
| 193 |
+
Sweep vars: {}
|
| 194 |
+
================================================================================
|
| 195 |
+
|
| 196 |
+
--------------------------------------------------------------------------------
|
| 197 |
+
Running phase 1: phase2_rkd_da_only
|
| 198 |
+
Policy type: groot_rkd_v2
|
| 199 |
+
Base model path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 200 |
+
Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2
|
| 201 |
+
Trainable preset: processing_line_only
|
| 202 |
+
Policy overrides: {'rkd_enabled': True, 'rkd_fm_loss_weight': 0.0, 'rkd_loss_weight': 1.0, 'rkd_relation_mode': 'flatten', 'rkd_loss_type': 'distance_angle', 'rkd_teacher_source': 'action_encoder', 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True}
|
| 203 |
+
--------------------------------------------------------------------------------
|
| 204 |
+
|
| 205 |
+
[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
|
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+
self.statistics[key] = torch.tensor(value)
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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+
Using 100 subset demos for filter_key: 100_demos
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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+
Using 100 subset demos for filter_key: 100_demos
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
|
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 245 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 246 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 247 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 248 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 249 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 250 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 251 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 252 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 253 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 254 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 255 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 256 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 257 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 258 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 259 |
+
dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
|
| 260 |
+
0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
|
| 261 |
+
0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
|
| 262 |
+
0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
|
| 263 |
+
0.75517122 0.7973985 ]
|
| 264 |
+
Loaded 26 datasets
|
| 265 |
+
Loading pretrained dual brain from /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 266 |
+
Tune backbone vision tower: False
|
| 267 |
+
Tune backbone LLM: False
|
| 268 |
+
Tune action head projector: False
|
| 269 |
+
Tune action head DiT: False
|
| 270 |
+
Model not found or avail in the huggingface hub. Loading from local path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 271 |
+
Tune backbone llm: False
|
| 272 |
+
Tune backbone visual: True
|
| 273 |
+
Total number of DiT parameters: 550386688
|
| 274 |
+
Tune backbone llm: False
|
| 275 |
+
Tune backbone visual: True
|
| 276 |
+
Total number of DiT parameters: 550386688
|
| 277 |
+
Total number of SelfAttentionTransformer parameters: 201433088
|
| 278 |
+
Tune action head projector: True
|
| 279 |
+
Tune action head diffusion model: True
|
| 280 |
+
|
| 281 |
+
Tune backbone llm: False
|
| 282 |
+
Tune backbone visual: False
|
| 283 |
+
Warning: No backbone trainable parameters found.
|
| 284 |
+
Tune action head projector: False
|
| 285 |
+
Tune action head diffusion model: False
|
| 286 |
+
Action head trainable parameter: future_tokens.weight
|
| 287 |
+
Action head trainable parameter: vlln.weight
|
| 288 |
+
Action head trainable parameter: vlln.bias
|
| 289 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.weight
|
| 290 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.bias
|
| 291 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 292 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 293 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 294 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 295 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 296 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 297 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 298 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 299 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.weight
|
| 300 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.bias
|
| 301 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 302 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 303 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 304 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 305 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.weight
|
| 306 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.bias
|
| 307 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 308 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 309 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 310 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 311 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 312 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 313 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 314 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 315 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.weight
|
| 316 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.bias
|
| 317 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 318 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 319 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 320 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 321 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.weight
|
| 322 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.bias
|
| 323 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 324 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 325 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 326 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 327 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 328 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 329 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 330 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 331 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.weight
|
| 332 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.bias
|
| 333 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 334 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 335 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 336 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 337 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.weight
|
| 338 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.bias
|
| 339 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 340 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 341 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 342 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 343 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 344 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 345 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 346 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 347 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.weight
|
| 348 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.bias
|
| 349 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 350 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 351 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 352 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 353 |
+
Applied trainable preset: processing_line_only
|
| 354 |
+
Trainable parameter tensors after preset: 66
|
| 355 |
+
trainable: action_head.vlln.weight
|
| 356 |
+
trainable: action_head.vlln.bias
|
| 357 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.weight
|
| 358 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.bias
|
| 359 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 360 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 361 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 362 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 363 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 364 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 365 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 366 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 367 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.weight
|
| 368 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.bias
|
| 369 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 370 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 371 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 372 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 373 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.weight
|
| 374 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.bias
|
| 375 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 376 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 377 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 378 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 379 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 380 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 381 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 382 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 383 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.weight
|
| 384 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.bias
|
| 385 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 386 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 387 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 388 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 389 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.weight
|
| 390 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.bias
|
| 391 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 392 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 393 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 394 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 395 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 396 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 397 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 398 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 399 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.weight
|
| 400 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.bias
|
| 401 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 402 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 403 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 404 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 405 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.weight
|
| 406 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.bias
|
| 407 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 408 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 409 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 410 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 411 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 412 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 413 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 414 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 415 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.weight
|
| 416 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.bias
|
| 417 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 418 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 419 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 420 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 421 |
+
Trainable summary: {'trainable_preset': 'processing_line_only', 'trainable_modules': 'backbone.eagle_linear(0), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088)', 'trainable_module_names': 'backbone.eagle_linear, action_head.vlln, action_head.vl_self_attention', 'trainable_module_param_counts': {'backbone.eagle_linear': 0, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088}, 'trainable_param_count': 201437184, 'total_param_count': 2724163520, 'trainable_param_ratio': 0.0739446007998815}
|
| 422 |
+
Total number of SelfAttentionTransformer parameters: 201433088
|
| 423 |
+
Tune action head projector: True
|
| 424 |
+
Tune action head diffusion model: True
|
| 425 |
+
|
| 426 |
+
Tune backbone llm: False
|
| 427 |
+
Tune backbone visual: False
|
| 428 |
+
Warning: No backbone trainable parameters found.
|
| 429 |
+
Tune action head projector: False
|
| 430 |
+
Tune action head diffusion model: False
|
| 431 |
+
Action head trainable parameter: future_tokens.weight
|
| 432 |
+
Action head trainable parameter: vlln.weight
|
| 433 |
+
Action head trainable parameter: vlln.bias
|
| 434 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.weight
|
| 435 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.bias
|
| 436 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 437 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 438 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 439 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 440 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 441 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 442 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 443 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 444 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.weight
|
| 445 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.bias
|
| 446 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 447 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 448 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 449 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 450 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.weight
|
| 451 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.bias
|
| 452 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 453 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 454 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 455 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 456 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 457 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 458 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 459 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 460 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.weight
|
| 461 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.bias
|
| 462 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 463 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 464 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 465 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 466 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.weight
|
| 467 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.bias
|
| 468 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 469 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 470 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 471 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 472 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 473 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 474 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 475 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 476 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.weight
|
| 477 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.bias
|
| 478 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 479 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 480 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 481 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 482 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.weight
|
| 483 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.bias
|
| 484 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 485 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 486 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 487 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 488 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 489 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 490 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 491 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 492 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.weight
|
| 493 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.bias
|
| 494 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 495 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 496 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 497 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 498 |
+
Applied trainable preset: processing_line_only
|
| 499 |
+
Trainable parameter tensors after preset: 66
|
| 500 |
+
trainable: action_head.vlln.weight
|
| 501 |
+
trainable: action_head.vlln.bias
|
| 502 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.weight
|
| 503 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.bias
|
| 504 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 505 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 506 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 507 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 508 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 509 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 510 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 511 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 512 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.weight
|
| 513 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.bias
|
| 514 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 515 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 516 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 517 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 518 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.weight
|
| 519 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.bias
|
| 520 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 521 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 522 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 523 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 524 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 525 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 526 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 527 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 528 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.weight
|
| 529 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.bias
|
| 530 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 531 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 532 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 533 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 534 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.weight
|
| 535 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.bias
|
| 536 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 537 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 538 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 539 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 540 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 541 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 542 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 543 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 544 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.weight
|
| 545 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.bias
|
| 546 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 547 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 548 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 549 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 550 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.weight
|
| 551 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.bias
|
| 552 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 553 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 554 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 555 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 556 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 557 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 558 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 559 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 560 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.weight
|
| 561 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.bias
|
| 562 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 563 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 564 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 565 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 566 |
+
Trainable summary: {'trainable_preset': 'processing_line_only', 'trainable_modules': 'backbone.eagle_linear(0), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088)', 'trainable_module_names': 'backbone.eagle_linear, action_head.vlln, action_head.vl_self_attention', 'trainable_module_param_counts': {'backbone.eagle_linear': 0, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088}, 'trainable_param_count': 201437184, 'total_param_count': 2724163520, 'trainable_param_ratio': 0.0739446007998815}
|
| 567 |
+
Run name: rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2
|
| 568 |
+
Run name: rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2
|
| 569 |
+
train dataloader length: 3437
|
| 570 |
+
train dataset length: 439854
|
| 571 |
+
GPU memory before training: 7.076685905456543 GB
|
| 572 |
+
TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2/runs
|
| 573 |
+
train dataloader length: 3437
|
| 574 |
+
train dataset length: 439854
|
| 575 |
+
GPU memory before training: 7.076685905456543 GB
|
| 576 |
+
TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2/runs
|
| 577 |
+
wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from /home/ext_minje/.netrc.
|
| 578 |
+
wandb: Currently logged in as: minje227_hyu (minje227_hyu-hanyang-university) to https://api.wandb.ai. Use `wandb login --relogin` to force relogin
|
| 579 |
+
wandb: setting up run voonzmye
|
| 580 |
+
wandb: Tracking run with wandb version 0.25.0
|
| 581 |
+
wandb: Run data is saved locally in /home/ext_minje/clvla/benchmarks/robocasa_v2/wandb/run-20260622_123820-voonzmye
|
| 582 |
+
wandb: Run `wandb offline` to turn off syncing.
|
| 583 |
+
wandb: Syncing run rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2
|
| 584 |
+
wandb: ⭐️ View project at https://wandb.ai/minje227_hyu-hanyang-university/robocasa_rkd_v2_2
|
| 585 |
+
wandb: 🚀 View run at https://wandb.ai/minje227_hyu-hanyang-university/robocasa_rkd_v2_2/runs/voonzmye
|
| 586 |
+
|
| 587 |
0%| | 0/30000 [00:00<?, ?it/s][rank1]: Traceback (most recent call last):
|
| 588 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1039, in <module>
|
| 589 |
+
[rank1]: run_yaml_experiment(
|
| 590 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 988, in run_yaml_experiment
|
| 591 |
+
[rank1]: main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 592 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 718, in main
|
| 593 |
+
[rank1]: experiment.train()
|
| 594 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 595 |
+
[rank1]: self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 596 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 597 |
+
[rank1]: return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 598 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 599 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 600 |
+
[rank1]: return inner_training_loop(
|
| 601 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^
|
| 602 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 603 |
+
[rank1]: tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 604 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 605 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3736, in training_step
|
| 606 |
+
[rank1]: loss = self.compute_loss(model, inputs, num_items_in_batch=num_items_in_batch)
|
| 607 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 608 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 77, in compute_loss
|
| 609 |
+
[rank1]: outputs = model(inputs)
|
| 610 |
+
[rank1]: ^^^^^^^^^^^^^
|
| 611 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 612 |
+
[rank1]: return self._call_impl(*args, **kwargs)
|
| 613 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 614 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 615 |
+
[rank1]: return forward_call(*args, **kwargs)
|
| 616 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 617 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1637, in forward
|
| 618 |
+
[rank1]: else self._run_ddp_forward(*inputs, **kwargs)
|
| 619 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 620 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1464, in _run_ddp_forward
|
| 621 |
+
[rank1]: return self.module(*inputs, **kwargs) # type: ignore[index]
|
| 622 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 623 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 624 |
+
[rank1]: return self._call_impl(*args, **kwargs)
|
| 625 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 626 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 627 |
+
[rank1]: return forward_call(*args, **kwargs)
|
| 628 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 629 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 823, in forward
|
| 630 |
+
[rank1]: return model_forward(*args, **kwargs)
|
| 631 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 632 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 811, in __call__
|
| 633 |
+
[rank1]: return convert_to_fp32(self.model_forward(*args, **kwargs))
|
| 634 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 635 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/amp/autocast_mode.py", line 44, in decorate_autocast
|
| 636 |
+
[rank1]: return func(*args, **kwargs)
|
| 637 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^
|
| 638 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 509, in forward
|
| 639 |
+
[rank1]: self._add_rkd_loss(action_head_outputs, backbone_outputs, action_inputs)
|
| 640 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 450, in _add_rkd_loss
|
| 641 |
+
[rank1]: rkd_loss, rkd_metrics = self._compute_rkd_loss(
|
| 642 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^
|
| 643 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 361, in _compute_rkd_loss
|
| 644 |
+
[rank1]: angle_loss = rkd_angle_loss(student_vector, teacher_vector)
|
| 645 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 646 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 167, in rkd_angle_loss
|
| 647 |
+
[rank1]: student_angle = _angle_relation(student, eps=eps)
|
| 648 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 649 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 184, in _angle_relation
|
| 650 |
+
[rank1]: diff = x[:, None, :] - x[None, :, :]
|
| 651 |
+
[rank1]: ~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
|
| 652 |
+
[rank1]: torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 104.38 GiB. GPU 1 has a total capacity of 139.80 GiB of which 77.70 GiB is free. Process 1961377 has 11.53 GiB memory in use. Including non-PyTorch memory, this process has 35.94 GiB memory in use. Of the allocated memory 34.24 GiB is allocated by PyTorch, and 225.09 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 653 |
+
wandb: updating run metadata
|
| 654 |
+
wandb: uploading wandb-summary.json; uploading config.yaml
|
| 655 |
+
wandb: 🚀 View run rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2 at: https://wandb.ai/minje227_hyu-hanyang-university/robocasa_rkd_v2_2/runs/voonzmye
|
| 656 |
+
wandb: ⭐️ View project at: https://wandb.ai/minje227_hyu-hanyang-university/robocasa_rkd_v2_2
|
| 657 |
+
wandb: Synced 5 W&B file(s), 0 media file(s), 0 artifact file(s) and 0 other file(s)
|
| 658 |
+
wandb: Find logs at: ./wandb/run-20260622_123820-voonzmye/logs
|
| 659 |
+
Traceback (most recent call last):
|
| 660 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1039, in <module>
|
| 661 |
+
run_yaml_experiment(
|
| 662 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 988, in run_yaml_experiment
|
| 663 |
+
main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 664 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 718, in main
|
| 665 |
+
experiment.train()
|
| 666 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 667 |
+
self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 668 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 669 |
+
return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 670 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 671 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 672 |
+
return inner_training_loop(
|
| 673 |
+
^^^^^^^^^^^^^^^^^^^^
|
| 674 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 675 |
+
tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 676 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 677 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3736, in training_step
|
| 678 |
+
loss = self.compute_loss(model, inputs, num_items_in_batch=num_items_in_batch)
|
| 679 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 680 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 77, in compute_loss
|
| 681 |
+
outputs = model(inputs)
|
| 682 |
+
^^^^^^^^^^^^^
|
| 683 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 684 |
+
return self._call_impl(*args, **kwargs)
|
| 685 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 686 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 687 |
+
return forward_call(*args, **kwargs)
|
| 688 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 689 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1637, in forward
|
| 690 |
+
else self._run_ddp_forward(*inputs, **kwargs)
|
| 691 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 692 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1464, in _run_ddp_forward
|
| 693 |
+
return self.module(*inputs, **kwargs) # type: ignore[index]
|
| 694 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 695 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 696 |
+
return self._call_impl(*args, **kwargs)
|
| 697 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 698 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 699 |
+
return forward_call(*args, **kwargs)
|
| 700 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 701 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 823, in forward
|
| 702 |
+
return model_forward(*args, **kwargs)
|
| 703 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 704 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 811, in __call__
|
| 705 |
+
return convert_to_fp32(self.model_forward(*args, **kwargs))
|
| 706 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 707 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/amp/autocast_mode.py", line 44, in decorate_autocast
|
| 708 |
+
return func(*args, **kwargs)
|
| 709 |
+
^^^^^^^^^^^^^^^^^^^^^
|
| 710 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 509, in forward
|
| 711 |
+
self._add_rkd_loss(action_head_outputs, backbone_outputs, action_inputs)
|
| 712 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 450, in _add_rkd_loss
|
| 713 |
+
rkd_loss, rkd_metrics = self._compute_rkd_loss(
|
| 714 |
+
^^^^^^^^^^^^^^^^^^^^^^^
|
| 715 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 361, in _compute_rkd_loss
|
| 716 |
+
angle_loss = rkd_angle_loss(student_vector, teacher_vector)
|
| 717 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 718 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 167, in rkd_angle_loss
|
| 719 |
+
student_angle = _angle_relation(student, eps=eps)
|
| 720 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 721 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 184, in _angle_relation
|
| 722 |
+
diff = x[:, None, :] - x[None, :, :]
|
| 723 |
+
~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
|
| 724 |
+
torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 104.38 GiB. GPU 0 has a total capacity of 139.80 GiB of which 103.87 GiB is free. Including non-PyTorch memory, this process has 35.91 GiB memory in use. Of the allocated memory 34.24 GiB is allocated by PyTorch, and 196.48 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 725 |
+
[rank0]: Traceback (most recent call last):
|
| 726 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1039, in <module>
|
| 727 |
+
[rank0]: run_yaml_experiment(
|
| 728 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 988, in run_yaml_experiment
|
| 729 |
+
[rank0]: main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 730 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 718, in main
|
| 731 |
+
[rank0]: experiment.train()
|
| 732 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 733 |
+
[rank0]: self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 734 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 735 |
+
[rank0]: return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 736 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 737 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 738 |
+
[rank0]: return inner_training_loop(
|
| 739 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^
|
| 740 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 741 |
+
[rank0]: tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 742 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 743 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3736, in training_step
|
| 744 |
+
[rank0]: loss = self.compute_loss(model, inputs, num_items_in_batch=num_items_in_batch)
|
| 745 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 746 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 77, in compute_loss
|
| 747 |
+
[rank0]: outputs = model(inputs)
|
| 748 |
+
[rank0]: ^^^^^^^^^^^^^
|
| 749 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 750 |
+
[rank0]: return self._call_impl(*args, **kwargs)
|
| 751 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 752 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 753 |
+
[rank0]: return forward_call(*args, **kwargs)
|
| 754 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 755 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1637, in forward
|
| 756 |
+
[rank0]: else self._run_ddp_forward(*inputs, **kwargs)
|
| 757 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 758 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1464, in _run_ddp_forward
|
| 759 |
+
[rank0]: return self.module(*inputs, **kwargs) # type: ignore[index]
|
| 760 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 761 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 762 |
+
[rank0]: return self._call_impl(*args, **kwargs)
|
| 763 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 764 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 765 |
+
[rank0]: return forward_call(*args, **kwargs)
|
| 766 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 767 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 823, in forward
|
| 768 |
+
[rank0]: return model_forward(*args, **kwargs)
|
| 769 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 770 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 811, in __call__
|
| 771 |
+
[rank0]: return convert_to_fp32(self.model_forward(*args, **kwargs))
|
| 772 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 773 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/amp/autocast_mode.py", line 44, in decorate_autocast
|
| 774 |
+
[rank0]: return func(*args, **kwargs)
|
| 775 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^
|
| 776 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 509, in forward
|
| 777 |
+
[rank0]: self._add_rkd_loss(action_head_outputs, backbone_outputs, action_inputs)
|
| 778 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 450, in _add_rkd_loss
|
| 779 |
+
[rank0]: rkd_loss, rkd_metrics = self._compute_rkd_loss(
|
| 780 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^
|
| 781 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 361, in _compute_rkd_loss
|
| 782 |
+
[rank0]: angle_loss = rkd_angle_loss(student_vector, teacher_vector)
|
| 783 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 784 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 167, in rkd_angle_loss
|
| 785 |
+
[rank0]: student_angle = _angle_relation(student, eps=eps)
|
| 786 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 787 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 184, in _angle_relation
|
| 788 |
+
[rank0]: diff = x[:, None, :] - x[None, :, :]
|
| 789 |
+
[rank0]: ~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
|
| 790 |
+
[rank0]: torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 104.38 GiB. GPU 0 has a total capacity of 139.80 GiB of which 103.87 GiB is free. Including non-PyTorch memory, this process has 35.91 GiB memory in use. Of the allocated memory 34.24 GiB is allocated by PyTorch, and 196.48 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 791 |
+
W0622 12:38:35.764000 2325119 site-packages/torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2325210 closing signal SIGTERM
|
| 792 |
+
E0622 12:38:36.279000 2325119 site-packages/torch/distributed/elastic/multiprocessing/api.py:874] failed (exitcode: 1) local_rank: 1 (pid: 2325211) of binary: /home/ext_minje/miniforge3/envs/robocasa/bin/python
|
| 793 |
+
Traceback (most recent call last):
|
| 794 |
+
File "<frozen runpy>", line 198, in _run_module_as_main
|
| 795 |
+
File "<frozen runpy>", line 88, in _run_code
|
| 796 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 896, in <module>
|
| 797 |
+
main()
|
| 798 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/elastic/multiprocessing/errors/__init__.py", line 355, in wrapper
|
| 799 |
+
return f(*args, **kwargs)
|
| 800 |
+
^^^^^^^^^^^^^^^^^^
|
| 801 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 892, in main
|
| 802 |
+
run(args)
|
| 803 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 883, in run
|
| 804 |
+
elastic_launch(
|
| 805 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/launcher/api.py", line 139, in __call__
|
| 806 |
+
return launch_agent(self._config, self._entrypoint, list(args))
|
| 807 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 808 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/launcher/api.py", line 270, in launch_agent
|
| 809 |
+
raise ChildFailedError(
|
| 810 |
+
torch.distributed.elastic.multiprocessing.errors.ChildFailedError:
|
| 811 |
+
============================================================
|
| 812 |
+
/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py FAILED
|
| 813 |
+
------------------------------------------------------------
|
| 814 |
+
Failures:
|
| 815 |
+
<NO_OTHER_FAILURES>
|
| 816 |
+
------------------------------------------------------------
|
| 817 |
+
Root Cause (first observed failure):
|
| 818 |
+
[0]:
|
| 819 |
+
time : 2026-06-22_12:38:35
|
| 820 |
+
host : DGX-H200-01
|
| 821 |
+
rank : 1 (local_rank: 1)
|
| 822 |
+
exitcode : 1 (pid: 2325211)
|
| 823 |
+
error_file: <N/A>
|
| 824 |
+
traceback : To enable traceback see: https://pytorch.org/docs/stable/elastic/errors.html
|
| 825 |
+
============================================================
|
| 826 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 827 |
+
|
| 828 |
+
==================================================
|
| 829 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 830 |
+
==================================================
|
| 831 |
+
config: experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml
|
| 832 |
+
dataset_soup: None
|
| 833 |
+
output_dir: /tmp/gr00t
|
| 834 |
+
output_root: None
|
| 835 |
+
data_config: panda_omron
|
| 836 |
+
batch_size: 64
|
| 837 |
+
max_steps: 300000
|
| 838 |
+
num_gpus: 2
|
| 839 |
+
save_steps: 20000
|
| 840 |
+
run_name: None
|
| 841 |
+
save_total_limit: 100
|
| 842 |
+
seed: 42
|
| 843 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 844 |
+
tune_llm: False
|
| 845 |
+
tune_visual: False
|
| 846 |
+
tune_projector: True
|
| 847 |
+
tune_diffusion_model: True
|
| 848 |
+
resume: False
|
| 849 |
+
learning_rate: 3e-05
|
| 850 |
+
weight_decay: 1e-05
|
| 851 |
+
warmup_ratio: 0.05
|
| 852 |
+
lora_rank: 0
|
| 853 |
+
lora_alpha: 16
|
| 854 |
+
lora_dropout: 0.1
|
| 855 |
+
lora_full_model: False
|
| 856 |
+
dataloader_num_workers: 8
|
| 857 |
+
report_to: wandb
|
| 858 |
+
embodiment_tag: new_embodiment
|
| 859 |
+
video_backend: opencv
|
| 860 |
+
balance_dataset_weights: True
|
| 861 |
+
balance_trajectory_weights: True
|
| 862 |
+
ds_weights_alpha: 0.4
|
| 863 |
+
==================================================
|
| 864 |
+
|
| 865 |
+
Using 2 GPUs
|
| 866 |
+
Running torchrun command: ['/home/ext_minje/miniforge3/envs/robocasa/bin/python', '-m', 'torch.distributed.run', '--standalone', '--nproc_per_node=2', '--nnodes=1', '/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py', '--config', 'experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml', '--batch-size', '64', '--num-gpus', '2']
|
rkd_v2_2/launch_logs/action_encoder_gpu4.pid
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
2196189
|
rkd_v2_2/launch_logs/action_encoder_gpu4_bs128_20260622_123336.log
ADDED
|
@@ -0,0 +1,351 @@
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| 0 |
0%| | 0/30000 [00:00<?, ?it/s]wandb: updating run metadata
|
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|
|
| 1 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 2 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 3 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 4 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 5 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 6 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 7 |
+
check_for_updates()
|
| 8 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 9 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 10 |
+
|
| 11 |
+
==================================================
|
| 12 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 13 |
+
==================================================
|
| 14 |
+
config: experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml
|
| 15 |
+
dataset_soup: None
|
| 16 |
+
output_dir: /tmp/gr00t
|
| 17 |
+
output_root: None
|
| 18 |
+
data_config: panda_omron
|
| 19 |
+
batch_size: 128
|
| 20 |
+
max_steps: 300000
|
| 21 |
+
num_gpus: 1
|
| 22 |
+
save_steps: 20000
|
| 23 |
+
run_name: None
|
| 24 |
+
save_total_limit: 100
|
| 25 |
+
seed: 42
|
| 26 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 27 |
+
tune_llm: False
|
| 28 |
+
tune_visual: False
|
| 29 |
+
tune_projector: True
|
| 30 |
+
tune_diffusion_model: True
|
| 31 |
+
resume: False
|
| 32 |
+
learning_rate: 3e-05
|
| 33 |
+
weight_decay: 1e-05
|
| 34 |
+
warmup_ratio: 0.05
|
| 35 |
+
lora_rank: 0
|
| 36 |
+
lora_alpha: 16
|
| 37 |
+
lora_dropout: 0.1
|
| 38 |
+
lora_full_model: False
|
| 39 |
+
dataloader_num_workers: 8
|
| 40 |
+
report_to: wandb
|
| 41 |
+
embodiment_tag: new_embodiment
|
| 42 |
+
video_backend: opencv
|
| 43 |
+
balance_dataset_weights: True
|
| 44 |
+
balance_trajectory_weights: True
|
| 45 |
+
ds_weights_alpha: 0.4
|
| 46 |
+
==================================================
|
| 47 |
+
|
| 48 |
+
Using 1 GPUs
|
| 49 |
+
|
| 50 |
+
================================================================================
|
| 51 |
+
Starting sweep branch: default
|
| 52 |
+
Sweep vars: {}
|
| 53 |
+
================================================================================
|
| 54 |
+
|
| 55 |
+
--------------------------------------------------------------------------------
|
| 56 |
+
Running phase 1: phase2_rkd_da_only
|
| 57 |
+
Policy type: groot_rkd_v2
|
| 58 |
+
Base model path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 59 |
+
Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2
|
| 60 |
+
Trainable preset: processing_line_only
|
| 61 |
+
Policy overrides: {'rkd_enabled': True, 'rkd_fm_loss_weight': 0.0, 'rkd_loss_weight': 1.0, 'rkd_relation_mode': 'flatten', 'rkd_loss_type': 'distance_angle', 'rkd_teacher_source': 'action_encoder', 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True}
|
| 62 |
+
--------------------------------------------------------------------------------
|
| 63 |
+
|
| 64 |
+
[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
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self.statistics[key] = torch.tensor(value)
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+
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+
Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
|
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
|
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
|
| 115 |
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
|
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
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0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
|
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0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
|
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0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
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| 122 |
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0.75517122 0.7973985 ]
|
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Loaded 26 datasets
|
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Loading pretrained dual brain from /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
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Tune backbone vision tower: False
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Tune backbone LLM: False
|
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Tune action head projector: False
|
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Tune action head DiT: False
|
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Model not found or avail in the huggingface hub. Loading from local path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
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Tune backbone llm: False
|
| 131 |
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Tune backbone visual: True
|
| 132 |
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Total number of DiT parameters: 550386688
|
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Total number of SelfAttentionTransformer parameters: 201433088
|
| 134 |
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Tune action head projector: True
|
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Tune action head diffusion model: True
|
| 136 |
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|
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Tune backbone llm: False
|
| 138 |
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Tune backbone visual: False
|
| 139 |
+
Warning: No backbone trainable parameters found.
|
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Tune action head projector: False
|
| 141 |
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Tune action head diffusion model: False
|
| 142 |
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Action head trainable parameter: future_tokens.weight
|
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Action head trainable parameter: vlln.weight
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Action head trainable parameter: vlln.bias
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.weight
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.bias
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.bias
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.weight
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.bias
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Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.bias
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
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Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 209 |
+
Applied trainable preset: processing_line_only
|
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+
Trainable parameter tensors after preset: 66
|
| 211 |
+
trainable: action_head.vlln.weight
|
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+
trainable: action_head.vlln.bias
|
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trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.weight
|
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trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.bias
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
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trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
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trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
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trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
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trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
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trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
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trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.weight
|
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trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.bias
|
| 225 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 226 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 227 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 228 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 229 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.weight
|
| 230 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.bias
|
| 231 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 232 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 233 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 234 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 235 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 236 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 237 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 238 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 239 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.weight
|
| 240 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.bias
|
| 241 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 242 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 243 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 244 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 245 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.weight
|
| 246 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.bias
|
| 247 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 248 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 249 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 250 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 251 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 252 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 253 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 254 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 255 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.weight
|
| 256 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.bias
|
| 257 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 258 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 259 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 260 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 261 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.weight
|
| 262 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.bias
|
| 263 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 264 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 265 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 266 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 267 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 268 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 269 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 270 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 271 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.weight
|
| 272 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.bias
|
| 273 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 274 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 275 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 276 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 277 |
+
Trainable summary: {'trainable_preset': 'processing_line_only', 'trainable_modules': 'backbone.eagle_linear(0), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088)', 'trainable_module_names': 'backbone.eagle_linear, action_head.vlln, action_head.vl_self_attention', 'trainable_module_param_counts': {'backbone.eagle_linear': 0, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088}, 'trainable_param_count': 201437184, 'total_param_count': 2724163520, 'trainable_param_ratio': 0.0739446007998815}
|
| 278 |
+
Run name: rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2
|
| 279 |
+
train dataloader length: 3437
|
| 280 |
+
train dataset length: 439854
|
| 281 |
+
GPU memory before training: 7.076685905456543 GB
|
| 282 |
+
wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from /home/ext_minje/.netrc.
|
| 283 |
+
wandb: Currently logged in as: minje227_hyu (minje227_hyu-hanyang-university) to https://api.wandb.ai. Use `wandb login --relogin` to force relogin
|
| 284 |
+
wandb: setting up run q8utcfl2
|
| 285 |
+
wandb: Tracking run with wandb version 0.25.0
|
| 286 |
+
wandb: Run data is saved locally in /home/ext_minje/clvla/benchmarks/robocasa_v2/wandb/run-20260622_123354-q8utcfl2
|
| 287 |
+
wandb: Run `wandb offline` to turn off syncing.
|
| 288 |
+
wandb: Syncing run rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2
|
| 289 |
+
wandb: ⭐️ View project at https://wandb.ai/minje227_hyu-hanyang-university/robocasa_rkd_v2_2
|
| 290 |
+
wandb: 🚀 View run at https://wandb.ai/minje227_hyu-hanyang-university/robocasa_rkd_v2_2/runs/q8utcfl2
|
| 291 |
+
TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2/runs
|
| 292 |
+
|
| 293 |
0%| | 0/30000 [00:00<?, ?it/s]wandb: updating run metadata
|
| 294 |
+
wandb: uploading config.yaml
|
| 295 |
+
wandb: 🚀 View run rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2 at: https://wandb.ai/minje227_hyu-hanyang-university/robocasa_rkd_v2_2/runs/q8utcfl2
|
| 296 |
+
wandb: ⭐️ View project at: https://wandb.ai/minje227_hyu-hanyang-university/robocasa_rkd_v2_2
|
| 297 |
+
wandb: Synced 5 W&B file(s), 0 media file(s), 0 artifact file(s) and 0 other file(s)
|
| 298 |
+
wandb: Find logs at: ./wandb/run-20260622_123354-q8utcfl2/logs
|
| 299 |
+
Traceback (most recent call last):
|
| 300 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1029, in <module>
|
| 301 |
+
run_yaml_experiment(
|
| 302 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 988, in run_yaml_experiment
|
| 303 |
+
main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 304 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 718, in main
|
| 305 |
+
experiment.train()
|
| 306 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 307 |
+
self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 308 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 309 |
+
return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 310 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 311 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 312 |
+
return inner_training_loop(
|
| 313 |
+
^^^^^^^^^^^^^^^^^^^^
|
| 314 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 315 |
+
tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 316 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 317 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3736, in training_step
|
| 318 |
+
loss = self.compute_loss(model, inputs, num_items_in_batch=num_items_in_batch)
|
| 319 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 320 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 77, in compute_loss
|
| 321 |
+
outputs = model(inputs)
|
| 322 |
+
^^^^^^^^^^^^^
|
| 323 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 324 |
+
return self._call_impl(*args, **kwargs)
|
| 325 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 326 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 327 |
+
return forward_call(*args, **kwargs)
|
| 328 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 329 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 823, in forward
|
| 330 |
+
return model_forward(*args, **kwargs)
|
| 331 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 332 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 811, in __call__
|
| 333 |
+
return convert_to_fp32(self.model_forward(*args, **kwargs))
|
| 334 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 335 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/amp/autocast_mode.py", line 44, in decorate_autocast
|
| 336 |
+
return func(*args, **kwargs)
|
| 337 |
+
^^^^^^^^^^^^^^^^^^^^^
|
| 338 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 509, in forward
|
| 339 |
+
self._add_rkd_loss(action_head_outputs, backbone_outputs, action_inputs)
|
| 340 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 450, in _add_rkd_loss
|
| 341 |
+
rkd_loss, rkd_metrics = self._compute_rkd_loss(
|
| 342 |
+
^^^^^^^^^^^^^^^^^^^^^^^
|
| 343 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 361, in _compute_rkd_loss
|
| 344 |
+
angle_loss = rkd_angle_loss(student_vector, teacher_vector)
|
| 345 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 346 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 167, in rkd_angle_loss
|
| 347 |
+
student_angle = _angle_relation(student, eps=eps)
|
| 348 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 349 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 184, in _angle_relation
|
| 350 |
+
diff = x[:, None, :] - x[None, :, :]
|
| 351 |
+
~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
|
| 352 |
+
torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 104.38 GiB. GPU 0 has a total capacity of 139.80 GiB of which 80.75 GiB is free. Including non-PyTorch memory, this process has 59.03 GiB memory in use. Of the allocated memory 57.80 GiB is allocated by PyTorch, and 573.87 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
rkd_v2_2/launch_logs/raw_action_gpu5.pid
ADDED
|
@@ -0,0 +1 @@
|
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|
| 1 |
+
2196191
|
rkd_v2_2/launch_logs/raw_action_gpu5_bs128_20260622_123336.log
ADDED
|
@@ -0,0 +1,351 @@
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0%| | 0/30000 [00:00<?, ?it/s]wandb: updating run metadata
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| 1 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
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| 2 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
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| 3 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 4 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 5 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 6 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 7 |
+
check_for_updates()
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| 8 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
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| 9 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
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| 10 |
+
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+
==================================================
|
| 12 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 13 |
+
==================================================
|
| 14 |
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config: experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_raw_action.yaml
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dataset_soup: None
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| 16 |
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output_dir: /tmp/gr00t
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| 17 |
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output_root: None
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| 18 |
+
data_config: panda_omron
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| 19 |
+
batch_size: 128
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| 20 |
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max_steps: 300000
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| 21 |
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num_gpus: 1
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| 22 |
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save_steps: 20000
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run_name: None
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| 24 |
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save_total_limit: 100
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| 25 |
+
seed: 42
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| 26 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 27 |
+
tune_llm: False
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| 28 |
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tune_visual: False
|
| 29 |
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tune_projector: True
|
| 30 |
+
tune_diffusion_model: True
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| 31 |
+
resume: False
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+
learning_rate: 3e-05
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| 33 |
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weight_decay: 1e-05
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| 34 |
+
warmup_ratio: 0.05
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| 35 |
+
lora_rank: 0
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| 36 |
+
lora_alpha: 16
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| 37 |
+
lora_dropout: 0.1
|
| 38 |
+
lora_full_model: False
|
| 39 |
+
dataloader_num_workers: 8
|
| 40 |
+
report_to: wandb
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| 41 |
+
embodiment_tag: new_embodiment
|
| 42 |
+
video_backend: opencv
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| 43 |
+
balance_dataset_weights: True
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| 44 |
+
balance_trajectory_weights: True
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| 45 |
+
ds_weights_alpha: 0.4
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| 46 |
+
==================================================
|
| 47 |
+
|
| 48 |
+
Using 1 GPUs
|
| 49 |
+
|
| 50 |
+
================================================================================
|
| 51 |
+
Starting sweep branch: default
|
| 52 |
+
Sweep vars: {}
|
| 53 |
+
================================================================================
|
| 54 |
+
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| 55 |
+
--------------------------------------------------------------------------------
|
| 56 |
+
Running phase 1: phase2_rkd_da_only
|
| 57 |
+
Policy type: groot_rkd_v2
|
| 58 |
+
Base model path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 59 |
+
Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/phase2
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| 60 |
+
Trainable preset: processing_line_only
|
| 61 |
+
Policy overrides: {'rkd_enabled': True, 'rkd_fm_loss_weight': 0.0, 'rkd_loss_weight': 1.0, 'rkd_relation_mode': 'flatten', 'rkd_loss_type': 'distance_angle', 'rkd_teacher_source': 'raw_action', 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True}
|
| 62 |
+
--------------------------------------------------------------------------------
|
| 63 |
+
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| 64 |
+
[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
|
| 65 |
+
self.statistics[key] = torch.tensor(value)
|
| 66 |
+
|
| 67 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 68 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 69 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 70 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 71 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 72 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 73 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 74 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 75 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 76 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 77 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 78 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 79 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 80 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 81 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 82 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 83 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 84 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 85 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 86 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 87 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 88 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 89 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 90 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 91 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 92 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 93 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 94 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 95 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 96 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 97 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 98 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 99 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 100 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 101 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 102 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 103 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 104 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 105 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 106 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 107 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 108 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 109 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 110 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 111 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 112 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 113 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 114 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 115 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 116 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 117 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 118 |
+
dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
|
| 119 |
+
0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
|
| 120 |
+
0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
|
| 121 |
+
0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
|
| 122 |
+
0.75517122 0.7973985 ]
|
| 123 |
+
Loaded 26 datasets
|
| 124 |
+
Loading pretrained dual brain from /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 125 |
+
Tune backbone vision tower: False
|
| 126 |
+
Tune backbone LLM: False
|
| 127 |
+
Tune action head projector: False
|
| 128 |
+
Tune action head DiT: False
|
| 129 |
+
Model not found or avail in the huggingface hub. Loading from local path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 130 |
+
Tune backbone llm: False
|
| 131 |
+
Tune backbone visual: True
|
| 132 |
+
Total number of DiT parameters: 550386688
|
| 133 |
+
Total number of SelfAttentionTransformer parameters: 201433088
|
| 134 |
+
Tune action head projector: True
|
| 135 |
+
Tune action head diffusion model: True
|
| 136 |
+
|
| 137 |
+
Tune backbone llm: False
|
| 138 |
+
Tune backbone visual: False
|
| 139 |
+
Warning: No backbone trainable parameters found.
|
| 140 |
+
Tune action head projector: False
|
| 141 |
+
Tune action head diffusion model: False
|
| 142 |
+
Action head trainable parameter: future_tokens.weight
|
| 143 |
+
Action head trainable parameter: vlln.weight
|
| 144 |
+
Action head trainable parameter: vlln.bias
|
| 145 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.weight
|
| 146 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.bias
|
| 147 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 148 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 149 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 150 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 151 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 152 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 153 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 154 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 155 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.weight
|
| 156 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.bias
|
| 157 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 158 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 159 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 160 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 161 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.weight
|
| 162 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.bias
|
| 163 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 164 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 165 |
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 166 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 167 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 168 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 169 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 170 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 171 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.weight
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| 172 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.bias
|
| 173 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 174 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 176 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.weight
|
| 178 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.bias
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| 179 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 180 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.bias
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 185 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 186 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 187 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.weight
|
| 188 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.bias
|
| 189 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 190 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 191 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 192 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 193 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.weight
|
| 194 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.bias
|
| 195 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 196 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 197 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 198 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 200 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 206 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 207 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 208 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 209 |
+
Applied trainable preset: processing_line_only
|
| 210 |
+
Trainable parameter tensors after preset: 66
|
| 211 |
+
trainable: action_head.vlln.weight
|
| 212 |
+
trainable: action_head.vlln.bias
|
| 213 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.weight
|
| 214 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.bias
|
| 215 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 218 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 222 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 223 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.weight
|
| 224 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.bias
|
| 225 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 226 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 227 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 228 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.weight
|
| 230 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.bias
|
| 231 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 233 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 235 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 239 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.weight
|
| 240 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.bias
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 242 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 243 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 245 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.weight
|
| 246 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.bias
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 249 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
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+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 251 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 252 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 253 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 254 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 255 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.weight
|
| 256 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.bias
|
| 257 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 258 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 259 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 260 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 261 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.weight
|
| 262 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.bias
|
| 263 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 264 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 265 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 266 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 267 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 268 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 269 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 270 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 271 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.weight
|
| 272 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.bias
|
| 273 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 274 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 275 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 276 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 277 |
+
Trainable summary: {'trainable_preset': 'processing_line_only', 'trainable_modules': 'backbone.eagle_linear(0), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088)', 'trainable_module_names': 'backbone.eagle_linear, action_head.vlln, action_head.vl_self_attention', 'trainable_module_param_counts': {'backbone.eagle_linear': 0, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088}, 'trainable_param_count': 201437184, 'total_param_count': 2724163520, 'trainable_param_ratio': 0.0739446007998815}
|
| 278 |
+
Run name: rkd_v2_2_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5_phase2
|
| 279 |
+
train dataloader length: 3437
|
| 280 |
+
train dataset length: 439854
|
| 281 |
+
GPU memory before training: 7.076685905456543 GB
|
| 282 |
+
wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from /home/ext_minje/.netrc.
|
| 283 |
+
wandb: Currently logged in as: minje227_hyu (minje227_hyu-hanyang-university) to https://api.wandb.ai. Use `wandb login --relogin` to force relogin
|
| 284 |
+
wandb: setting up run 27d83vgq
|
| 285 |
+
wandb: Tracking run with wandb version 0.25.0
|
| 286 |
+
wandb: Run data is saved locally in /home/ext_minje/clvla/benchmarks/robocasa_v2/wandb/run-20260622_123354-27d83vgq
|
| 287 |
+
wandb: Run `wandb offline` to turn off syncing.
|
| 288 |
+
wandb: Syncing run rkd_v2_2_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5_phase2
|
| 289 |
+
wandb: ⭐️ View project at https://wandb.ai/minje227_hyu-hanyang-university/robocasa_rkd_v2_2
|
| 290 |
+
wandb: 🚀 View run at https://wandb.ai/minje227_hyu-hanyang-university/robocasa_rkd_v2_2/runs/27d83vgq
|
| 291 |
+
TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/phase2/runs
|
| 292 |
+
|
| 293 |
0%| | 0/30000 [00:00<?, ?it/s]wandb: updating run metadata
|
| 294 |
+
wandb: uploading config.yaml
|
| 295 |
+
wandb: 🚀 View run rkd_v2_2_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5_phase2 at: https://wandb.ai/minje227_hyu-hanyang-university/robocasa_rkd_v2_2/runs/27d83vgq
|
| 296 |
+
wandb: ⭐️ View project at: https://wandb.ai/minje227_hyu-hanyang-university/robocasa_rkd_v2_2
|
| 297 |
+
wandb: Synced 5 W&B file(s), 0 media file(s), 0 artifact file(s) and 0 other file(s)
|
| 298 |
+
wandb: Find logs at: ./wandb/run-20260622_123354-27d83vgq/logs
|
| 299 |
+
Traceback (most recent call last):
|
| 300 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1029, in <module>
|
| 301 |
+
run_yaml_experiment(
|
| 302 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 988, in run_yaml_experiment
|
| 303 |
+
main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 304 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 718, in main
|
| 305 |
+
experiment.train()
|
| 306 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 307 |
+
self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 308 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 309 |
+
return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 310 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 311 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 312 |
+
return inner_training_loop(
|
| 313 |
+
^^^^^^^^^^^^^^^^^^^^
|
| 314 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 315 |
+
tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 316 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 317 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3736, in training_step
|
| 318 |
+
loss = self.compute_loss(model, inputs, num_items_in_batch=num_items_in_batch)
|
| 319 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 320 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 77, in compute_loss
|
| 321 |
+
outputs = model(inputs)
|
| 322 |
+
^^^^^^^^^^^^^
|
| 323 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 324 |
+
return self._call_impl(*args, **kwargs)
|
| 325 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 326 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 327 |
+
return forward_call(*args, **kwargs)
|
| 328 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 329 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 823, in forward
|
| 330 |
+
return model_forward(*args, **kwargs)
|
| 331 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 332 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 811, in __call__
|
| 333 |
+
return convert_to_fp32(self.model_forward(*args, **kwargs))
|
| 334 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 335 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/amp/autocast_mode.py", line 44, in decorate_autocast
|
| 336 |
+
return func(*args, **kwargs)
|
| 337 |
+
^^^^^^^^^^^^^^^^^^^^^
|
| 338 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 509, in forward
|
| 339 |
+
self._add_rkd_loss(action_head_outputs, backbone_outputs, action_inputs)
|
| 340 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 450, in _add_rkd_loss
|
| 341 |
+
rkd_loss, rkd_metrics = self._compute_rkd_loss(
|
| 342 |
+
^^^^^^^^^^^^^^^^^^^^^^^
|
| 343 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 361, in _compute_rkd_loss
|
| 344 |
+
angle_loss = rkd_angle_loss(student_vector, teacher_vector)
|
| 345 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 346 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 167, in rkd_angle_loss
|
| 347 |
+
student_angle = _angle_relation(student, eps=eps)
|
| 348 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 349 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 184, in _angle_relation
|
| 350 |
+
diff = x[:, None, :] - x[None, :, :]
|
| 351 |
+
~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
|
| 352 |
+
torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 104.38 GiB. GPU 0 has a total capacity of 139.80 GiB of which 57.77 GiB is free. Process 1961377 has 11.53 GiB memory in use. Including non-PyTorch memory, this process has 58.72 GiB memory in use. Of the allocated memory 57.77 GiB is allocated by PyTorch, and 280.87 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
rkd_v2_2/logs/rkd_v2_2_flatten_action_encoder_gpu45_bs32_20260622_131131.log
ADDED
|
@@ -0,0 +1,764 @@
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| 0 |
0%| | 0/30000 [00:00<?, ?it/s]wandb: updating run metadata
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| 1 |
+
CMD: CUDA_VISIBLE_DEVICES=4,5 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True /home/ext_minje/miniforge3/envs/robocasa/bin/python /home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py --config /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml --num-gpus 2 --batch-size 32
|
| 2 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 3 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 4 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 5 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 6 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 7 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 8 |
+
check_for_updates()
|
| 9 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 10 |
+
|
| 11 |
+
*****************************************
|
| 12 |
+
Setting OMP_NUM_THREADS environment variable for each process to be 1 in default, to avoid your system being overloaded, please further tune the variable for optimal performance in your application as needed.
|
| 13 |
+
*****************************************
|
| 14 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 15 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 16 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 17 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 18 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 19 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 20 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 21 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 22 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 23 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 24 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 25 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 26 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 27 |
+
check_for_updates()
|
| 28 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 29 |
+
check_for_updates()
|
| 30 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 31 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 32 |
+
|
| 33 |
+
==================================================
|
| 34 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 35 |
+
==================================================
|
| 36 |
+
config: /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml
|
| 37 |
+
dataset_soup: None
|
| 38 |
+
output_dir: /tmp/gr00t
|
| 39 |
+
output_root: None
|
| 40 |
+
data_config: panda_omron
|
| 41 |
+
batch_size: 32
|
| 42 |
+
max_steps: 300000
|
| 43 |
+
num_gpus: 2
|
| 44 |
+
save_steps: 20000
|
| 45 |
+
run_name: None
|
| 46 |
+
save_total_limit: 100
|
| 47 |
+
seed: 42
|
| 48 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 49 |
+
tune_llm: False
|
| 50 |
+
tune_visual: False
|
| 51 |
+
tune_projector: True
|
| 52 |
+
tune_diffusion_model: True
|
| 53 |
+
resume: False
|
| 54 |
+
learning_rate: 3e-05
|
| 55 |
+
weight_decay: 1e-05
|
| 56 |
+
warmup_ratio: 0.05
|
| 57 |
+
lora_rank: 0
|
| 58 |
+
lora_alpha: 16
|
| 59 |
+
lora_dropout: 0.1
|
| 60 |
+
lora_full_model: False
|
| 61 |
+
dataloader_num_workers: 8
|
| 62 |
+
report_to: wandb
|
| 63 |
+
embodiment_tag: new_embodiment
|
| 64 |
+
video_backend: opencv
|
| 65 |
+
balance_dataset_weights: True
|
| 66 |
+
balance_trajectory_weights: True
|
| 67 |
+
ds_weights_alpha: 0.4
|
| 68 |
+
==================================================
|
| 69 |
+
|
| 70 |
+
Using 2 GPUs
|
| 71 |
+
|
| 72 |
+
================================================================================
|
| 73 |
+
Starting sweep branch: default
|
| 74 |
+
Sweep vars: {}
|
| 75 |
+
================================================================================
|
| 76 |
+
|
| 77 |
+
--------------------------------------------------------------------------------
|
| 78 |
+
Running phase 1: phase2_rkd_da_only
|
| 79 |
+
Policy type: groot_rkd_v2
|
| 80 |
+
Base model path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 81 |
+
Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2
|
| 82 |
+
Trainable preset: processing_line_only
|
| 83 |
+
Policy overrides: {'rkd_enabled': True, 'rkd_fm_loss_weight': 0.0, 'rkd_loss_weight': 1.0, 'rkd_relation_mode': 'flatten', 'rkd_loss_type': 'distance_angle', 'rkd_teacher_source': 'action_encoder', 'rkd_action_encoder_projector_enabled': True, 'rkd_action_encoder_projector_dim': 512, 'rkd_action_encoder_projector_pooling': 'flatten', 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True}
|
| 84 |
+
--------------------------------------------------------------------------------
|
| 85 |
+
|
| 86 |
+
[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]
|
| 87 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 88 |
+
/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
|
| 89 |
+
self.statistics[key] = torch.tensor(value)
|
| 90 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 91 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 92 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 93 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 94 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 95 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 96 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 97 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 98 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 99 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 100 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 101 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 102 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 103 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 104 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 105 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 106 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 107 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 108 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 109 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 110 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 111 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 112 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 113 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 114 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 115 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 116 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 117 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 118 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 119 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 120 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 121 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 122 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 123 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 124 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 125 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 126 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 127 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 128 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 129 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 130 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 131 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 132 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 133 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 134 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 135 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 136 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 137 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 138 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 139 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 140 |
+
dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
|
| 141 |
+
0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
|
| 142 |
+
0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
|
| 143 |
+
0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
|
| 144 |
+
0.75517122 0.7973985 ]
|
| 145 |
+
Loaded 26 datasets
|
| 146 |
+
Loading pretrained dual brain from /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 147 |
+
Tune backbone vision tower: False
|
| 148 |
+
Tune backbone LLM: False
|
| 149 |
+
Tune action head projector: False
|
| 150 |
+
Tune action head DiT: False
|
| 151 |
+
Model not found or avail in the huggingface hub. Loading from local path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 152 |
+
|
| 153 |
+
==================================================
|
| 154 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 155 |
+
==================================================
|
| 156 |
+
config: /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml
|
| 157 |
+
dataset_soup: None
|
| 158 |
+
output_dir: /tmp/gr00t
|
| 159 |
+
output_root: None
|
| 160 |
+
data_config: panda_omron
|
| 161 |
+
batch_size: 32
|
| 162 |
+
max_steps: 300000
|
| 163 |
+
num_gpus: 2
|
| 164 |
+
save_steps: 20000
|
| 165 |
+
run_name: None
|
| 166 |
+
save_total_limit: 100
|
| 167 |
+
seed: 42
|
| 168 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 169 |
+
tune_llm: False
|
| 170 |
+
tune_visual: False
|
| 171 |
+
tune_projector: True
|
| 172 |
+
tune_diffusion_model: True
|
| 173 |
+
resume: False
|
| 174 |
+
learning_rate: 3e-05
|
| 175 |
+
weight_decay: 1e-05
|
| 176 |
+
warmup_ratio: 0.05
|
| 177 |
+
lora_rank: 0
|
| 178 |
+
lora_alpha: 16
|
| 179 |
+
lora_dropout: 0.1
|
| 180 |
+
lora_full_model: False
|
| 181 |
+
dataloader_num_workers: 8
|
| 182 |
+
report_to: wandb
|
| 183 |
+
embodiment_tag: new_embodiment
|
| 184 |
+
video_backend: opencv
|
| 185 |
+
balance_dataset_weights: True
|
| 186 |
+
balance_trajectory_weights: True
|
| 187 |
+
ds_weights_alpha: 0.4
|
| 188 |
+
==================================================
|
| 189 |
+
|
| 190 |
+
Using 2 GPUs
|
| 191 |
+
|
| 192 |
+
================================================================================
|
| 193 |
+
Starting sweep branch: default
|
| 194 |
+
Sweep vars: {}
|
| 195 |
+
================================================================================
|
| 196 |
+
|
| 197 |
+
--------------------------------------------------------------------------------
|
| 198 |
+
Running phase 1: phase2_rkd_da_only
|
| 199 |
+
Policy type: groot_rkd_v2
|
| 200 |
+
Base model path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 201 |
+
Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2
|
| 202 |
+
Trainable preset: processing_line_only
|
| 203 |
+
Policy overrides: {'rkd_enabled': True, 'rkd_fm_loss_weight': 0.0, 'rkd_loss_weight': 1.0, 'rkd_relation_mode': 'flatten', 'rkd_loss_type': 'distance_angle', 'rkd_teacher_source': 'action_encoder', 'rkd_action_encoder_projector_enabled': True, 'rkd_action_encoder_projector_dim': 512, 'rkd_action_encoder_projector_pooling': 'flatten', 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True}
|
| 204 |
+
--------------------------------------------------------------------------------
|
| 205 |
+
|
| 206 |
+
[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]
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Using 100 subset demos for filter_key: 100_demos
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/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
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self.statistics[key] = torch.tensor(value)
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
|
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
|
| 261 |
+
0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
|
| 262 |
+
0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
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| 263 |
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0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
|
| 264 |
+
0.75517122 0.7973985 ]
|
| 265 |
+
Loaded 26 datasets
|
| 266 |
+
Loading pretrained dual brain from /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 267 |
+
Tune backbone vision tower: False
|
| 268 |
+
Tune backbone LLM: False
|
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Tune action head projector: False
|
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Tune action head DiT: False
|
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+
Model not found or avail in the huggingface hub. Loading from local path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
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+
Tune backbone llm: False
|
| 273 |
+
Tune backbone visual: True
|
| 274 |
+
Total number of DiT parameters: 550386688
|
| 275 |
+
Tune backbone llm: False
|
| 276 |
+
Tune backbone visual: True
|
| 277 |
+
Total number of DiT parameters: 550386688
|
| 278 |
+
Total number of SelfAttentionTransformer parameters: 201433088
|
| 279 |
+
Tune action head projector: True
|
| 280 |
+
Tune action head diffusion model: True
|
| 281 |
+
|
| 282 |
+
Some weights of GR00T_N1_5_RKD were not initialized from the model checkpoint at /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000 and are newly initialized: ['rkd_action_encoder_projector.bias', 'rkd_action_encoder_projector.weight']
|
| 283 |
+
You should probably TRAIN this model on a down-stream task to be able to use it for predictions and inference.
|
| 284 |
+
Tune backbone llm: False
|
| 285 |
+
Tune backbone visual: False
|
| 286 |
+
Warning: No backbone trainable parameters found.
|
| 287 |
+
Tune action head projector: False
|
| 288 |
+
Tune action head diffusion model: False
|
| 289 |
+
Action head trainable parameter: future_tokens.weight
|
| 290 |
+
Action head trainable parameter: vlln.weight
|
| 291 |
+
Action head trainable parameter: vlln.bias
|
| 292 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.weight
|
| 293 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.bias
|
| 294 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 295 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 296 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 298 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 299 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 300 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 301 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 302 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 327 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 332 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 333 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 334 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.weight
|
| 335 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.bias
|
| 336 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 338 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 339 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 340 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.weight
|
| 341 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 343 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 345 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 346 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 347 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 348 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 349 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 350 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.weight
|
| 351 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.bias
|
| 352 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 353 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 354 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 355 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 356 |
+
Applied trainable preset: processing_line_only
|
| 357 |
+
Trainable parameter tensors after preset: 66
|
| 358 |
+
trainable: action_head.vlln.weight
|
| 359 |
+
trainable: action_head.vlln.bias
|
| 360 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.weight
|
| 361 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.bias
|
| 362 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 363 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 364 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 365 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 366 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 367 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 368 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 369 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 370 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.weight
|
| 371 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.bias
|
| 372 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 373 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 374 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 375 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 376 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.weight
|
| 377 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.bias
|
| 378 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 379 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 380 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 381 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 382 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 383 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 384 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 385 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 386 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.weight
|
| 387 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.bias
|
| 388 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 389 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 390 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 391 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 392 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.weight
|
| 393 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.bias
|
| 394 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 395 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 396 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 397 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 398 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 399 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 400 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 401 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 402 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.weight
|
| 403 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.bias
|
| 404 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 405 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 406 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 407 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 408 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.weight
|
| 409 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.bias
|
| 410 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 411 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 412 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 413 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 414 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 415 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 416 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 417 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 418 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.weight
|
| 419 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.bias
|
| 420 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 421 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 422 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 423 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 424 |
+
Trainable summary: {'trainable_preset': 'processing_line_only', 'trainable_modules': 'backbone.eagle_linear(0), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088)', 'trainable_module_names': 'backbone.eagle_linear, action_head.vlln, action_head.vl_self_attention', 'trainable_module_param_counts': {'backbone.eagle_linear': 0, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088}, 'trainable_param_count': 201437184, 'total_param_count': 2736746944, 'trainable_param_ratio': 0.07360460726616601}
|
| 425 |
+
Run name: rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2
|
| 426 |
+
Total number of SelfAttentionTransformer parameters: 201433088
|
| 427 |
+
Tune action head projector: True
|
| 428 |
+
Tune action head diffusion model: True
|
| 429 |
+
|
| 430 |
+
Some weights of GR00T_N1_5_RKD were not initialized from the model checkpoint at /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000 and are newly initialized: ['rkd_action_encoder_projector.bias', 'rkd_action_encoder_projector.weight']
|
| 431 |
+
You should probably TRAIN this model on a down-stream task to be able to use it for predictions and inference.
|
| 432 |
+
Tune backbone llm: False
|
| 433 |
+
Tune backbone visual: False
|
| 434 |
+
Warning: No backbone trainable parameters found.
|
| 435 |
+
Tune action head projector: False
|
| 436 |
+
Tune action head diffusion model: False
|
| 437 |
+
Action head trainable parameter: future_tokens.weight
|
| 438 |
+
Action head trainable parameter: vlln.weight
|
| 439 |
+
Action head trainable parameter: vlln.bias
|
| 440 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.weight
|
| 441 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.bias
|
| 442 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 443 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 444 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 445 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 446 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 447 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 448 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 449 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 450 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.weight
|
| 451 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.bias
|
| 452 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 453 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 454 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 455 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 456 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.weight
|
| 457 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.bias
|
| 458 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 459 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 460 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 461 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 462 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 463 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 464 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 465 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 466 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.weight
|
| 467 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.bias
|
| 468 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 469 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 470 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 471 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 472 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.weight
|
| 473 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.bias
|
| 474 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 475 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 476 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 477 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 478 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 479 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 480 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 481 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 482 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.weight
|
| 483 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.bias
|
| 484 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 485 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 486 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 487 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 488 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.weight
|
| 489 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.bias
|
| 490 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 491 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 492 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 493 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 494 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 495 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 496 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 497 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 498 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.weight
|
| 499 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.bias
|
| 500 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 501 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 502 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 503 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 504 |
+
Applied trainable preset: processing_line_only
|
| 505 |
+
Trainable parameter tensors after preset: 66
|
| 506 |
+
trainable: action_head.vlln.weight
|
| 507 |
+
trainable: action_head.vlln.bias
|
| 508 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.weight
|
| 509 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.bias
|
| 510 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 511 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 512 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 513 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 514 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 515 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 516 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 517 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 518 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.weight
|
| 519 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.bias
|
| 520 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 521 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 522 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 523 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 524 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.weight
|
| 525 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.bias
|
| 526 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 527 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 528 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 529 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 530 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 531 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 532 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 533 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 534 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.weight
|
| 535 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.bias
|
| 536 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 537 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 538 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 539 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 540 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.weight
|
| 541 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.bias
|
| 542 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 543 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 544 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 545 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 546 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 547 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 548 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 549 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 550 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.weight
|
| 551 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.bias
|
| 552 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 553 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 554 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 555 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 556 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.weight
|
| 557 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.bias
|
| 558 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 559 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 560 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 561 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 562 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 563 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 564 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 565 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 566 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.weight
|
| 567 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.bias
|
| 568 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 569 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 570 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 571 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 572 |
+
Trainable summary: {'trainable_preset': 'processing_line_only', 'trainable_modules': 'backbone.eagle_linear(0), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088)', 'trainable_module_names': 'backbone.eagle_linear, action_head.vlln, action_head.vl_self_attention', 'trainable_module_param_counts': {'backbone.eagle_linear': 0, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088}, 'trainable_param_count': 201437184, 'total_param_count': 2736746944, 'trainable_param_ratio': 0.07360460726616601}
|
| 573 |
+
Run name: rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2
|
| 574 |
+
train dataloader length: 6873
|
| 575 |
+
train dataset length: 439854
|
| 576 |
+
GPU memory before training: 7.111904144287109 GB
|
| 577 |
+
TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2/runs
|
| 578 |
+
train dataloader length: 6873
|
| 579 |
+
train dataset length: 439854
|
| 580 |
+
GPU memory before training: 7.111904144287109 GB
|
| 581 |
+
TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2/runs
|
| 582 |
+
wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from /home/ext_minje/.netrc.
|
| 583 |
+
wandb: Currently logged in as: minje227_hyu (minje227_hyu-hanyang-university) to https://api.wandb.ai. Use `wandb login --relogin` to force relogin
|
| 584 |
+
wandb: setting up run mtiqrjf1
|
| 585 |
+
wandb: Tracking run with wandb version 0.25.0
|
| 586 |
+
wandb: Run data is saved locally in /home/ext_minje/clvla/benchmarks/robocasa_v2/wandb/run-20260622_131153-mtiqrjf1
|
| 587 |
+
wandb: Run `wandb offline` to turn off syncing.
|
| 588 |
+
wandb: Syncing run rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2
|
| 589 |
+
wandb: ⭐️ View project at https://wandb.ai/minje227_hyu-hanyang-university/huggingface
|
| 590 |
+
wandb: 🚀 View run at https://wandb.ai/minje227_hyu-hanyang-university/huggingface/runs/mtiqrjf1
|
| 591 |
+
|
| 592 |
0%| | 0/30000 [00:00<?, ?it/s]wandb: updating run metadata
|
| 593 |
+
[rank1]: Traceback (most recent call last):
|
| 594 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1042, in <module>
|
| 595 |
+
[rank1]: run_yaml_experiment(
|
| 596 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 991, in run_yaml_experiment
|
| 597 |
+
[rank1]: main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 598 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 721, in main
|
| 599 |
+
[rank1]: experiment.train()
|
| 600 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 601 |
+
[rank1]: self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 602 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 603 |
+
[rank1]: return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 604 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 605 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 606 |
+
[rank1]: return inner_training_loop(
|
| 607 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^
|
| 608 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 609 |
+
[rank1]: tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 610 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 611 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3782, in training_step
|
| 612 |
+
[rank1]: self.accelerator.backward(loss, **kwargs)
|
| 613 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/accelerator.py", line 2838, in backward
|
| 614 |
+
[rank1]: loss.backward(**kwargs)
|
| 615 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/_tensor.py", line 648, in backward
|
| 616 |
+
[rank1]: torch.autograd.backward(
|
| 617 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/__init__.py", line 353, in backward
|
| 618 |
+
[rank1]: _engine_run_backward(
|
| 619 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/graph.py", line 824, in _engine_run_backward
|
| 620 |
+
[rank1]: return Variable._execution_engine.run_backward( # Calls into the C++ engine to run the backward pass
|
| 621 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 622 |
+
[rank1]: torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 26.09 GiB. GPU 1 has a total capacity of 139.80 GiB of which 17.41 GiB is free. Process 1961377 has 11.53 GiB memory in use. Including non-PyTorch memory, this process has 98.58 GiB memory in use. Of the allocated memory 96.84 GiB is allocated by PyTorch, and 202.72 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 623 |
+
wandb: uploading output.log; uploading wandb-summary.json; uploading config.yaml
|
| 624 |
+
wandb: uploading summary
|
| 625 |
+
wandb: 🚀 View run rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2 at: https://wandb.ai/minje227_hyu-hanyang-university/huggingface/runs/mtiqrjf1
|
| 626 |
+
wandb: ⭐️ View project at: https://wandb.ai/minje227_hyu-hanyang-university/huggingface
|
| 627 |
+
wandb: Synced 5 W&B file(s), 0 media file(s), 0 artifact file(s) and 0 other file(s)
|
| 628 |
+
wandb: Find logs at: ./wandb/run-20260622_131153-mtiqrjf1/logs
|
| 629 |
+
Traceback (most recent call last):
|
| 630 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1042, in <module>
|
| 631 |
+
run_yaml_experiment(
|
| 632 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 991, in run_yaml_experiment
|
| 633 |
+
main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 634 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 721, in main
|
| 635 |
+
experiment.train()
|
| 636 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 637 |
+
self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 638 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 639 |
+
return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 640 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 641 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 642 |
+
return inner_training_loop(
|
| 643 |
+
^^^^^^^^^^^^^^^^^^^^
|
| 644 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 645 |
+
tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 646 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 647 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3782, in training_step
|
| 648 |
+
self.accelerator.backward(loss, **kwargs)
|
| 649 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/accelerator.py", line 2838, in backward
|
| 650 |
+
loss.backward(**kwargs)
|
| 651 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/_tensor.py", line 648, in backward
|
| 652 |
+
torch.autograd.backward(
|
| 653 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/__init__.py", line 353, in backward
|
| 654 |
+
_engine_run_backward(
|
| 655 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/graph.py", line 824, in _engine_run_backward
|
| 656 |
+
return Variable._execution_engine.run_backward( # Calls into the C++ engine to run the backward pass
|
| 657 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 658 |
+
torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 26.09 GiB. GPU 0 has a total capacity of 139.80 GiB of which 15.12 GiB is free. Including non-PyTorch memory, this process has 124.66 GiB memory in use. Of the allocated memory 122.94 GiB is allocated by PyTorch, and 182.72 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 659 |
+
[rank0]: Traceback (most recent call last):
|
| 660 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1042, in <module>
|
| 661 |
+
[rank0]: run_yaml_experiment(
|
| 662 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 991, in run_yaml_experiment
|
| 663 |
+
[rank0]: main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 664 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 721, in main
|
| 665 |
+
[rank0]: experiment.train()
|
| 666 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 667 |
+
[rank0]: self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 668 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 669 |
+
[rank0]: return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 670 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 671 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 672 |
+
[rank0]: return inner_training_loop(
|
| 673 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^
|
| 674 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 675 |
+
[rank0]: tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 676 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 677 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3782, in training_step
|
| 678 |
+
[rank0]: self.accelerator.backward(loss, **kwargs)
|
| 679 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/accelerator.py", line 2838, in backward
|
| 680 |
+
[rank0]: loss.backward(**kwargs)
|
| 681 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/_tensor.py", line 648, in backward
|
| 682 |
+
[rank0]: torch.autograd.backward(
|
| 683 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/__init__.py", line 353, in backward
|
| 684 |
+
[rank0]: _engine_run_backward(
|
| 685 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/graph.py", line 824, in _engine_run_backward
|
| 686 |
+
[rank0]: return Variable._execution_engine.run_backward( # Calls into the C++ engine to run the backward pass
|
| 687 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 688 |
+
[rank0]: torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 26.09 GiB. GPU 0 has a total capacity of 139.80 GiB of which 15.12 GiB is free. Including non-PyTorch memory, this process has 124.66 GiB memory in use. Of the allocated memory 122.94 GiB is allocated by PyTorch, and 182.72 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 689 |
+
[rank0]:[W622 13:12:05.494464865 ProcessGroupNCCL.cpp:1479] Warning: WARNING: destroy_process_group() was not called before program exit, which can leak resources. For more info, please see https://pytorch.org/docs/stable/distributed.html#shutdown (function operator())
|
| 690 |
+
W0622 13:12:05.945000 2646358 site-packages/torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2646464 closing signal SIGTERM
|
| 691 |
+
E0622 13:12:07.415000 2646358 site-packages/torch/distributed/elastic/multiprocessing/api.py:874] failed (exitcode: 1) local_rank: 1 (pid: 2646465) of binary: /home/ext_minje/miniforge3/envs/robocasa/bin/python
|
| 692 |
+
Traceback (most recent call last):
|
| 693 |
+
File "<frozen runpy>", line 198, in _run_module_as_main
|
| 694 |
+
File "<frozen runpy>", line 88, in _run_code
|
| 695 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 896, in <module>
|
| 696 |
+
main()
|
| 697 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/elastic/multiprocessing/errors/__init__.py", line 355, in wrapper
|
| 698 |
+
return f(*args, **kwargs)
|
| 699 |
+
^^^^^^^^^^^^^^^^^^
|
| 700 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 892, in main
|
| 701 |
+
run(args)
|
| 702 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 883, in run
|
| 703 |
+
elastic_launch(
|
| 704 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/launcher/api.py", line 139, in __call__
|
| 705 |
+
return launch_agent(self._config, self._entrypoint, list(args))
|
| 706 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 707 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/launcher/api.py", line 270, in launch_agent
|
| 708 |
+
raise ChildFailedError(
|
| 709 |
+
torch.distributed.elastic.multiprocessing.errors.ChildFailedError:
|
| 710 |
+
============================================================
|
| 711 |
+
/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py FAILED
|
| 712 |
+
------------------------------------------------------------
|
| 713 |
+
Failures:
|
| 714 |
+
<NO_OTHER_FAILURES>
|
| 715 |
+
------------------------------------------------------------
|
| 716 |
+
Root Cause (first observed failure):
|
| 717 |
+
[0]:
|
| 718 |
+
time : 2026-06-22_13:12:05
|
| 719 |
+
host : DGX-H200-01
|
| 720 |
+
rank : 1 (local_rank: 1)
|
| 721 |
+
exitcode : 1 (pid: 2646465)
|
| 722 |
+
error_file: <N/A>
|
| 723 |
+
traceback : To enable traceback see: https://pytorch.org/docs/stable/elastic/errors.html
|
| 724 |
+
============================================================
|
| 725 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 726 |
+
|
| 727 |
+
==================================================
|
| 728 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 729 |
+
==================================================
|
| 730 |
+
config: /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml
|
| 731 |
+
dataset_soup: None
|
| 732 |
+
output_dir: /tmp/gr00t
|
| 733 |
+
output_root: None
|
| 734 |
+
data_config: panda_omron
|
| 735 |
+
batch_size: 32
|
| 736 |
+
max_steps: 300000
|
| 737 |
+
num_gpus: 2
|
| 738 |
+
save_steps: 20000
|
| 739 |
+
run_name: None
|
| 740 |
+
save_total_limit: 100
|
| 741 |
+
seed: 42
|
| 742 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 743 |
+
tune_llm: False
|
| 744 |
+
tune_visual: False
|
| 745 |
+
tune_projector: True
|
| 746 |
+
tune_diffusion_model: True
|
| 747 |
+
resume: False
|
| 748 |
+
learning_rate: 3e-05
|
| 749 |
+
weight_decay: 1e-05
|
| 750 |
+
warmup_ratio: 0.05
|
| 751 |
+
lora_rank: 0
|
| 752 |
+
lora_alpha: 16
|
| 753 |
+
lora_dropout: 0.1
|
| 754 |
+
lora_full_model: False
|
| 755 |
+
dataloader_num_workers: 8
|
| 756 |
+
report_to: wandb
|
| 757 |
+
embodiment_tag: new_embodiment
|
| 758 |
+
video_backend: opencv
|
| 759 |
+
balance_dataset_weights: True
|
| 760 |
+
balance_trajectory_weights: True
|
| 761 |
+
ds_weights_alpha: 0.4
|
| 762 |
+
==================================================
|
| 763 |
+
|
| 764 |
+
Using 2 GPUs
|
| 765 |
+
Running torchrun command: ['/home/ext_minje/miniforge3/envs/robocasa/bin/python', '-m', 'torch.distributed.run', '--standalone', '--nproc_per_node=2', '--nnodes=1', '/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py', '--config', '/home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml', '--batch-size', '32', '--num-gpus', '2']
|
rkd_v2_2/logs/rkd_v2_2_flatten_action_encoder_gpu45_bs32_20260622_131131.log.pid
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2646051
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rkd_v2_2/logs/rkd_v2_2_flatten_action_encoder_gpu45_bs64_20260622_130844.log
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@@ -0,0 +1,871 @@
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| 0 |
0%| | 0/30000 [00:00<?, ?it/s][rank1]: Traceback (most recent call last):
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CMD: CUDA_VISIBLE_DEVICES=4,5 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True /home/ext_minje/miniforge3/envs/robocasa/bin/python /home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py --config /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml --num-gpus 2 --batch-size 64
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[robosuite WARNING] No private macro file found! (macros.py:57)
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[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
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[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
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| 5 |
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[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
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[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
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/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
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check_for_updates()
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`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
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*****************************************
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Setting OMP_NUM_THREADS environment variable for each process to be 1 in default, to avoid your system being overloaded, please further tune the variable for optimal performance in your application as needed.
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*****************************************
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| 14 |
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[robosuite WARNING] No private macro file found! (macros.py:57)
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[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
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| 16 |
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[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
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[robosuite WARNING] No private macro file found! (macros.py:57)
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[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
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| 19 |
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[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
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| 20 |
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[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
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| 21 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
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| 22 |
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[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
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| 23 |
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[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
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WARNING: mimicgen environments not imported since mimicgen is not installed!
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| 25 |
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WARNING: mimicgen environments not imported since mimicgen is not installed!
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| 26 |
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/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
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| 27 |
+
check_for_updates()
|
| 28 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
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| 29 |
+
check_for_updates()
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| 30 |
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`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 31 |
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`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
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| 32 |
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==================================================
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| 34 |
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GR00T FINE-TUNING CONFIGURATION:
|
| 35 |
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==================================================
|
| 36 |
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config: /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml
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| 37 |
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dataset_soup: None
|
| 38 |
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output_dir: /tmp/gr00t
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| 39 |
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output_root: None
|
| 40 |
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data_config: panda_omron
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| 41 |
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batch_size: 64
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max_steps: 300000
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| 43 |
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num_gpus: 2
|
| 44 |
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save_steps: 20000
|
| 45 |
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run_name: None
|
| 46 |
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save_total_limit: 100
|
| 47 |
+
seed: 42
|
| 48 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 49 |
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tune_llm: False
|
| 50 |
+
tune_visual: False
|
| 51 |
+
tune_projector: True
|
| 52 |
+
tune_diffusion_model: True
|
| 53 |
+
resume: False
|
| 54 |
+
learning_rate: 3e-05
|
| 55 |
+
weight_decay: 1e-05
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| 56 |
+
warmup_ratio: 0.05
|
| 57 |
+
lora_rank: 0
|
| 58 |
+
lora_alpha: 16
|
| 59 |
+
lora_dropout: 0.1
|
| 60 |
+
lora_full_model: False
|
| 61 |
+
dataloader_num_workers: 8
|
| 62 |
+
report_to: wandb
|
| 63 |
+
embodiment_tag: new_embodiment
|
| 64 |
+
video_backend: opencv
|
| 65 |
+
balance_dataset_weights: True
|
| 66 |
+
balance_trajectory_weights: True
|
| 67 |
+
ds_weights_alpha: 0.4
|
| 68 |
+
==================================================
|
| 69 |
+
|
| 70 |
+
|
| 71 |
+
==================================================
|
| 72 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 73 |
+
==================================================
|
| 74 |
+
config: /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml
|
| 75 |
+
dataset_soup: None
|
| 76 |
+
output_dir: /tmp/gr00t
|
| 77 |
+
output_root: None
|
| 78 |
+
data_config: panda_omron
|
| 79 |
+
batch_size: 64
|
| 80 |
+
max_steps: 300000
|
| 81 |
+
num_gpus: 2
|
| 82 |
+
save_steps: 20000
|
| 83 |
+
run_name: None
|
| 84 |
+
save_total_limit: 100
|
| 85 |
+
seed: 42
|
| 86 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 87 |
+
tune_llm: False
|
| 88 |
+
tune_visual: False
|
| 89 |
+
tune_projector: True
|
| 90 |
+
tune_diffusion_model: True
|
| 91 |
+
resume: False
|
| 92 |
+
learning_rate: 3e-05
|
| 93 |
+
weight_decay: 1e-05
|
| 94 |
+
warmup_ratio: 0.05
|
| 95 |
+
lora_rank: 0
|
| 96 |
+
lora_alpha: 16
|
| 97 |
+
lora_dropout: 0.1
|
| 98 |
+
lora_full_model: False
|
| 99 |
+
dataloader_num_workers: 8
|
| 100 |
+
report_to: wandb
|
| 101 |
+
embodiment_tag: new_embodiment
|
| 102 |
+
video_backend: opencv
|
| 103 |
+
balance_dataset_weights: True
|
| 104 |
+
balance_trajectory_weights: True
|
| 105 |
+
ds_weights_alpha: 0.4
|
| 106 |
+
==================================================
|
| 107 |
+
|
| 108 |
+
Using 2 GPUs
|
| 109 |
+
|
| 110 |
+
================================================================================
|
| 111 |
+
Starting sweep branch: default
|
| 112 |
+
Sweep vars: {}
|
| 113 |
+
================================================================================
|
| 114 |
+
|
| 115 |
+
--------------------------------------------------------------------------------
|
| 116 |
+
Running phase 1: phase2_rkd_da_only
|
| 117 |
+
Policy type: groot_rkd_v2
|
| 118 |
+
Base model path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 119 |
+
Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2
|
| 120 |
+
Trainable preset: processing_line_only
|
| 121 |
+
Policy overrides: {'rkd_enabled': True, 'rkd_fm_loss_weight': 0.0, 'rkd_loss_weight': 1.0, 'rkd_relation_mode': 'flatten', 'rkd_loss_type': 'distance_angle', 'rkd_teacher_source': 'action_encoder', 'rkd_action_encoder_projector_enabled': True, 'rkd_action_encoder_projector_dim': 512, 'rkd_action_encoder_projector_pooling': 'flatten', 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True}
|
| 122 |
+
--------------------------------------------------------------------------------
|
| 123 |
+
|
| 124 |
+
[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]
|
| 125 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 126 |
+
/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
|
| 127 |
+
self.statistics[key] = torch.tensor(value)
|
| 128 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 129 |
+
Using 2 GPUs
|
| 130 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 131 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 132 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 133 |
+
|
| 134 |
+
================================================================================
|
| 135 |
+
Starting sweep branch: default
|
| 136 |
+
Sweep vars: {}
|
| 137 |
+
================================================================================
|
| 138 |
+
|
| 139 |
+
--------------------------------------------------------------------------------
|
| 140 |
+
Running phase 1: phase2_rkd_da_only
|
| 141 |
+
Policy type: groot_rkd_v2
|
| 142 |
+
Base model path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 143 |
+
Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2
|
| 144 |
+
Trainable preset: processing_line_only
|
| 145 |
+
Policy overrides: {'rkd_enabled': True, 'rkd_fm_loss_weight': 0.0, 'rkd_loss_weight': 1.0, 'rkd_relation_mode': 'flatten', 'rkd_loss_type': 'distance_angle', 'rkd_teacher_source': 'action_encoder', 'rkd_action_encoder_projector_enabled': True, 'rkd_action_encoder_projector_dim': 512, 'rkd_action_encoder_projector_pooling': 'flatten', 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True}
|
| 146 |
+
--------------------------------------------------------------------------------
|
| 147 |
+
|
| 148 |
+
[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
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self.statistics[key] = torch.tensor(value)
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
|
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
|
| 242 |
+
0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
|
| 243 |
+
0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
|
| 244 |
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0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
|
| 245 |
+
0.75517122 0.7973985 ]
|
| 246 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 247 |
+
Using 100 subset demos for filter_key: 100_demos
|
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
|
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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Using 100 subset demos for filter_key: 100_demos
|
| 252 |
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 253 |
+
dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
|
| 254 |
+
0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
|
| 255 |
+
0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
|
| 256 |
+
0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
|
| 257 |
+
0.75517122 0.7973985 ]
|
| 258 |
+
Loaded 26 datasets
|
| 259 |
+
Loading pretrained dual brain from /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 260 |
+
Tune backbone vision tower: False
|
| 261 |
+
Tune backbone LLM: False
|
| 262 |
+
Tune action head projector: False
|
| 263 |
+
Tune action head DiT: False
|
| 264 |
+
Model not found or avail in the huggingface hub. Loading from local path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 265 |
+
Loaded 26 datasets
|
| 266 |
+
Loading pretrained dual brain from /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 267 |
+
Tune backbone vision tower: False
|
| 268 |
+
Tune backbone LLM: False
|
| 269 |
+
Tune action head projector: False
|
| 270 |
+
Tune action head DiT: False
|
| 271 |
+
Model not found or avail in the huggingface hub. Loading from local path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 272 |
+
Tune backbone llm: False
|
| 273 |
+
Tune backbone visual: True
|
| 274 |
+
Total number of DiT parameters: 550386688
|
| 275 |
+
Tune backbone llm: False
|
| 276 |
+
Tune backbone visual: True
|
| 277 |
+
Total number of DiT parameters: 550386688
|
| 278 |
+
Total number of SelfAttentionTransformer parameters: 201433088
|
| 279 |
+
Tune action head projector: True
|
| 280 |
+
Tune action head diffusion model: True
|
| 281 |
+
Total number of SelfAttentionTransformer parameters: 201433088
|
| 282 |
+
Tune action head projector: True
|
| 283 |
+
Tune action head diffusion model: True
|
| 284 |
+
|
| 285 |
+
Some weights of GR00T_N1_5_RKD were not initialized from the model checkpoint at /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000 and are newly initialized: ['rkd_action_encoder_projector.bias', 'rkd_action_encoder_projector.weight']
|
| 286 |
+
You should probably TRAIN this model on a down-stream task to be able to use it for predictions and inference.
|
| 287 |
+
Tune backbone llm: False
|
| 288 |
+
Tune backbone visual: False
|
| 289 |
+
Warning: No backbone trainable parameters found.
|
| 290 |
+
Tune action head projector: False
|
| 291 |
+
Tune action head diffusion model: False
|
| 292 |
+
Action head trainable parameter: future_tokens.weight
|
| 293 |
+
Action head trainable parameter: vlln.weight
|
| 294 |
+
Action head trainable parameter: vlln.bias
|
| 295 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.weight
|
| 296 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.bias
|
| 297 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 298 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 299 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 300 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 301 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 302 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 303 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 304 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 305 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.weight
|
| 306 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.bias
|
| 307 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 308 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 309 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 310 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 311 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.weight
|
| 312 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.bias
|
| 313 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 314 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 315 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 316 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 317 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 318 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 319 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 320 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 321 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.weight
|
| 322 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.bias
|
| 323 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 324 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 325 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 326 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 327 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.weight
|
| 328 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.bias
|
| 329 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 330 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 331 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 332 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 333 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 334 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 335 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 336 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 337 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.weight
|
| 338 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.bias
|
| 339 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 340 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 341 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 342 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 343 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.weight
|
| 344 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.bias
|
| 345 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 346 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 347 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 348 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 349 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 350 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 351 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 352 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 353 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.weight
|
| 354 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.bias
|
| 355 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 356 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 357 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 358 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 359 |
+
Applied trainable preset: processing_line_only
|
| 360 |
+
Trainable parameter tensors after preset: 66
|
| 361 |
+
trainable: action_head.vlln.weight
|
| 362 |
+
trainable: action_head.vlln.bias
|
| 363 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.weight
|
| 364 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.bias
|
| 365 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 366 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 367 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 368 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 369 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 370 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 371 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 372 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 373 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.weight
|
| 374 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.bias
|
| 375 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 376 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 377 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 378 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 379 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.weight
|
| 380 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.bias
|
| 381 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 382 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 383 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 384 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 385 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 386 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 387 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 388 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 389 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.weight
|
| 390 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.bias
|
| 391 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 392 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 393 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 394 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 395 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.weight
|
| 396 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.bias
|
| 397 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 398 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 399 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 400 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 401 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 402 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 403 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 404 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 405 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.weight
|
| 406 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.bias
|
| 407 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 408 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 409 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 410 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 411 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.weight
|
| 412 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.bias
|
| 413 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 414 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 415 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 416 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 417 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 418 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 419 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 420 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 421 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.weight
|
| 422 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.bias
|
| 423 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 424 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 425 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 426 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 427 |
+
Trainable summary: {'trainable_preset': 'processing_line_only', 'trainable_modules': 'backbone.eagle_linear(0), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088)', 'trainable_module_names': 'backbone.eagle_linear, action_head.vlln, action_head.vl_self_attention', 'trainable_module_param_counts': {'backbone.eagle_linear': 0, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088}, 'trainable_param_count': 201437184, 'total_param_count': 2736746944, 'trainable_param_ratio': 0.07360460726616601}
|
| 428 |
+
|
| 429 |
+
Some weights of GR00T_N1_5_RKD were not initialized from the model checkpoint at /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000 and are newly initialized: ['rkd_action_encoder_projector.bias', 'rkd_action_encoder_projector.weight']
|
| 430 |
+
You should probably TRAIN this model on a down-stream task to be able to use it for predictions and inference.
|
| 431 |
+
Tune backbone llm: False
|
| 432 |
+
Tune backbone visual: False
|
| 433 |
+
Warning: No backbone trainable parameters found.
|
| 434 |
+
Tune action head projector: False
|
| 435 |
+
Tune action head diffusion model: False
|
| 436 |
+
Action head trainable parameter: future_tokens.weight
|
| 437 |
+
Action head trainable parameter: vlln.weight
|
| 438 |
+
Action head trainable parameter: vlln.bias
|
| 439 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.weight
|
| 440 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.bias
|
| 441 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 442 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 443 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 444 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 445 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 446 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 447 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 448 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 449 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.weight
|
| 450 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.bias
|
| 451 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 452 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 453 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 454 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 455 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.weight
|
| 456 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.bias
|
| 457 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 458 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 459 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 460 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 461 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 462 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 463 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 464 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 465 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.weight
|
| 466 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.bias
|
| 467 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 468 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 469 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 470 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 471 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.weight
|
| 472 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.bias
|
| 473 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 474 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 475 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 476 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 477 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 478 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 479 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 480 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 481 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.weight
|
| 482 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.bias
|
| 483 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 484 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 485 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 486 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 487 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.weight
|
| 488 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.bias
|
| 489 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 490 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 491 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 492 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 493 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 494 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 495 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 496 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 497 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.weight
|
| 498 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.bias
|
| 499 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 500 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 501 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 502 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 503 |
+
Applied trainable preset: processing_line_only
|
| 504 |
+
Trainable parameter tensors after preset: 66
|
| 505 |
+
trainable: action_head.vlln.weight
|
| 506 |
+
trainable: action_head.vlln.bias
|
| 507 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.weight
|
| 508 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.bias
|
| 509 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 510 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 511 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 512 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 513 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 514 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 515 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 516 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 517 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.weight
|
| 518 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.bias
|
| 519 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 520 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 521 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 522 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 523 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.weight
|
| 524 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.bias
|
| 525 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 526 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 527 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 528 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 529 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 530 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 531 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 532 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 533 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.weight
|
| 534 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.bias
|
| 535 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 536 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 537 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 538 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 539 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.weight
|
| 540 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.bias
|
| 541 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 542 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 543 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 544 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 545 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 546 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 547 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 548 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 549 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.weight
|
| 550 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.bias
|
| 551 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 552 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 553 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 554 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 555 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.weight
|
| 556 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.bias
|
| 557 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 558 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 559 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 560 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 561 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 562 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 563 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 564 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 565 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.weight
|
| 566 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.bias
|
| 567 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 568 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 569 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 570 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 571 |
+
Trainable summary: {'trainable_preset': 'processing_line_only', 'trainable_modules': 'backbone.eagle_linear(0), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088)', 'trainable_module_names': 'backbone.eagle_linear, action_head.vlln, action_head.vl_self_attention', 'trainable_module_param_counts': {'backbone.eagle_linear': 0, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088}, 'trainable_param_count': 201437184, 'total_param_count': 2736746944, 'trainable_param_ratio': 0.07360460726616601}
|
| 572 |
+
Run name: rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2
|
| 573 |
+
Run name: rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2
|
| 574 |
+
train dataloader length: 3437
|
| 575 |
+
train dataset length: 439854
|
| 576 |
+
GPU memory before training: 7.111904144287109 GB
|
| 577 |
+
TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2/runs
|
| 578 |
+
train dataloader length: 3437
|
| 579 |
+
train dataset length: 439854
|
| 580 |
+
GPU memory before training: 7.111904144287109 GB
|
| 581 |
+
TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2/runs
|
| 582 |
+
wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from /home/ext_minje/.netrc.
|
| 583 |
+
wandb: Currently logged in as: minje227_hyu (minje227_hyu-hanyang-university) to https://api.wandb.ai. Use `wandb login --relogin` to force relogin
|
| 584 |
+
wandb: setting up run iru7hsxj
|
| 585 |
+
wandb: Tracking run with wandb version 0.25.0
|
| 586 |
+
wandb: Run data is saved locally in /home/ext_minje/clvla/benchmarks/robocasa_v2/wandb/run-20260622_130913-iru7hsxj
|
| 587 |
+
wandb: Run `wandb offline` to turn off syncing.
|
| 588 |
+
wandb: Syncing run rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2
|
| 589 |
+
wandb: ⭐️ View project at https://wandb.ai/minje227_hyu-hanyang-university/huggingface
|
| 590 |
+
wandb: 🚀 View run at https://wandb.ai/minje227_hyu-hanyang-university/huggingface/runs/iru7hsxj
|
| 591 |
+
|
| 592 |
0%| | 0/30000 [00:00<?, ?it/s][rank1]: Traceback (most recent call last):
|
| 593 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1042, in <module>
|
| 594 |
+
[rank1]: run_yaml_experiment(
|
| 595 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 991, in run_yaml_experiment
|
| 596 |
+
[rank1]: main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 597 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 721, in main
|
| 598 |
+
[rank1]: experiment.train()
|
| 599 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 600 |
+
[rank1]: self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 601 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 602 |
+
[rank1]: return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 603 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 604 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 605 |
+
[rank1]: return inner_training_loop(
|
| 606 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^
|
| 607 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 608 |
+
[rank1]: tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 609 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 610 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3736, in training_step
|
| 611 |
+
[rank1]: loss = self.compute_loss(model, inputs, num_items_in_batch=num_items_in_batch)
|
| 612 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 613 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 77, in compute_loss
|
| 614 |
+
[rank1]: outputs = model(inputs)
|
| 615 |
+
[rank1]: ^^^^^^^^^^^^^
|
| 616 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 617 |
+
[rank1]: return self._call_impl(*args, **kwargs)
|
| 618 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 619 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 620 |
+
[rank1]: return forward_call(*args, **kwargs)
|
| 621 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 622 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1637, in forward
|
| 623 |
+
[rank1]: else self._run_ddp_forward(*inputs, **kwargs)
|
| 624 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 625 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1464, in _run_ddp_forward
|
| 626 |
+
[rank1]: return self.module(*inputs, **kwargs) # type: ignore[index]
|
| 627 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 628 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 629 |
+
[rank1]: return self._call_impl(*args, **kwargs)
|
| 630 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 631 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 632 |
+
[rank1]: return forward_call(*args, **kwargs)
|
| 633 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 634 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 823, in forward
|
| 635 |
+
[rank1]: return model_forward(*args, **kwargs)
|
| 636 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 637 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 811, in __call__
|
| 638 |
+
[rank1]: return convert_to_fp32(self.model_forward(*args, **kwargs))
|
| 639 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 640 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/amp/autocast_mode.py", line 44, in decorate_autocast
|
| 641 |
+
[rank1]: return func(*args, **kwargs)
|
| 642 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^
|
| 643 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 597, in forward
|
| 644 |
+
[rank1]: self._add_rkd_loss(action_head_outputs, backbone_outputs, action_inputs)
|
| 645 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 529, in _add_rkd_loss
|
| 646 |
+
[rank1]: rkd_loss, rkd_metrics = self._compute_rkd_loss(
|
| 647 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^
|
| 648 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 436, in _compute_rkd_loss
|
| 649 |
+
[rank1]: angle_loss = rkd_angle_loss(student_vector, teacher_vector)
|
| 650 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 651 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 167, in rkd_angle_loss
|
| 652 |
+
[rank1]: student_angle = _angle_relation(student, eps=eps)
|
| 653 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 654 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 184, in _angle_relation
|
| 655 |
+
[rank1]: diff = x[:, None, :] - x[None, :, :]
|
| 656 |
+
[rank1]: ~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
|
| 657 |
+
[rank1]: torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 104.38 GiB. GPU 1 has a total capacity of 139.80 GiB of which 80.45 GiB is free. Process 1961377 has 11.53 GiB memory in use. Including non-PyTorch memory, this process has 35.91 GiB memory in use. Of the allocated memory 34.24 GiB is allocated by PyTorch, and 196.89 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 658 |
+
wandb: updating run metadata
|
| 659 |
+
wandb: uploading output.log; uploading wandb-summary.json; uploading config.yaml
|
| 660 |
+
wandb: uploading output.log; uploading config.yaml
|
| 661 |
+
wandb: 🚀 View run rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2 at: https://wandb.ai/minje227_hyu-hanyang-university/huggingface/runs/iru7hsxj
|
| 662 |
+
wandb: ⭐️ View project at: https://wandb.ai/minje227_hyu-hanyang-university/huggingface
|
| 663 |
+
wandb: Synced 5 W&B file(s), 0 media file(s), 0 artifact file(s) and 0 other file(s)
|
| 664 |
+
wandb: Find logs at: ./wandb/run-20260622_130913-iru7hsxj/logs
|
| 665 |
+
Traceback (most recent call last):
|
| 666 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1042, in <module>
|
| 667 |
+
run_yaml_experiment(
|
| 668 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 991, in run_yaml_experiment
|
| 669 |
+
main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 670 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 721, in main
|
| 671 |
+
experiment.train()
|
| 672 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 673 |
+
self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 674 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 675 |
+
return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 676 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 677 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 678 |
+
return inner_training_loop(
|
| 679 |
+
^^^^^^^^^^^^^^^^^^^^
|
| 680 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 681 |
+
tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 682 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 683 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3736, in training_step
|
| 684 |
+
loss = self.compute_loss(model, inputs, num_items_in_batch=num_items_in_batch)
|
| 685 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 686 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 77, in compute_loss
|
| 687 |
+
outputs = model(inputs)
|
| 688 |
+
^^^^^^^^^^^^^
|
| 689 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 690 |
+
return self._call_impl(*args, **kwargs)
|
| 691 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 692 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 693 |
+
return forward_call(*args, **kwargs)
|
| 694 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 695 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1637, in forward
|
| 696 |
+
else self._run_ddp_forward(*inputs, **kwargs)
|
| 697 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 698 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1464, in _run_ddp_forward
|
| 699 |
+
return self.module(*inputs, **kwargs) # type: ignore[index]
|
| 700 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 701 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 702 |
+
return self._call_impl(*args, **kwargs)
|
| 703 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 704 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 705 |
+
return forward_call(*args, **kwargs)
|
| 706 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 707 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 823, in forward
|
| 708 |
+
return model_forward(*args, **kwargs)
|
| 709 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 710 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 811, in __call__
|
| 711 |
+
return convert_to_fp32(self.model_forward(*args, **kwargs))
|
| 712 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 713 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/amp/autocast_mode.py", line 44, in decorate_autocast
|
| 714 |
+
return func(*args, **kwargs)
|
| 715 |
+
^^^^^^^^^^^^^^^^^^^^^
|
| 716 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 597, in forward
|
| 717 |
+
self._add_rkd_loss(action_head_outputs, backbone_outputs, action_inputs)
|
| 718 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 529, in _add_rkd_loss
|
| 719 |
+
rkd_loss, rkd_metrics = self._compute_rkd_loss(
|
| 720 |
+
^^^^^^^^^^^^^^^^^^^^^^^
|
| 721 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 436, in _compute_rkd_loss
|
| 722 |
+
angle_loss = rkd_angle_loss(student_vector, teacher_vector)
|
| 723 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 724 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 167, in rkd_angle_loss
|
| 725 |
+
student_angle = _angle_relation(student, eps=eps)
|
| 726 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 727 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 184, in _angle_relation
|
| 728 |
+
diff = x[:, None, :] - x[None, :, :]
|
| 729 |
+
~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
|
| 730 |
+
torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 104.38 GiB. GPU 0 has a total capacity of 139.80 GiB of which 103.84 GiB is free. Including non-PyTorch memory, this process has 35.93 GiB memory in use. Of the allocated memory 34.24 GiB is allocated by PyTorch, and 216.89 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 731 |
+
[rank0]: Traceback (most recent call last):
|
| 732 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1042, in <module>
|
| 733 |
+
[rank0]: run_yaml_experiment(
|
| 734 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 991, in run_yaml_experiment
|
| 735 |
+
[rank0]: main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 736 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 721, in main
|
| 737 |
+
[rank0]: experiment.train()
|
| 738 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 739 |
+
[rank0]: self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 740 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 741 |
+
[rank0]: return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 742 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 743 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 744 |
+
[rank0]: return inner_training_loop(
|
| 745 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^
|
| 746 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 747 |
+
[rank0]: tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 748 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 749 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3736, in training_step
|
| 750 |
+
[rank0]: loss = self.compute_loss(model, inputs, num_items_in_batch=num_items_in_batch)
|
| 751 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 752 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 77, in compute_loss
|
| 753 |
+
[rank0]: outputs = model(inputs)
|
| 754 |
+
[rank0]: ^^^^^^^^^^^^^
|
| 755 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 756 |
+
[rank0]: return self._call_impl(*args, **kwargs)
|
| 757 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 758 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 759 |
+
[rank0]: return forward_call(*args, **kwargs)
|
| 760 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 761 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1637, in forward
|
| 762 |
+
[rank0]: else self._run_ddp_forward(*inputs, **kwargs)
|
| 763 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 764 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1464, in _run_ddp_forward
|
| 765 |
+
[rank0]: return self.module(*inputs, **kwargs) # type: ignore[index]
|
| 766 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 767 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 768 |
+
[rank0]: return self._call_impl(*args, **kwargs)
|
| 769 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 770 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 771 |
+
[rank0]: return forward_call(*args, **kwargs)
|
| 772 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 773 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 823, in forward
|
| 774 |
+
[rank0]: return model_forward(*args, **kwargs)
|
| 775 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 776 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 811, in __call__
|
| 777 |
+
[rank0]: return convert_to_fp32(self.model_forward(*args, **kwargs))
|
| 778 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 779 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/amp/autocast_mode.py", line 44, in decorate_autocast
|
| 780 |
+
[rank0]: return func(*args, **kwargs)
|
| 781 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^
|
| 782 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 597, in forward
|
| 783 |
+
[rank0]: self._add_rkd_loss(action_head_outputs, backbone_outputs, action_inputs)
|
| 784 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 529, in _add_rkd_loss
|
| 785 |
+
[rank0]: rkd_loss, rkd_metrics = self._compute_rkd_loss(
|
| 786 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^
|
| 787 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 436, in _compute_rkd_loss
|
| 788 |
+
[rank0]: angle_loss = rkd_angle_loss(student_vector, teacher_vector)
|
| 789 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 790 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 167, in rkd_angle_loss
|
| 791 |
+
[rank0]: student_angle = _angle_relation(student, eps=eps)
|
| 792 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 793 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 184, in _angle_relation
|
| 794 |
+
[rank0]: diff = x[:, None, :] - x[None, :, :]
|
| 795 |
+
[rank0]: ~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
|
| 796 |
+
[rank0]: torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 104.38 GiB. GPU 0 has a total capacity of 139.80 GiB of which 103.84 GiB is free. Including non-PyTorch memory, this process has 35.93 GiB memory in use. Of the allocated memory 34.24 GiB is allocated by PyTorch, and 216.89 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 797 |
+
W0622 13:09:28.695000 2547300 site-packages/torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2547426 closing signal SIGTERM
|
| 798 |
+
E0622 13:09:29.312000 2547300 site-packages/torch/distributed/elastic/multiprocessing/api.py:874] failed (exitcode: 1) local_rank: 1 (pid: 2547427) of binary: /home/ext_minje/miniforge3/envs/robocasa/bin/python
|
| 799 |
+
Traceback (most recent call last):
|
| 800 |
+
File "<frozen runpy>", line 198, in _run_module_as_main
|
| 801 |
+
File "<frozen runpy>", line 88, in _run_code
|
| 802 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 896, in <module>
|
| 803 |
+
main()
|
| 804 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/elastic/multiprocessing/errors/__init__.py", line 355, in wrapper
|
| 805 |
+
return f(*args, **kwargs)
|
| 806 |
+
^^^^^^^^^^^^^^^^^^
|
| 807 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 892, in main
|
| 808 |
+
run(args)
|
| 809 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 883, in run
|
| 810 |
+
elastic_launch(
|
| 811 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/launcher/api.py", line 139, in __call__
|
| 812 |
+
return launch_agent(self._config, self._entrypoint, list(args))
|
| 813 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 814 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/launcher/api.py", line 270, in launch_agent
|
| 815 |
+
raise ChildFailedError(
|
| 816 |
+
torch.distributed.elastic.multiprocessing.errors.ChildFailedError:
|
| 817 |
+
============================================================
|
| 818 |
+
/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py FAILED
|
| 819 |
+
------------------------------------------------------------
|
| 820 |
+
Failures:
|
| 821 |
+
<NO_OTHER_FAILURES>
|
| 822 |
+
------------------------------------------------------------
|
| 823 |
+
Root Cause (first observed failure):
|
| 824 |
+
[0]:
|
| 825 |
+
time : 2026-06-22_13:09:28
|
| 826 |
+
host : DGX-H200-01
|
| 827 |
+
rank : 1 (local_rank: 1)
|
| 828 |
+
exitcode : 1 (pid: 2547427)
|
| 829 |
+
error_file: <N/A>
|
| 830 |
+
traceback : To enable traceback see: https://pytorch.org/docs/stable/elastic/errors.html
|
| 831 |
+
============================================================
|
| 832 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 833 |
+
|
| 834 |
+
==================================================
|
| 835 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 836 |
+
==================================================
|
| 837 |
+
config: /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml
|
| 838 |
+
dataset_soup: None
|
| 839 |
+
output_dir: /tmp/gr00t
|
| 840 |
+
output_root: None
|
| 841 |
+
data_config: panda_omron
|
| 842 |
+
batch_size: 64
|
| 843 |
+
max_steps: 300000
|
| 844 |
+
num_gpus: 2
|
| 845 |
+
save_steps: 20000
|
| 846 |
+
run_name: None
|
| 847 |
+
save_total_limit: 100
|
| 848 |
+
seed: 42
|
| 849 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 850 |
+
tune_llm: False
|
| 851 |
+
tune_visual: False
|
| 852 |
+
tune_projector: True
|
| 853 |
+
tune_diffusion_model: True
|
| 854 |
+
resume: False
|
| 855 |
+
learning_rate: 3e-05
|
| 856 |
+
weight_decay: 1e-05
|
| 857 |
+
warmup_ratio: 0.05
|
| 858 |
+
lora_rank: 0
|
| 859 |
+
lora_alpha: 16
|
| 860 |
+
lora_dropout: 0.1
|
| 861 |
+
lora_full_model: False
|
| 862 |
+
dataloader_num_workers: 8
|
| 863 |
+
report_to: wandb
|
| 864 |
+
embodiment_tag: new_embodiment
|
| 865 |
+
video_backend: opencv
|
| 866 |
+
balance_dataset_weights: True
|
| 867 |
+
balance_trajectory_weights: True
|
| 868 |
+
ds_weights_alpha: 0.4
|
| 869 |
+
==================================================
|
| 870 |
+
|
| 871 |
+
Using 2 GPUs
|
| 872 |
+
Running torchrun command: ['/home/ext_minje/miniforge3/envs/robocasa/bin/python', '-m', 'torch.distributed.run', '--standalone', '--nproc_per_node=2', '--nnodes=1', '/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py', '--config', '/home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml', '--batch-size', '64', '--num-gpus', '2']
|
rkd_v2_2/logs/rkd_v2_2_flatten_action_encoder_gpu45_bs64_20260622_130844.log.pid
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
2545729
|
rkd_v2_2/logs/rkd_v2_2_flatten_action_encoder_gpu4_bs128_20260622_130630.log
ADDED
|
@@ -0,0 +1,355 @@
|
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| 0 |
0%| | 0/30000 [00:00<?, ?it/s]wandb: updating run metadata
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| 1 |
+
CMD: CUDA_VISIBLE_DEVICES=4 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True /home/ext_minje/miniforge3/envs/robocasa/bin/python /home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py --config /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml --num-gpus 1 --batch-size 128
|
| 2 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 3 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 4 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 5 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 6 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 7 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 8 |
+
check_for_updates()
|
| 9 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 10 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 11 |
+
|
| 12 |
+
==================================================
|
| 13 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 14 |
+
==================================================
|
| 15 |
+
config: /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_action_encoder.yaml
|
| 16 |
+
dataset_soup: None
|
| 17 |
+
output_dir: /tmp/gr00t
|
| 18 |
+
output_root: None
|
| 19 |
+
data_config: panda_omron
|
| 20 |
+
batch_size: 128
|
| 21 |
+
max_steps: 300000
|
| 22 |
+
num_gpus: 1
|
| 23 |
+
save_steps: 20000
|
| 24 |
+
run_name: None
|
| 25 |
+
save_total_limit: 100
|
| 26 |
+
seed: 42
|
| 27 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 28 |
+
tune_llm: False
|
| 29 |
+
tune_visual: False
|
| 30 |
+
tune_projector: True
|
| 31 |
+
tune_diffusion_model: True
|
| 32 |
+
resume: False
|
| 33 |
+
learning_rate: 3e-05
|
| 34 |
+
weight_decay: 1e-05
|
| 35 |
+
warmup_ratio: 0.05
|
| 36 |
+
lora_rank: 0
|
| 37 |
+
lora_alpha: 16
|
| 38 |
+
lora_dropout: 0.1
|
| 39 |
+
lora_full_model: False
|
| 40 |
+
dataloader_num_workers: 8
|
| 41 |
+
report_to: wandb
|
| 42 |
+
embodiment_tag: new_embodiment
|
| 43 |
+
video_backend: opencv
|
| 44 |
+
balance_dataset_weights: True
|
| 45 |
+
balance_trajectory_weights: True
|
| 46 |
+
ds_weights_alpha: 0.4
|
| 47 |
+
==================================================
|
| 48 |
+
|
| 49 |
+
Using 1 GPUs
|
| 50 |
+
|
| 51 |
+
================================================================================
|
| 52 |
+
Starting sweep branch: default
|
| 53 |
+
Sweep vars: {}
|
| 54 |
+
================================================================================
|
| 55 |
+
|
| 56 |
+
--------------------------------------------------------------------------------
|
| 57 |
+
Running phase 1: phase2_rkd_da_only
|
| 58 |
+
Policy type: groot_rkd_v2
|
| 59 |
+
Base model path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 60 |
+
Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2
|
| 61 |
+
Trainable preset: processing_line_only
|
| 62 |
+
Policy overrides: {'rkd_enabled': True, 'rkd_fm_loss_weight': 0.0, 'rkd_loss_weight': 1.0, 'rkd_relation_mode': 'flatten', 'rkd_loss_type': 'distance_angle', 'rkd_teacher_source': 'action_encoder', 'rkd_action_encoder_projector_enabled': True, 'rkd_action_encoder_projector_dim': 512, 'rkd_action_encoder_projector_pooling': 'flatten', 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True}
|
| 63 |
+
--------------------------------------------------------------------------------
|
| 64 |
+
|
| 65 |
+
[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
|
| 66 |
+
self.statistics[key] = torch.tensor(value)
|
| 67 |
+
|
| 68 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 69 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 70 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 71 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 72 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 73 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 74 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 75 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 76 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 77 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 78 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 79 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 80 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 81 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 82 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 83 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 84 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 85 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 86 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 87 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 88 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 89 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 90 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 91 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 92 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 93 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 94 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 95 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 96 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 97 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 98 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 99 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 100 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 101 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 102 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 103 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 104 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 105 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 106 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 107 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 108 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 109 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 110 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 111 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 112 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 113 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 114 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 115 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 116 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 117 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 118 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 119 |
+
dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
|
| 120 |
+
0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
|
| 121 |
+
0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
|
| 122 |
+
0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
|
| 123 |
+
0.75517122 0.7973985 ]
|
| 124 |
+
Loaded 26 datasets
|
| 125 |
+
Loading pretrained dual brain from /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 126 |
+
Tune backbone vision tower: False
|
| 127 |
+
Tune backbone LLM: False
|
| 128 |
+
Tune action head projector: False
|
| 129 |
+
Tune action head DiT: False
|
| 130 |
+
Model not found or avail in the huggingface hub. Loading from local path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 131 |
+
Tune backbone llm: False
|
| 132 |
+
Tune backbone visual: True
|
| 133 |
+
Total number of DiT parameters: 550386688
|
| 134 |
+
Total number of SelfAttentionTransformer parameters: 201433088
|
| 135 |
+
Tune action head projector: True
|
| 136 |
+
Tune action head diffusion model: True
|
| 137 |
+
|
| 138 |
+
Some weights of GR00T_N1_5_RKD were not initialized from the model checkpoint at /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000 and are newly initialized: ['rkd_action_encoder_projector.bias', 'rkd_action_encoder_projector.weight']
|
| 139 |
+
You should probably TRAIN this model on a down-stream task to be able to use it for predictions and inference.
|
| 140 |
+
Tune backbone llm: False
|
| 141 |
+
Tune backbone visual: False
|
| 142 |
+
Warning: No backbone trainable parameters found.
|
| 143 |
+
Tune action head projector: False
|
| 144 |
+
Tune action head diffusion model: False
|
| 145 |
+
Action head trainable parameter: future_tokens.weight
|
| 146 |
+
Action head trainable parameter: vlln.weight
|
| 147 |
+
Action head trainable parameter: vlln.bias
|
| 148 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.weight
|
| 149 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.bias
|
| 150 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 151 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 152 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 153 |
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 154 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 155 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 156 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 157 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 158 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.weight
|
| 159 |
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.bias
|
| 160 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 161 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 162 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 163 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 164 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.weight
|
| 165 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.bias
|
| 166 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 167 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 168 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 169 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 170 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 171 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 172 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.weight
|
| 175 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.bias
|
| 176 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 178 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 179 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 180 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.weight
|
| 181 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.bias
|
| 182 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 183 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 184 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 185 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 186 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 187 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 188 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 189 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 190 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.weight
|
| 191 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.bias
|
| 192 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 193 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 194 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 195 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 196 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.weight
|
| 197 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.bias
|
| 198 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 199 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 200 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 201 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 202 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 203 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 204 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 205 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 206 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.weight
|
| 207 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.bias
|
| 208 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 209 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 210 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 211 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 212 |
+
Applied trainable preset: processing_line_only
|
| 213 |
+
Trainable parameter tensors after preset: 66
|
| 214 |
+
trainable: action_head.vlln.weight
|
| 215 |
+
trainable: action_head.vlln.bias
|
| 216 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.weight
|
| 217 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.bias
|
| 218 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 219 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 220 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 221 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 222 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 223 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 224 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 225 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 226 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.weight
|
| 227 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.bias
|
| 228 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 229 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 230 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 231 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 232 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.weight
|
| 233 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.bias
|
| 234 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 235 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 236 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 237 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 238 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 239 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 240 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 241 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 242 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.weight
|
| 243 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.bias
|
| 244 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 245 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 246 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 247 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 248 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.weight
|
| 249 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.bias
|
| 250 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 251 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 252 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 253 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 254 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 255 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 256 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 257 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 258 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.weight
|
| 259 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.bias
|
| 260 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 261 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 262 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 263 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 264 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.weight
|
| 265 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.bias
|
| 266 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 267 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 268 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 269 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 270 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 271 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 272 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 273 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 274 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.weight
|
| 275 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.bias
|
| 276 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 277 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 278 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 279 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 280 |
+
Trainable summary: {'trainable_preset': 'processing_line_only', 'trainable_modules': 'backbone.eagle_linear(0), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088)', 'trainable_module_names': 'backbone.eagle_linear, action_head.vlln, action_head.vl_self_attention', 'trainable_module_param_counts': {'backbone.eagle_linear': 0, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088}, 'trainable_param_count': 201437184, 'total_param_count': 2736746944, 'trainable_param_ratio': 0.07360460726616601}
|
| 281 |
+
Run name: rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2
|
| 282 |
+
train dataloader length: 3437
|
| 283 |
+
train dataset length: 439854
|
| 284 |
+
GPU memory before training: 7.111904144287109 GB
|
| 285 |
+
wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from /home/ext_minje/.netrc.
|
| 286 |
+
wandb: Currently logged in as: minje227_hyu (minje227_hyu-hanyang-university) to https://api.wandb.ai. Use `wandb login --relogin` to force relogin
|
| 287 |
+
wandb: setting up run 27n8xn3s
|
| 288 |
+
wandb: Tracking run with wandb version 0.25.0
|
| 289 |
+
wandb: Run data is saved locally in /home/ext_minje/clvla/benchmarks/robocasa_v2/wandb/run-20260622_130650-27n8xn3s
|
| 290 |
+
wandb: Run `wandb offline` to turn off syncing.
|
| 291 |
+
wandb: Syncing run rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2
|
| 292 |
+
wandb: ⭐️ View project at https://wandb.ai/minje227_hyu-hanyang-university/huggingface
|
| 293 |
+
wandb: 🚀 View run at https://wandb.ai/minje227_hyu-hanyang-university/huggingface/runs/27n8xn3s
|
| 294 |
+
TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2/runs
|
| 295 |
+
|
| 296 |
0%| | 0/30000 [00:00<?, ?it/s]wandb: updating run metadata
|
| 297 |
+
wandb: uploading summary
|
| 298 |
+
wandb: uploading config.yaml
|
| 299 |
+
wandb: 🚀 View run rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5_phase2 at: https://wandb.ai/minje227_hyu-hanyang-university/huggingface/runs/27n8xn3s
|
| 300 |
+
wandb: ⭐️ View project at: https://wandb.ai/minje227_hyu-hanyang-university/huggingface
|
| 301 |
+
wandb: Synced 5 W&B file(s), 0 media file(s), 0 artifact file(s) and 0 other file(s)
|
| 302 |
+
wandb: Find logs at: ./wandb/run-20260622_130650-27n8xn3s/logs
|
| 303 |
+
Traceback (most recent call last):
|
| 304 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1032, in <module>
|
| 305 |
+
run_yaml_experiment(
|
| 306 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 991, in run_yaml_experiment
|
| 307 |
+
main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 308 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 721, in main
|
| 309 |
+
experiment.train()
|
| 310 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 311 |
+
self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 312 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 313 |
+
return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 314 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 315 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 316 |
+
return inner_training_loop(
|
| 317 |
+
^^^^^^^^^^^^^^^^^^^^
|
| 318 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 319 |
+
tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 320 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 321 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3736, in training_step
|
| 322 |
+
loss = self.compute_loss(model, inputs, num_items_in_batch=num_items_in_batch)
|
| 323 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 324 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 77, in compute_loss
|
| 325 |
+
outputs = model(inputs)
|
| 326 |
+
^^^^^^^^^^^^^
|
| 327 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 328 |
+
return self._call_impl(*args, **kwargs)
|
| 329 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 330 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 331 |
+
return forward_call(*args, **kwargs)
|
| 332 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 333 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 823, in forward
|
| 334 |
+
return model_forward(*args, **kwargs)
|
| 335 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 336 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 811, in __call__
|
| 337 |
+
return convert_to_fp32(self.model_forward(*args, **kwargs))
|
| 338 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 339 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/amp/autocast_mode.py", line 44, in decorate_autocast
|
| 340 |
+
return func(*args, **kwargs)
|
| 341 |
+
^^^^^^^^^^^^^^^^^^^^^
|
| 342 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 597, in forward
|
| 343 |
+
self._add_rkd_loss(action_head_outputs, backbone_outputs, action_inputs)
|
| 344 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 529, in _add_rkd_loss
|
| 345 |
+
rkd_loss, rkd_metrics = self._compute_rkd_loss(
|
| 346 |
+
^^^^^^^^^^^^^^^^^^^^^^^
|
| 347 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 436, in _compute_rkd_loss
|
| 348 |
+
angle_loss = rkd_angle_loss(student_vector, teacher_vector)
|
| 349 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 350 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 167, in rkd_angle_loss
|
| 351 |
+
student_angle = _angle_relation(student, eps=eps)
|
| 352 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 353 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 184, in _angle_relation
|
| 354 |
+
diff = x[:, None, :] - x[None, :, :]
|
| 355 |
+
~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
|
| 356 |
+
torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 104.38 GiB. GPU 0 has a total capacity of 139.80 GiB of which 81.16 GiB is free. Including non-PyTorch memory, this process has 58.62 GiB memory in use. Of the allocated memory 57.79 GiB is allocated by PyTorch, and 165.44 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
rkd_v2_2/logs/rkd_v2_2_flatten_action_encoder_gpu4_bs128_20260622_130630.log.pid
ADDED
|
@@ -0,0 +1 @@
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| 1 |
+
2478154
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rkd_v2_2/logs/rkd_v2_2_flatten_raw_action_gpu45_bs32_20260622_132220.log
ADDED
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@@ -0,0 +1,763 @@
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| 0 |
0%| | 0/30000 [00:00<?, ?it/s]wandb: updating run metadata
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| 1 |
+
CMD: CUDA_VISIBLE_DEVICES=4,5 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True /home/ext_minje/miniforge3/envs/robocasa/bin/python /home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py --config /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_raw_action.yaml --num-gpus 2 --batch-size 32
|
| 2 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 3 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 4 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 5 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 6 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 7 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 8 |
+
check_for_updates()
|
| 9 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 10 |
+
|
| 11 |
+
*****************************************
|
| 12 |
+
Setting OMP_NUM_THREADS environment variable for each process to be 1 in default, to avoid your system being overloaded, please further tune the variable for optimal performance in your application as needed.
|
| 13 |
+
*****************************************
|
| 14 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 15 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 16 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 17 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 18 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 19 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 20 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 21 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 22 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 23 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 24 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 25 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 26 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 27 |
+
check_for_updates()
|
| 28 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 29 |
+
check_for_updates()
|
| 30 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 31 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 32 |
+
|
| 33 |
+
==================================================
|
| 34 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 35 |
+
==================================================
|
| 36 |
+
config: /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_raw_action.yaml
|
| 37 |
+
dataset_soup: None
|
| 38 |
+
output_dir: /tmp/gr00t
|
| 39 |
+
output_root: None
|
| 40 |
+
data_config: panda_omron
|
| 41 |
+
batch_size: 32
|
| 42 |
+
max_steps: 300000
|
| 43 |
+
num_gpus: 2
|
| 44 |
+
save_steps: 20000
|
| 45 |
+
run_name: None
|
| 46 |
+
save_total_limit: 100
|
| 47 |
+
seed: 42
|
| 48 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 49 |
+
tune_llm: False
|
| 50 |
+
tune_visual: False
|
| 51 |
+
tune_projector: True
|
| 52 |
+
tune_diffusion_model: True
|
| 53 |
+
resume: False
|
| 54 |
+
learning_rate: 3e-05
|
| 55 |
+
weight_decay: 1e-05
|
| 56 |
+
warmup_ratio: 0.05
|
| 57 |
+
lora_rank: 0
|
| 58 |
+
lora_alpha: 16
|
| 59 |
+
lora_dropout: 0.1
|
| 60 |
+
lora_full_model: False
|
| 61 |
+
dataloader_num_workers: 8
|
| 62 |
+
report_to: wandb
|
| 63 |
+
embodiment_tag: new_embodiment
|
| 64 |
+
video_backend: opencv
|
| 65 |
+
balance_dataset_weights: True
|
| 66 |
+
balance_trajectory_weights: True
|
| 67 |
+
ds_weights_alpha: 0.4
|
| 68 |
+
==================================================
|
| 69 |
+
|
| 70 |
+
Using 2 GPUs
|
| 71 |
+
|
| 72 |
+
================================================================================
|
| 73 |
+
Starting sweep branch: default
|
| 74 |
+
Sweep vars: {}
|
| 75 |
+
================================================================================
|
| 76 |
+
|
| 77 |
+
--------------------------------------------------------------------------------
|
| 78 |
+
Running phase 1: phase2_rkd_da_only
|
| 79 |
+
Policy type: groot_rkd_v2
|
| 80 |
+
Base model path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 81 |
+
Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/phase2
|
| 82 |
+
Trainable preset: processing_line_only
|
| 83 |
+
Policy overrides: {'rkd_enabled': True, 'rkd_fm_loss_weight': 0.0, 'rkd_loss_weight': 1.0, 'rkd_relation_mode': 'flatten', 'rkd_loss_type': 'distance_angle', 'rkd_teacher_source': 'raw_action', 'rkd_action_encoder_projector_enabled': False, 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True}
|
| 84 |
+
--------------------------------------------------------------------------------
|
| 85 |
+
|
| 86 |
+
[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]
|
| 87 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 88 |
+
/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
|
| 89 |
+
self.statistics[key] = torch.tensor(value)
|
| 90 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 91 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 92 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 93 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 94 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 95 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 96 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 97 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 98 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 99 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 100 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 101 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 102 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 103 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 104 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 105 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 106 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 107 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 108 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 109 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 110 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 111 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 112 |
+
|
| 113 |
+
==================================================
|
| 114 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 115 |
+
==================================================
|
| 116 |
+
config: /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_raw_action.yaml
|
| 117 |
+
dataset_soup: None
|
| 118 |
+
output_dir: /tmp/gr00t
|
| 119 |
+
output_root: None
|
| 120 |
+
data_config: panda_omron
|
| 121 |
+
batch_size: 32
|
| 122 |
+
max_steps: 300000
|
| 123 |
+
num_gpus: 2
|
| 124 |
+
save_steps: 20000
|
| 125 |
+
run_name: None
|
| 126 |
+
save_total_limit: 100
|
| 127 |
+
seed: 42
|
| 128 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 129 |
+
tune_llm: False
|
| 130 |
+
tune_visual: False
|
| 131 |
+
tune_projector: True
|
| 132 |
+
tune_diffusion_model: True
|
| 133 |
+
resume: False
|
| 134 |
+
learning_rate: 3e-05
|
| 135 |
+
weight_decay: 1e-05
|
| 136 |
+
warmup_ratio: 0.05
|
| 137 |
+
lora_rank: 0
|
| 138 |
+
lora_alpha: 16
|
| 139 |
+
lora_dropout: 0.1
|
| 140 |
+
lora_full_model: False
|
| 141 |
+
dataloader_num_workers: 8
|
| 142 |
+
report_to: wandb
|
| 143 |
+
embodiment_tag: new_embodiment
|
| 144 |
+
video_backend: opencv
|
| 145 |
+
balance_dataset_weights: True
|
| 146 |
+
balance_trajectory_weights: True
|
| 147 |
+
ds_weights_alpha: 0.4
|
| 148 |
+
==================================================
|
| 149 |
+
|
| 150 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 151 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 152 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 153 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 154 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 155 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 156 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 157 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 158 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 159 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 160 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 161 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 162 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 163 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 164 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 165 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 166 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 167 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 168 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 169 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 170 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 171 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 172 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 173 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 174 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 175 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 176 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 177 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
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0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
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0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
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0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
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0.75517122 0.7973985 ]
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Loaded 26 datasets
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Loading pretrained dual brain from /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
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Tune backbone vision tower: False
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Tune backbone LLM: False
|
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+
Tune action head projector: False
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Tune action head DiT: False
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+
Model not found or avail in the huggingface hub. Loading from local path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
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Using 2 GPUs
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================================================================================
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Starting sweep branch: default
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Sweep vars: {}
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+
================================================================================
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--------------------------------------------------------------------------------
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Running phase 1: phase2_rkd_da_only
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Policy type: groot_rkd_v2
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Base model path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
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Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/phase2
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Trainable preset: processing_line_only
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Policy overrides: {'rkd_enabled': True, 'rkd_fm_loss_weight': 0.0, 'rkd_loss_weight': 1.0, 'rkd_relation_mode': 'flatten', 'rkd_loss_type': 'distance_angle', 'rkd_teacher_source': 'raw_action', 'rkd_action_encoder_projector_enabled': False, 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True}
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--------------------------------------------------------------------------------
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[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
|
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+
self.statistics[key] = torch.tensor(value)
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
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+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 235 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 236 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 237 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 238 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 239 |
+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 241 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 242 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 243 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 244 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 245 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 246 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 247 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 248 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 249 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 250 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 251 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 252 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 253 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 254 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 255 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 256 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 257 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 258 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 259 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 260 |
+
dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
|
| 261 |
+
0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
|
| 262 |
+
0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
|
| 263 |
+
0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
|
| 264 |
+
0.75517122 0.7973985 ]
|
| 265 |
+
Loaded 26 datasets
|
| 266 |
+
Loading pretrained dual brain from /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 267 |
+
Tune backbone vision tower: False
|
| 268 |
+
Tune backbone LLM: False
|
| 269 |
+
Tune action head projector: False
|
| 270 |
+
Tune action head DiT: False
|
| 271 |
+
Model not found or avail in the huggingface hub. Loading from local path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 272 |
+
Tune backbone llm: False
|
| 273 |
+
Tune backbone visual: True
|
| 274 |
+
Total number of DiT parameters: 550386688
|
| 275 |
+
Tune backbone llm: False
|
| 276 |
+
Tune backbone visual: True
|
| 277 |
+
Total number of DiT parameters: 550386688
|
| 278 |
+
Total number of SelfAttentionTransformer parameters: 201433088
|
| 279 |
+
Tune action head projector: True
|
| 280 |
+
Tune action head diffusion model: True
|
| 281 |
+
|
| 282 |
+
Some weights of GR00T_N1_5_RKD were not initialized from the model checkpoint at /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000 and are newly initialized: ['rkd_action_encoder_projector.bias', 'rkd_action_encoder_projector.weight']
|
| 283 |
+
You should probably TRAIN this model on a down-stream task to be able to use it for predictions and inference.
|
| 284 |
+
Tune backbone llm: False
|
| 285 |
+
Tune backbone visual: False
|
| 286 |
+
Warning: No backbone trainable parameters found.
|
| 287 |
+
Tune action head projector: False
|
| 288 |
+
Tune action head diffusion model: False
|
| 289 |
+
Action head trainable parameter: future_tokens.weight
|
| 290 |
+
Action head trainable parameter: vlln.weight
|
| 291 |
+
Action head trainable parameter: vlln.bias
|
| 292 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.weight
|
| 293 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.bias
|
| 294 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 295 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 296 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 297 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 298 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 299 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 300 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 301 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 302 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.weight
|
| 303 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.bias
|
| 304 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 305 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 306 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 307 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 308 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.bias
|
| 310 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 311 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 312 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 314 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 318 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 327 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 338 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 344 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 345 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 346 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 347 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 348 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 349 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 350 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.weight
|
| 351 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.bias
|
| 352 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 353 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 354 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 355 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 356 |
+
Applied trainable preset: processing_line_only
|
| 357 |
+
Trainable parameter tensors after preset: 66
|
| 358 |
+
trainable: action_head.vlln.weight
|
| 359 |
+
trainable: action_head.vlln.bias
|
| 360 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.weight
|
| 361 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.bias
|
| 362 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 363 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 364 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 365 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 366 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 367 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 368 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 369 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 370 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.weight
|
| 371 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.bias
|
| 372 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 373 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 374 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 375 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 376 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.weight
|
| 377 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.bias
|
| 378 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 379 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 380 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 381 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 382 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 383 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 384 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 385 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 386 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.weight
|
| 387 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.bias
|
| 388 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 389 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 390 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 391 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 392 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.weight
|
| 393 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.bias
|
| 394 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 395 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 396 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 397 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 398 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 399 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 400 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 401 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 402 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.weight
|
| 403 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.bias
|
| 404 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 405 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 406 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 407 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 408 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.weight
|
| 409 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.bias
|
| 410 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 411 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 412 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 413 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 414 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 415 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 416 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 417 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 418 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.weight
|
| 419 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.bias
|
| 420 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 421 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 422 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 423 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 424 |
+
Trainable summary: {'trainable_preset': 'processing_line_only', 'trainable_modules': 'backbone.eagle_linear(0), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088)', 'trainable_module_names': 'backbone.eagle_linear, action_head.vlln, action_head.vl_self_attention', 'trainable_module_param_counts': {'backbone.eagle_linear': 0, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088}, 'trainable_param_count': 201437184, 'total_param_count': 2736746944, 'trainable_param_ratio': 0.07360460726616601}
|
| 425 |
+
Total number of SelfAttentionTransformer parameters: 201433088
|
| 426 |
+
Tune action head projector: True
|
| 427 |
+
Tune action head diffusion model: True
|
| 428 |
+
|
| 429 |
+
Some weights of GR00T_N1_5_RKD were not initialized from the model checkpoint at /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000 and are newly initialized: ['rkd_action_encoder_projector.bias', 'rkd_action_encoder_projector.weight']
|
| 430 |
+
You should probably TRAIN this model on a down-stream task to be able to use it for predictions and inference.
|
| 431 |
+
Tune backbone llm: False
|
| 432 |
+
Tune backbone visual: False
|
| 433 |
+
Warning: No backbone trainable parameters found.
|
| 434 |
+
Tune action head projector: False
|
| 435 |
+
Tune action head diffusion model: False
|
| 436 |
+
Action head trainable parameter: future_tokens.weight
|
| 437 |
+
Action head trainable parameter: vlln.weight
|
| 438 |
+
Action head trainable parameter: vlln.bias
|
| 439 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.weight
|
| 440 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.bias
|
| 441 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 442 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 443 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 444 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 445 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 446 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 447 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 448 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 449 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.weight
|
| 450 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.bias
|
| 451 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 452 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 453 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 454 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 455 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.weight
|
| 456 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.bias
|
| 457 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 458 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 459 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 460 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 461 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 462 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 463 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 464 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 465 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.weight
|
| 466 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.bias
|
| 467 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 468 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 469 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 470 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 471 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.weight
|
| 472 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.bias
|
| 473 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 474 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 475 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 476 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 477 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 478 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 479 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 480 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 481 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.weight
|
| 482 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.bias
|
| 483 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 484 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 485 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 486 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 487 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.weight
|
| 488 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.bias
|
| 489 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 490 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 491 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 492 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 493 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 494 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 495 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 496 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 497 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.weight
|
| 498 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.bias
|
| 499 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 500 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 501 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 502 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 503 |
+
Applied trainable preset: processing_line_only
|
| 504 |
+
Trainable parameter tensors after preset: 66
|
| 505 |
+
trainable: action_head.vlln.weight
|
| 506 |
+
trainable: action_head.vlln.bias
|
| 507 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.weight
|
| 508 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.bias
|
| 509 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 510 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 511 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 512 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 513 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 514 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 515 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 516 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 517 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.weight
|
| 518 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.bias
|
| 519 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 520 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 521 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 522 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 523 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.weight
|
| 524 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.bias
|
| 525 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 526 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 527 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 528 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 529 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 530 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 531 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 532 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 533 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.weight
|
| 534 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.bias
|
| 535 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 536 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 537 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 538 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 539 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.weight
|
| 540 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.bias
|
| 541 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 542 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 543 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 544 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 545 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 546 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 547 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 548 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 549 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.weight
|
| 550 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.bias
|
| 551 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 552 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 553 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 554 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 555 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.weight
|
| 556 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.bias
|
| 557 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 558 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 559 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 560 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 561 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 562 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 563 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 564 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 565 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.weight
|
| 566 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.bias
|
| 567 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 568 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 569 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 570 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 571 |
+
Trainable summary: {'trainable_preset': 'processing_line_only', 'trainable_modules': 'backbone.eagle_linear(0), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088)', 'trainable_module_names': 'backbone.eagle_linear, action_head.vlln, action_head.vl_self_attention', 'trainable_module_param_counts': {'backbone.eagle_linear': 0, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088}, 'trainable_param_count': 201437184, 'total_param_count': 2736746944, 'trainable_param_ratio': 0.07360460726616601}
|
| 572 |
+
Run name: rkd_v2_2_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5_phase2
|
| 573 |
+
Run name: rkd_v2_2_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5_phase2
|
| 574 |
+
train dataloader length: 6873
|
| 575 |
+
train dataset length: 439854
|
| 576 |
+
GPU memory before training: 7.111904144287109 GB
|
| 577 |
+
TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/phase2/runs
|
| 578 |
+
train dataloader length: 6873
|
| 579 |
+
train dataset length: 439854
|
| 580 |
+
GPU memory before training: 7.111904144287109 GB
|
| 581 |
+
TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/phase2/runs
|
| 582 |
+
wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from /home/ext_minje/.netrc.
|
| 583 |
+
wandb: Currently logged in as: minje227_hyu (minje227_hyu-hanyang-university) to https://api.wandb.ai. Use `wandb login --relogin` to force relogin
|
| 584 |
+
wandb: setting up run r9a8rv7x
|
| 585 |
+
wandb: Tracking run with wandb version 0.25.0
|
| 586 |
+
wandb: Run data is saved locally in /home/ext_minje/clvla/benchmarks/robocasa_v2/wandb/run-20260622_132246-r9a8rv7x
|
| 587 |
+
wandb: Run `wandb offline` to turn off syncing.
|
| 588 |
+
wandb: Syncing run rkd_v2_2_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5_phase2
|
| 589 |
+
wandb: ⭐️ View project at https://wandb.ai/minje227_hyu-hanyang-university/huggingface
|
| 590 |
+
wandb: 🚀 View run at https://wandb.ai/minje227_hyu-hanyang-university/huggingface/runs/r9a8rv7x
|
| 591 |
+
|
| 592 |
0%| | 0/30000 [00:00<?, ?it/s]wandb: updating run metadata
|
| 593 |
+
[rank1]: Traceback (most recent call last):
|
| 594 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1042, in <module>
|
| 595 |
+
[rank1]: run_yaml_experiment(
|
| 596 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 991, in run_yaml_experiment
|
| 597 |
+
[rank1]: main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 598 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 721, in main
|
| 599 |
+
[rank1]: experiment.train()
|
| 600 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 601 |
+
[rank1]: self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 602 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 603 |
+
[rank1]: return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 604 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 605 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 606 |
+
[rank1]: return inner_training_loop(
|
| 607 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^
|
| 608 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 609 |
+
[rank1]: tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 610 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 611 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3782, in training_step
|
| 612 |
+
[rank1]: self.accelerator.backward(loss, **kwargs)
|
| 613 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/accelerator.py", line 2838, in backward
|
| 614 |
+
[rank1]: loss.backward(**kwargs)
|
| 615 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/_tensor.py", line 648, in backward
|
| 616 |
+
[rank1]: torch.autograd.backward(
|
| 617 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/__init__.py", line 353, in backward
|
| 618 |
+
[rank1]: _engine_run_backward(
|
| 619 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/graph.py", line 824, in _engine_run_backward
|
| 620 |
+
[rank1]: return Variable._execution_engine.run_backward( # Calls into the C++ engine to run the backward pass
|
| 621 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 622 |
+
[rank1]: torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 26.09 GiB. GPU 1 has a total capacity of 139.80 GiB of which 18.08 GiB is free. Process 1961377 has 11.53 GiB memory in use. Including non-PyTorch memory, this process has 98.56 GiB memory in use. Of the allocated memory 96.84 GiB is allocated by PyTorch, and 184.72 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 623 |
+
wandb: uploading config.yaml
|
| 624 |
+
wandb: 🚀 View run rkd_v2_2_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5_phase2 at: https://wandb.ai/minje227_hyu-hanyang-university/huggingface/runs/r9a8rv7x
|
| 625 |
+
wandb: ⭐️ View project at: https://wandb.ai/minje227_hyu-hanyang-university/huggingface
|
| 626 |
+
wandb: Synced 5 W&B file(s), 0 media file(s), 0 artifact file(s) and 0 other file(s)
|
| 627 |
+
wandb: Find logs at: ./wandb/run-20260622_132246-r9a8rv7x/logs
|
| 628 |
+
Traceback (most recent call last):
|
| 629 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1042, in <module>
|
| 630 |
+
run_yaml_experiment(
|
| 631 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 991, in run_yaml_experiment
|
| 632 |
+
main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 633 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 721, in main
|
| 634 |
+
experiment.train()
|
| 635 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 636 |
+
self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 637 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 638 |
+
return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 639 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 640 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 641 |
+
return inner_training_loop(
|
| 642 |
+
^^^^^^^^^^^^^^^^^^^^
|
| 643 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 644 |
+
tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 645 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 646 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3782, in training_step
|
| 647 |
+
self.accelerator.backward(loss, **kwargs)
|
| 648 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/accelerator.py", line 2838, in backward
|
| 649 |
+
loss.backward(**kwargs)
|
| 650 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/_tensor.py", line 648, in backward
|
| 651 |
+
torch.autograd.backward(
|
| 652 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/__init__.py", line 353, in backward
|
| 653 |
+
_engine_run_backward(
|
| 654 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/graph.py", line 824, in _engine_run_backward
|
| 655 |
+
return Variable._execution_engine.run_backward( # Calls into the C++ engine to run the backward pass
|
| 656 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 657 |
+
torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 26.09 GiB. GPU 0 has a total capacity of 139.80 GiB of which 15.18 GiB is free. Including non-PyTorch memory, this process has 124.60 GiB memory in use. Of the allocated memory 122.94 GiB is allocated by PyTorch, and 124.72 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 658 |
+
[rank0]: Traceback (most recent call last):
|
| 659 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1042, in <module>
|
| 660 |
+
[rank0]: run_yaml_experiment(
|
| 661 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 991, in run_yaml_experiment
|
| 662 |
+
[rank0]: main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 663 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 721, in main
|
| 664 |
+
[rank0]: experiment.train()
|
| 665 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 666 |
+
[rank0]: self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 667 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 668 |
+
[rank0]: return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 669 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 670 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 671 |
+
[rank0]: return inner_training_loop(
|
| 672 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^
|
| 673 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 674 |
+
[rank0]: tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 675 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 676 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3782, in training_step
|
| 677 |
+
[rank0]: self.accelerator.backward(loss, **kwargs)
|
| 678 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/accelerator.py", line 2838, in backward
|
| 679 |
+
[rank0]: loss.backward(**kwargs)
|
| 680 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/_tensor.py", line 648, in backward
|
| 681 |
+
[rank0]: torch.autograd.backward(
|
| 682 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/__init__.py", line 353, in backward
|
| 683 |
+
[rank0]: _engine_run_backward(
|
| 684 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/autograd/graph.py", line 824, in _engine_run_backward
|
| 685 |
+
[rank0]: return Variable._execution_engine.run_backward( # Calls into the C++ engine to run the backward pass
|
| 686 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 687 |
+
[rank0]: torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 26.09 GiB. GPU 0 has a total capacity of 139.80 GiB of which 15.18 GiB is free. Including non-PyTorch memory, this process has 124.60 GiB memory in use. Of the allocated memory 122.94 GiB is allocated by PyTorch, and 124.72 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 688 |
+
[rank0]:[W622 13:22:59.831661402 ProcessGroupNCCL.cpp:1479] Warning: WARNING: destroy_process_group() was not called before program exit, which can leak resources. For more info, please see https://pytorch.org/docs/stable/distributed.html#shutdown (function operator())
|
| 689 |
+
W0622 13:23:01.163000 2934444 site-packages/torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2934554 closing signal SIGTERM
|
| 690 |
+
E0622 13:23:02.681000 2934444 site-packages/torch/distributed/elastic/multiprocessing/api.py:874] failed (exitcode: 1) local_rank: 1 (pid: 2934555) of binary: /home/ext_minje/miniforge3/envs/robocasa/bin/python
|
| 691 |
+
Traceback (most recent call last):
|
| 692 |
+
File "<frozen runpy>", line 198, in _run_module_as_main
|
| 693 |
+
File "<frozen runpy>", line 88, in _run_code
|
| 694 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 896, in <module>
|
| 695 |
+
main()
|
| 696 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/elastic/multiprocessing/errors/__init__.py", line 355, in wrapper
|
| 697 |
+
return f(*args, **kwargs)
|
| 698 |
+
^^^^^^^^^^^^^^^^^^
|
| 699 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 892, in main
|
| 700 |
+
run(args)
|
| 701 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 883, in run
|
| 702 |
+
elastic_launch(
|
| 703 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/launcher/api.py", line 139, in __call__
|
| 704 |
+
return launch_agent(self._config, self._entrypoint, list(args))
|
| 705 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 706 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/launcher/api.py", line 270, in launch_agent
|
| 707 |
+
raise ChildFailedError(
|
| 708 |
+
torch.distributed.elastic.multiprocessing.errors.ChildFailedError:
|
| 709 |
+
============================================================
|
| 710 |
+
/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py FAILED
|
| 711 |
+
------------------------------------------------------------
|
| 712 |
+
Failures:
|
| 713 |
+
<NO_OTHER_FAILURES>
|
| 714 |
+
------------------------------------------------------------
|
| 715 |
+
Root Cause (first observed failure):
|
| 716 |
+
[0]:
|
| 717 |
+
time : 2026-06-22_13:23:01
|
| 718 |
+
host : DGX-H200-01
|
| 719 |
+
rank : 1 (local_rank: 1)
|
| 720 |
+
exitcode : 1 (pid: 2934555)
|
| 721 |
+
error_file: <N/A>
|
| 722 |
+
traceback : To enable traceback see: https://pytorch.org/docs/stable/elastic/errors.html
|
| 723 |
+
============================================================
|
| 724 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 725 |
+
|
| 726 |
+
==================================================
|
| 727 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 728 |
+
==================================================
|
| 729 |
+
config: /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_raw_action.yaml
|
| 730 |
+
dataset_soup: None
|
| 731 |
+
output_dir: /tmp/gr00t
|
| 732 |
+
output_root: None
|
| 733 |
+
data_config: panda_omron
|
| 734 |
+
batch_size: 32
|
| 735 |
+
max_steps: 300000
|
| 736 |
+
num_gpus: 2
|
| 737 |
+
save_steps: 20000
|
| 738 |
+
run_name: None
|
| 739 |
+
save_total_limit: 100
|
| 740 |
+
seed: 42
|
| 741 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 742 |
+
tune_llm: False
|
| 743 |
+
tune_visual: False
|
| 744 |
+
tune_projector: True
|
| 745 |
+
tune_diffusion_model: True
|
| 746 |
+
resume: False
|
| 747 |
+
learning_rate: 3e-05
|
| 748 |
+
weight_decay: 1e-05
|
| 749 |
+
warmup_ratio: 0.05
|
| 750 |
+
lora_rank: 0
|
| 751 |
+
lora_alpha: 16
|
| 752 |
+
lora_dropout: 0.1
|
| 753 |
+
lora_full_model: False
|
| 754 |
+
dataloader_num_workers: 8
|
| 755 |
+
report_to: wandb
|
| 756 |
+
embodiment_tag: new_embodiment
|
| 757 |
+
video_backend: opencv
|
| 758 |
+
balance_dataset_weights: True
|
| 759 |
+
balance_trajectory_weights: True
|
| 760 |
+
ds_weights_alpha: 0.4
|
| 761 |
+
==================================================
|
| 762 |
+
|
| 763 |
+
Using 2 GPUs
|
| 764 |
+
Running torchrun command: ['/home/ext_minje/miniforge3/envs/robocasa/bin/python', '-m', 'torch.distributed.run', '--standalone', '--nproc_per_node=2', '--nnodes=1', '/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py', '--config', '/home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_raw_action.yaml', '--batch-size', '32', '--num-gpus', '2']
|
rkd_v2_2/logs/rkd_v2_2_flatten_raw_action_gpu45_bs32_20260622_132220.log.pid
ADDED
|
@@ -0,0 +1 @@
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| 1 |
+
2934174
|
rkd_v2_2/logs/rkd_v2_2_flatten_raw_action_gpu45_bs64_20260622_131850.log
ADDED
|
@@ -0,0 +1,871 @@
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| 0 |
0%| | 0/30000 [00:00<?, ?it/s][rank1]: Traceback (most recent call last):
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| 1 |
+
CMD: CUDA_VISIBLE_DEVICES=4,5 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True /home/ext_minje/miniforge3/envs/robocasa/bin/python /home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py --config /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_raw_action.yaml --num-gpus 2 --batch-size 64
|
| 2 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 3 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 4 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 5 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 6 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 7 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 8 |
+
check_for_updates()
|
| 9 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 10 |
+
|
| 11 |
+
*****************************************
|
| 12 |
+
Setting OMP_NUM_THREADS environment variable for each process to be 1 in default, to avoid your system being overloaded, please further tune the variable for optimal performance in your application as needed.
|
| 13 |
+
*****************************************
|
| 14 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 15 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 16 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 17 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 18 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 19 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 20 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 21 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 22 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 23 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 24 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 25 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 26 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 27 |
+
check_for_updates()
|
| 28 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 29 |
+
check_for_updates()
|
| 30 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 31 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 32 |
+
|
| 33 |
+
==================================================
|
| 34 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 35 |
+
==================================================
|
| 36 |
+
config: /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_raw_action.yaml
|
| 37 |
+
dataset_soup: None
|
| 38 |
+
output_dir: /tmp/gr00t
|
| 39 |
+
output_root: None
|
| 40 |
+
data_config: panda_omron
|
| 41 |
+
batch_size: 64
|
| 42 |
+
max_steps: 300000
|
| 43 |
+
num_gpus: 2
|
| 44 |
+
save_steps: 20000
|
| 45 |
+
run_name: None
|
| 46 |
+
save_total_limit: 100
|
| 47 |
+
seed: 42
|
| 48 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 49 |
+
tune_llm: False
|
| 50 |
+
tune_visual: False
|
| 51 |
+
tune_projector: True
|
| 52 |
+
tune_diffusion_model: True
|
| 53 |
+
resume: False
|
| 54 |
+
learning_rate: 3e-05
|
| 55 |
+
weight_decay: 1e-05
|
| 56 |
+
warmup_ratio: 0.05
|
| 57 |
+
lora_rank: 0
|
| 58 |
+
lora_alpha: 16
|
| 59 |
+
lora_dropout: 0.1
|
| 60 |
+
lora_full_model: False
|
| 61 |
+
dataloader_num_workers: 8
|
| 62 |
+
report_to: wandb
|
| 63 |
+
embodiment_tag: new_embodiment
|
| 64 |
+
video_backend: opencv
|
| 65 |
+
balance_dataset_weights: True
|
| 66 |
+
balance_trajectory_weights: True
|
| 67 |
+
ds_weights_alpha: 0.4
|
| 68 |
+
==================================================
|
| 69 |
+
|
| 70 |
+
Using 2 GPUs
|
| 71 |
+
|
| 72 |
+
================================================================================
|
| 73 |
+
Starting sweep branch: default
|
| 74 |
+
Sweep vars: {}
|
| 75 |
+
================================================================================
|
| 76 |
+
|
| 77 |
+
--------------------------------------------------------------------------------
|
| 78 |
+
Running phase 1: phase2_rkd_da_only
|
| 79 |
+
Policy type: groot_rkd_v2
|
| 80 |
+
Base model path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 81 |
+
Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/phase2
|
| 82 |
+
Trainable preset: processing_line_only
|
| 83 |
+
Policy overrides: {'rkd_enabled': True, 'rkd_fm_loss_weight': 0.0, 'rkd_loss_weight': 1.0, 'rkd_relation_mode': 'flatten', 'rkd_loss_type': 'distance_angle', 'rkd_teacher_source': 'raw_action', 'rkd_action_encoder_projector_enabled': False, 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True}
|
| 84 |
+
--------------------------------------------------------------------------------
|
| 85 |
+
|
| 86 |
+
[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]
|
| 87 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 88 |
+
/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
|
| 89 |
+
self.statistics[key] = torch.tensor(value)
|
| 90 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 91 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 92 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 93 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 94 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 95 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 96 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 97 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 98 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 99 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 100 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 101 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 102 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 103 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 104 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 105 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 106 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 107 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 108 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 109 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 110 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 111 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 112 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 113 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 114 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 115 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 116 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 117 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 118 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 119 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 120 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 121 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 122 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 123 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 124 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 125 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 126 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 127 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 128 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 129 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 130 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 131 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 132 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 133 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 134 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 135 |
+
|
| 136 |
+
==================================================
|
| 137 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 138 |
+
==================================================
|
| 139 |
+
config: /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_raw_action.yaml
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dataset_soup: None
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+
output_dir: /tmp/gr00t
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+
output_root: None
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+
data_config: panda_omron
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+
batch_size: 64
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+
max_steps: 300000
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num_gpus: 2
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save_steps: 20000
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run_name: None
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save_total_limit: 100
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seed: 42
|
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base_model_path: nvidia/GR00T-N1.5-3B
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tune_llm: False
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tune_visual: False
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tune_projector: True
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tune_diffusion_model: True
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resume: False
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learning_rate: 3e-05
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weight_decay: 1e-05
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warmup_ratio: 0.05
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lora_rank: 0
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lora_alpha: 16
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lora_dropout: 0.1
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lora_full_model: False
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dataloader_num_workers: 8
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report_to: wandb
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embodiment_tag: new_embodiment
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video_backend: opencv
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balance_dataset_weights: True
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balance_trajectory_weights: True
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ds_weights_alpha: 0.4
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+
==================================================
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+
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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Using 100 subset demos for filter_key: 100_demos
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Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
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dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
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0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
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0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
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0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
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0.75517122 0.7973985 ]
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+
Loaded 26 datasets
|
| 184 |
+
Loading pretrained dual brain from /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 185 |
+
Tune backbone vision tower: False
|
| 186 |
+
Tune backbone LLM: False
|
| 187 |
+
Tune action head projector: False
|
| 188 |
+
Tune action head DiT: False
|
| 189 |
+
Model not found or avail in the huggingface hub. Loading from local path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
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Using 2 GPUs
|
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+
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+
================================================================================
|
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Starting sweep branch: default
|
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Sweep vars: {}
|
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+
================================================================================
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+
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+
--------------------------------------------------------------------------------
|
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Running phase 1: phase2_rkd_da_only
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Policy type: groot_rkd_v2
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Base model path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
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Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/phase2
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+
Trainable preset: processing_line_only
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+
Policy overrides: {'rkd_enabled': True, 'rkd_fm_loss_weight': 0.0, 'rkd_loss_weight': 1.0, 'rkd_relation_mode': 'flatten', 'rkd_loss_type': 'distance_angle', 'rkd_teacher_source': 'raw_action', 'rkd_action_encoder_projector_enabled': False, 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True}
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+
--------------------------------------------------------------------------------
|
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+
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+
[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]
|
| 207 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 208 |
+
/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
|
| 209 |
+
self.statistics[key] = torch.tensor(value)
|
| 210 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 211 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 212 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 213 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 214 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 215 |
+
Using 100 subset demos for filter_key: 100_demos
|
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+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 217 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 218 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 219 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 220 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 221 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 222 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 223 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 224 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 225 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 226 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 227 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 228 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 229 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 230 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 231 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 232 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 233 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 234 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 235 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 236 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 237 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 238 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 239 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 240 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 241 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 242 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 243 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 244 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 245 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 246 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 247 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 248 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 249 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 250 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 251 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 252 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 253 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 254 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 255 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 256 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 257 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 258 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 259 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 260 |
+
dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
|
| 261 |
+
0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
|
| 262 |
+
0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
|
| 263 |
+
0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
|
| 264 |
+
0.75517122 0.7973985 ]
|
| 265 |
+
Loaded 26 datasets
|
| 266 |
+
Loading pretrained dual brain from /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 267 |
+
Tune backbone vision tower: False
|
| 268 |
+
Tune backbone LLM: False
|
| 269 |
+
Tune action head projector: False
|
| 270 |
+
Tune action head DiT: False
|
| 271 |
+
Model not found or avail in the huggingface hub. Loading from local path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 272 |
+
Tune backbone llm: False
|
| 273 |
+
Tune backbone visual: True
|
| 274 |
+
Total number of DiT parameters: 550386688
|
| 275 |
+
Tune backbone llm: False
|
| 276 |
+
Tune backbone visual: True
|
| 277 |
+
Total number of DiT parameters: 550386688
|
| 278 |
+
Total number of SelfAttentionTransformer parameters: 201433088
|
| 279 |
+
Tune action head projector: True
|
| 280 |
+
Tune action head diffusion model: True
|
| 281 |
+
|
| 282 |
+
Tune action head projector: True
|
| 283 |
+
Tune action head diffusion model: True
|
| 284 |
+
|
| 285 |
+
Some weights of GR00T_N1_5_RKD were not initialized from the model checkpoint at /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000 and are newly initialized: ['rkd_action_encoder_projector.bias', 'rkd_action_encoder_projector.weight']
|
| 286 |
+
You should probably TRAIN this model on a down-stream task to be able to use it for predictions and inference.
|
| 287 |
+
Tune backbone llm: False
|
| 288 |
+
Tune backbone visual: False
|
| 289 |
+
Warning: No backbone trainable parameters found.
|
| 290 |
+
Tune action head projector: False
|
| 291 |
+
Tune action head diffusion model: False
|
| 292 |
+
Action head trainable parameter: future_tokens.weight
|
| 293 |
+
Action head trainable parameter: vlln.weight
|
| 294 |
+
Action head trainable parameter: vlln.bias
|
| 295 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.weight
|
| 296 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.bias
|
| 297 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 298 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 299 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 300 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 301 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 302 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 303 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 304 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 305 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.weight
|
| 306 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.bias
|
| 307 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 308 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 309 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 310 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 311 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.weight
|
| 312 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.bias
|
| 313 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 314 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 315 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 316 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 317 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 318 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 319 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 320 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 321 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.weight
|
| 322 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.bias
|
| 323 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 324 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 325 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 326 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 327 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.weight
|
| 328 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.bias
|
| 329 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 330 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 331 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 332 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 333 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 334 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 335 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 336 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 337 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.weight
|
| 338 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.bias
|
| 339 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 340 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 341 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 342 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 343 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.weight
|
| 344 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.bias
|
| 345 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 346 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 347 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 348 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 349 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 350 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 351 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 352 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 353 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.weight
|
| 354 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.bias
|
| 355 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 356 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 357 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 358 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 359 |
+
Applied trainable preset: processing_line_only
|
| 360 |
+
Trainable parameter tensors after preset: 66
|
| 361 |
+
trainable: action_head.vlln.weight
|
| 362 |
+
trainable: action_head.vlln.bias
|
| 363 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.weight
|
| 364 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.bias
|
| 365 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 366 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 367 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 368 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 369 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 370 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 371 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 372 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 373 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.weight
|
| 374 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.bias
|
| 375 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 376 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 377 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 378 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 379 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.weight
|
| 380 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.bias
|
| 381 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 382 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 383 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 384 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 385 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 386 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 387 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 388 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 389 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.weight
|
| 390 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.bias
|
| 391 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 392 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 393 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 394 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 395 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.weight
|
| 396 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.bias
|
| 397 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 398 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 399 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 400 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 401 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 402 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 403 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 404 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 405 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.weight
|
| 406 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.bias
|
| 407 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 408 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 409 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 410 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 411 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.weight
|
| 412 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.bias
|
| 413 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 414 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 415 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 416 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 417 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 418 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 419 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 420 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 421 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.weight
|
| 422 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.bias
|
| 423 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 424 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 425 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 426 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 427 |
+
Trainable summary: {'trainable_preset': 'processing_line_only', 'trainable_modules': 'backbone.eagle_linear(0), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088)', 'trainable_module_names': 'backbone.eagle_linear, action_head.vlln, action_head.vl_self_attention', 'trainable_module_param_counts': {'backbone.eagle_linear': 0, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088}, 'trainable_param_count': 201437184, 'total_param_count': 2736746944, 'trainable_param_ratio': 0.07360460726616601}
|
| 428 |
+
|
| 429 |
+
Some weights of GR00T_N1_5_RKD were not initialized from the model checkpoint at /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000 and are newly initialized: ['rkd_action_encoder_projector.bias', 'rkd_action_encoder_projector.weight']
|
| 430 |
+
You should probably TRAIN this model on a down-stream task to be able to use it for predictions and inference.
|
| 431 |
+
Tune backbone llm: False
|
| 432 |
+
Tune backbone visual: False
|
| 433 |
+
Warning: No backbone trainable parameters found.
|
| 434 |
+
Tune action head projector: False
|
| 435 |
+
Tune action head diffusion model: False
|
| 436 |
+
Action head trainable parameter: future_tokens.weight
|
| 437 |
+
Action head trainable parameter: vlln.weight
|
| 438 |
+
Action head trainable parameter: vlln.bias
|
| 439 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.weight
|
| 440 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.bias
|
| 441 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 442 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 443 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 444 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 445 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 446 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 447 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 448 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 449 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.weight
|
| 450 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.bias
|
| 451 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 452 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 453 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 454 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 455 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.weight
|
| 456 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.bias
|
| 457 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 458 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 459 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 460 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 461 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 462 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 463 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 464 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 465 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.weight
|
| 466 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.bias
|
| 467 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 468 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 469 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 470 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 471 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.weight
|
| 472 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.bias
|
| 473 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 474 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 475 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 476 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 477 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 478 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 479 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 480 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 481 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.weight
|
| 482 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.bias
|
| 483 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 484 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 485 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 486 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 487 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.weight
|
| 488 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.bias
|
| 489 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 490 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 491 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 492 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 493 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 494 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 495 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 496 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 497 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.weight
|
| 498 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.bias
|
| 499 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 500 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 501 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 502 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 503 |
+
Applied trainable preset: processing_line_only
|
| 504 |
+
Trainable parameter tensors after preset: 66
|
| 505 |
+
trainable: action_head.vlln.weight
|
| 506 |
+
trainable: action_head.vlln.bias
|
| 507 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.weight
|
| 508 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.bias
|
| 509 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 510 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 511 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 512 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 513 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 514 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 515 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 516 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 517 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.weight
|
| 518 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.bias
|
| 519 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 520 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 521 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 522 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 523 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.weight
|
| 524 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.bias
|
| 525 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 526 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 527 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 528 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 529 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 530 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 531 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 532 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 533 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.weight
|
| 534 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.bias
|
| 535 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 536 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 537 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 538 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 539 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.weight
|
| 540 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.bias
|
| 541 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 542 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 543 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 544 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 545 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 546 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 547 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 548 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 549 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.weight
|
| 550 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.bias
|
| 551 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 552 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 553 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 554 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 555 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.weight
|
| 556 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.bias
|
| 557 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 558 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 559 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 560 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 561 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 562 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 563 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 564 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 565 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.weight
|
| 566 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.bias
|
| 567 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 568 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 569 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 570 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 571 |
+
Trainable summary: {'trainable_preset': 'processing_line_only', 'trainable_modules': 'backbone.eagle_linear(0), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088)', 'trainable_module_names': 'backbone.eagle_linear, action_head.vlln, action_head.vl_self_attention', 'trainable_module_param_counts': {'backbone.eagle_linear': 0, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088}, 'trainable_param_count': 201437184, 'total_param_count': 2736746944, 'trainable_param_ratio': 0.07360460726616601}
|
| 572 |
+
Run name: rkd_v2_2_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5_phase2
|
| 573 |
+
Run name: rkd_v2_2_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5_phase2
|
| 574 |
+
train dataloader length: 3437
|
| 575 |
+
train dataset length: 439854
|
| 576 |
+
GPU memory before training: 7.111904144287109 GB
|
| 577 |
+
TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/phase2/runs
|
| 578 |
+
train dataloader length: 3437
|
| 579 |
+
train dataset length: 439854
|
| 580 |
+
GPU memory before training: 7.111904144287109 GB
|
| 581 |
+
TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/phase2/runs
|
| 582 |
+
wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from /home/ext_minje/.netrc.
|
| 583 |
+
wandb: Currently logged in as: minje227_hyu (minje227_hyu-hanyang-university) to https://api.wandb.ai. Use `wandb login --relogin` to force relogin
|
| 584 |
+
wandb: setting up run qsfx6i9d
|
| 585 |
+
wandb: Tracking run with wandb version 0.25.0
|
| 586 |
+
wandb: Run data is saved locally in /home/ext_minje/clvla/benchmarks/robocasa_v2/wandb/run-20260622_131918-qsfx6i9d
|
| 587 |
+
wandb: Run `wandb offline` to turn off syncing.
|
| 588 |
+
wandb: Syncing run rkd_v2_2_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5_phase2
|
| 589 |
+
wandb: ⭐️ View project at https://wandb.ai/minje227_hyu-hanyang-university/huggingface
|
| 590 |
+
wandb: 🚀 View run at https://wandb.ai/minje227_hyu-hanyang-university/huggingface/runs/qsfx6i9d
|
| 591 |
+
|
| 592 |
0%| | 0/30000 [00:00<?, ?it/s][rank1]: Traceback (most recent call last):
|
| 593 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1042, in <module>
|
| 594 |
+
[rank1]: run_yaml_experiment(
|
| 595 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 991, in run_yaml_experiment
|
| 596 |
+
[rank1]: main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 597 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 721, in main
|
| 598 |
+
[rank1]: experiment.train()
|
| 599 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 600 |
+
[rank1]: self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 601 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 602 |
+
[rank1]: return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 603 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 604 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 605 |
+
[rank1]: return inner_training_loop(
|
| 606 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^
|
| 607 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 608 |
+
[rank1]: tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 609 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 610 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3736, in training_step
|
| 611 |
+
[rank1]: loss = self.compute_loss(model, inputs, num_items_in_batch=num_items_in_batch)
|
| 612 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 613 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 77, in compute_loss
|
| 614 |
+
[rank1]: outputs = model(inputs)
|
| 615 |
+
[rank1]: ^^^^^^^^^^^^^
|
| 616 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 617 |
+
[rank1]: return self._call_impl(*args, **kwargs)
|
| 618 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 619 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 620 |
+
[rank1]: return forward_call(*args, **kwargs)
|
| 621 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 622 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1637, in forward
|
| 623 |
+
[rank1]: else self._run_ddp_forward(*inputs, **kwargs)
|
| 624 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 625 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1464, in _run_ddp_forward
|
| 626 |
+
[rank1]: return self.module(*inputs, **kwargs) # type: ignore[index]
|
| 627 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 628 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 629 |
+
[rank1]: return self._call_impl(*args, **kwargs)
|
| 630 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 631 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 632 |
+
[rank1]: return forward_call(*args, **kwargs)
|
| 633 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 634 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 823, in forward
|
| 635 |
+
[rank1]: return model_forward(*args, **kwargs)
|
| 636 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 637 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 811, in __call__
|
| 638 |
+
[rank1]: return convert_to_fp32(self.model_forward(*args, **kwargs))
|
| 639 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 640 |
+
[rank1]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/amp/autocast_mode.py", line 44, in decorate_autocast
|
| 641 |
+
[rank1]: return func(*args, **kwargs)
|
| 642 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^
|
| 643 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 597, in forward
|
| 644 |
+
[rank1]: self._add_rkd_loss(action_head_outputs, backbone_outputs, action_inputs)
|
| 645 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 529, in _add_rkd_loss
|
| 646 |
+
[rank1]: rkd_loss, rkd_metrics = self._compute_rkd_loss(
|
| 647 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^
|
| 648 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 436, in _compute_rkd_loss
|
| 649 |
+
[rank1]: angle_loss = rkd_angle_loss(student_vector, teacher_vector)
|
| 650 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 651 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 167, in rkd_angle_loss
|
| 652 |
+
[rank1]: student_angle = _angle_relation(student, eps=eps)
|
| 653 |
+
[rank1]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 654 |
+
[rank1]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 184, in _angle_relation
|
| 655 |
+
[rank1]: diff = x[:, None, :] - x[None, :, :]
|
| 656 |
+
[rank1]: ~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
|
| 657 |
+
[rank1]: torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 104.38 GiB. GPU 1 has a total capacity of 139.80 GiB of which 77.26 GiB is free. Process 1961377 has 11.53 GiB memory in use. Including non-PyTorch memory, this process has 35.91 GiB memory in use. Of the allocated memory 34.24 GiB is allocated by PyTorch, and 196.95 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 658 |
+
wandb: updating run metadata
|
| 659 |
+
wandb: uploading config.yaml
|
| 660 |
+
wandb: uploading data
|
| 661 |
+
wandb: 🚀 View run rkd_v2_2_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5_phase2 at: https://wandb.ai/minje227_hyu-hanyang-university/huggingface/runs/qsfx6i9d
|
| 662 |
+
wandb: ⭐️ View project at: https://wandb.ai/minje227_hyu-hanyang-university/huggingface
|
| 663 |
+
wandb: Synced 5 W&B file(s), 0 media file(s), 0 artifact file(s) and 0 other file(s)
|
| 664 |
+
wandb: Find logs at: ./wandb/run-20260622_131918-qsfx6i9d/logs
|
| 665 |
+
Traceback (most recent call last):
|
| 666 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1042, in <module>
|
| 667 |
+
run_yaml_experiment(
|
| 668 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 991, in run_yaml_experiment
|
| 669 |
+
main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 670 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 721, in main
|
| 671 |
+
experiment.train()
|
| 672 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 673 |
+
self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 674 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 675 |
+
return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 676 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 677 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 678 |
+
return inner_training_loop(
|
| 679 |
+
^^^^^^^^^^^^^^^^^^^^
|
| 680 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 681 |
+
tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 682 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 683 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3736, in training_step
|
| 684 |
+
loss = self.compute_loss(model, inputs, num_items_in_batch=num_items_in_batch)
|
| 685 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 686 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 77, in compute_loss
|
| 687 |
+
outputs = model(inputs)
|
| 688 |
+
^^^^^^^^^^^^^
|
| 689 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 690 |
+
return self._call_impl(*args, **kwargs)
|
| 691 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 692 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 693 |
+
return forward_call(*args, **kwargs)
|
| 694 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 695 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1637, in forward
|
| 696 |
+
else self._run_ddp_forward(*inputs, **kwargs)
|
| 697 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 698 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1464, in _run_ddp_forward
|
| 699 |
+
return self.module(*inputs, **kwargs) # type: ignore[index]
|
| 700 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 701 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 702 |
+
return self._call_impl(*args, **kwargs)
|
| 703 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 704 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 705 |
+
return forward_call(*args, **kwargs)
|
| 706 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 707 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 823, in forward
|
| 708 |
+
return model_forward(*args, **kwargs)
|
| 709 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 710 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 811, in __call__
|
| 711 |
+
return convert_to_fp32(self.model_forward(*args, **kwargs))
|
| 712 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 713 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/amp/autocast_mode.py", line 44, in decorate_autocast
|
| 714 |
+
return func(*args, **kwargs)
|
| 715 |
+
^^^^^^^^^^^^^^^^^^^^^
|
| 716 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 597, in forward
|
| 717 |
+
self._add_rkd_loss(action_head_outputs, backbone_outputs, action_inputs)
|
| 718 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 529, in _add_rkd_loss
|
| 719 |
+
rkd_loss, rkd_metrics = self._compute_rkd_loss(
|
| 720 |
+
^^^^^^^^^^^^^^^^^^^^^^^
|
| 721 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 436, in _compute_rkd_loss
|
| 722 |
+
angle_loss = rkd_angle_loss(student_vector, teacher_vector)
|
| 723 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 724 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 167, in rkd_angle_loss
|
| 725 |
+
student_angle = _angle_relation(student, eps=eps)
|
| 726 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 727 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 184, in _angle_relation
|
| 728 |
+
diff = x[:, None, :] - x[None, :, :]
|
| 729 |
+
~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
|
| 730 |
+
torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 104.38 GiB. GPU 0 has a total capacity of 139.80 GiB of which 103.88 GiB is free. Including non-PyTorch memory, this process has 35.89 GiB memory in use. Of the allocated memory 34.24 GiB is allocated by PyTorch, and 176.95 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 731 |
+
[rank0]: Traceback (most recent call last):
|
| 732 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1042, in <module>
|
| 733 |
+
[rank0]: run_yaml_experiment(
|
| 734 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 991, in run_yaml_experiment
|
| 735 |
+
[rank0]: main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 736 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 721, in main
|
| 737 |
+
[rank0]: experiment.train()
|
| 738 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 739 |
+
[rank0]: self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 740 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 741 |
+
[rank0]: return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 742 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 743 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 744 |
+
[rank0]: return inner_training_loop(
|
| 745 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^
|
| 746 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 747 |
+
[rank0]: tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 748 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 749 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3736, in training_step
|
| 750 |
+
[rank0]: loss = self.compute_loss(model, inputs, num_items_in_batch=num_items_in_batch)
|
| 751 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 752 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 77, in compute_loss
|
| 753 |
+
[rank0]: outputs = model(inputs)
|
| 754 |
+
[rank0]: ^^^^^^^^^^^^^
|
| 755 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 756 |
+
[rank0]: return self._call_impl(*args, **kwargs)
|
| 757 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 758 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 759 |
+
[rank0]: return forward_call(*args, **kwargs)
|
| 760 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 761 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1637, in forward
|
| 762 |
+
[rank0]: else self._run_ddp_forward(*inputs, **kwargs)
|
| 763 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 764 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/parallel/distributed.py", line 1464, in _run_ddp_forward
|
| 765 |
+
[rank0]: return self.module(*inputs, **kwargs) # type: ignore[index]
|
| 766 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 767 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 768 |
+
[rank0]: return self._call_impl(*args, **kwargs)
|
| 769 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 770 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 771 |
+
[rank0]: return forward_call(*args, **kwargs)
|
| 772 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 773 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 823, in forward
|
| 774 |
+
[rank0]: return model_forward(*args, **kwargs)
|
| 775 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 776 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 811, in __call__
|
| 777 |
+
[rank0]: return convert_to_fp32(self.model_forward(*args, **kwargs))
|
| 778 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 779 |
+
[rank0]: File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/amp/autocast_mode.py", line 44, in decorate_autocast
|
| 780 |
+
[rank0]: return func(*args, **kwargs)
|
| 781 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^
|
| 782 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 597, in forward
|
| 783 |
+
[rank0]: self._add_rkd_loss(action_head_outputs, backbone_outputs, action_inputs)
|
| 784 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 529, in _add_rkd_loss
|
| 785 |
+
[rank0]: rkd_loss, rkd_metrics = self._compute_rkd_loss(
|
| 786 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^
|
| 787 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 436, in _compute_rkd_loss
|
| 788 |
+
[rank0]: angle_loss = rkd_angle_loss(student_vector, teacher_vector)
|
| 789 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 790 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 167, in rkd_angle_loss
|
| 791 |
+
[rank0]: student_angle = _angle_relation(student, eps=eps)
|
| 792 |
+
[rank0]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 793 |
+
[rank0]: File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 184, in _angle_relation
|
| 794 |
+
[rank0]: diff = x[:, None, :] - x[None, :, :]
|
| 795 |
+
[rank0]: ~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
|
| 796 |
+
[rank0]: torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 104.38 GiB. GPU 0 has a total capacity of 139.80 GiB of which 103.88 GiB is free. Including non-PyTorch memory, this process has 35.89 GiB memory in use. Of the allocated memory 34.24 GiB is allocated by PyTorch, and 176.95 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
| 797 |
+
W0622 13:19:36.923000 2826467 site-packages/torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2826545 closing signal SIGTERM
|
| 798 |
+
E0622 13:19:37.488000 2826467 site-packages/torch/distributed/elastic/multiprocessing/api.py:874] failed (exitcode: 1) local_rank: 1 (pid: 2826546) of binary: /home/ext_minje/miniforge3/envs/robocasa/bin/python
|
| 799 |
+
Traceback (most recent call last):
|
| 800 |
+
File "<frozen runpy>", line 198, in _run_module_as_main
|
| 801 |
+
File "<frozen runpy>", line 88, in _run_code
|
| 802 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 896, in <module>
|
| 803 |
+
main()
|
| 804 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/elastic/multiprocessing/errors/__init__.py", line 355, in wrapper
|
| 805 |
+
return f(*args, **kwargs)
|
| 806 |
+
^^^^^^^^^^^^^^^^^^
|
| 807 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 892, in main
|
| 808 |
+
run(args)
|
| 809 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/run.py", line 883, in run
|
| 810 |
+
elastic_launch(
|
| 811 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/launcher/api.py", line 139, in __call__
|
| 812 |
+
return launch_agent(self._config, self._entrypoint, list(args))
|
| 813 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 814 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/distributed/launcher/api.py", line 270, in launch_agent
|
| 815 |
+
raise ChildFailedError(
|
| 816 |
+
torch.distributed.elastic.multiprocessing.errors.ChildFailedError:
|
| 817 |
+
============================================================
|
| 818 |
+
/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py FAILED
|
| 819 |
+
------------------------------------------------------------
|
| 820 |
+
Failures:
|
| 821 |
+
<NO_OTHER_FAILURES>
|
| 822 |
+
------------------------------------------------------------
|
| 823 |
+
Root Cause (first observed failure):
|
| 824 |
+
[0]:
|
| 825 |
+
time : 2026-06-22_13:19:36
|
| 826 |
+
host : DGX-H200-01
|
| 827 |
+
rank : 1 (local_rank: 1)
|
| 828 |
+
exitcode : 1 (pid: 2826546)
|
| 829 |
+
error_file: <N/A>
|
| 830 |
+
traceback : To enable traceback see: https://pytorch.org/docs/stable/elastic/errors.html
|
| 831 |
+
============================================================
|
| 832 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 833 |
+
|
| 834 |
+
==================================================
|
| 835 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 836 |
+
==================================================
|
| 837 |
+
config: /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_raw_action.yaml
|
| 838 |
+
dataset_soup: None
|
| 839 |
+
output_dir: /tmp/gr00t
|
| 840 |
+
output_root: None
|
| 841 |
+
data_config: panda_omron
|
| 842 |
+
batch_size: 64
|
| 843 |
+
max_steps: 300000
|
| 844 |
+
num_gpus: 2
|
| 845 |
+
save_steps: 20000
|
| 846 |
+
run_name: None
|
| 847 |
+
save_total_limit: 100
|
| 848 |
+
seed: 42
|
| 849 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 850 |
+
tune_llm: False
|
| 851 |
+
tune_visual: False
|
| 852 |
+
tune_projector: True
|
| 853 |
+
tune_diffusion_model: True
|
| 854 |
+
resume: False
|
| 855 |
+
learning_rate: 3e-05
|
| 856 |
+
weight_decay: 1e-05
|
| 857 |
+
warmup_ratio: 0.05
|
| 858 |
+
lora_rank: 0
|
| 859 |
+
lora_alpha: 16
|
| 860 |
+
lora_dropout: 0.1
|
| 861 |
+
lora_full_model: False
|
| 862 |
+
dataloader_num_workers: 8
|
| 863 |
+
report_to: wandb
|
| 864 |
+
embodiment_tag: new_embodiment
|
| 865 |
+
video_backend: opencv
|
| 866 |
+
balance_dataset_weights: True
|
| 867 |
+
balance_trajectory_weights: True
|
| 868 |
+
ds_weights_alpha: 0.4
|
| 869 |
+
==================================================
|
| 870 |
+
|
| 871 |
+
Using 2 GPUs
|
| 872 |
+
Running torchrun command: ['/home/ext_minje/miniforge3/envs/robocasa/bin/python', '-m', 'torch.distributed.run', '--standalone', '--nproc_per_node=2', '--nnodes=1', '/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py', '--config', '/home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_raw_action.yaml', '--batch-size', '64', '--num-gpus', '2']
|
rkd_v2_2/logs/rkd_v2_2_flatten_raw_action_gpu45_bs64_20260622_131850.log.pid
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
2826133
|
rkd_v2_2/logs/rkd_v2_2_flatten_raw_action_gpu4_bs128_20260622_131539.log
ADDED
|
@@ -0,0 +1,355 @@
|
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| 0 |
0%| | 0/30000 [00:00<?, ?it/s]wandb: updating run metadata
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| 1 |
+
CMD: CUDA_VISIBLE_DEVICES=4 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True /home/ext_minje/miniforge3/envs/robocasa/bin/python /home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py --config /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_raw_action.yaml --num-gpus 1 --batch-size 128
|
| 2 |
+
[robosuite WARNING] No private macro file found! (macros.py:57)
|
| 3 |
+
[robosuite WARNING] It is recommended to use a private macro file (macros.py:58)
|
| 4 |
+
[robosuite WARNING] To setup, run: python /home/ext_minje/clvla/benchmarks/robocasa_v2/robosuite/robosuite/scripts/setup_macros.py (macros.py:59)
|
| 5 |
+
[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
|
| 6 |
+
[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
|
| 7 |
+
/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
|
| 8 |
+
check_for_updates()
|
| 9 |
+
`use_fast` is set to `True` but the image processor class does not have a fast version. Falling back to the slow version.
|
| 10 |
+
WARNING: mimicgen environments not imported since mimicgen is not installed!
|
| 11 |
+
|
| 12 |
+
==================================================
|
| 13 |
+
GR00T FINE-TUNING CONFIGURATION:
|
| 14 |
+
==================================================
|
| 15 |
+
config: /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/processing_line_only_v2/RKD_v2.2/rkd_v2.2_da_flatten_raw_action.yaml
|
| 16 |
+
dataset_soup: None
|
| 17 |
+
output_dir: /tmp/gr00t
|
| 18 |
+
output_root: None
|
| 19 |
+
data_config: panda_omron
|
| 20 |
+
batch_size: 128
|
| 21 |
+
max_steps: 300000
|
| 22 |
+
num_gpus: 1
|
| 23 |
+
save_steps: 20000
|
| 24 |
+
run_name: None
|
| 25 |
+
save_total_limit: 100
|
| 26 |
+
seed: 42
|
| 27 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 28 |
+
tune_llm: False
|
| 29 |
+
tune_visual: False
|
| 30 |
+
tune_projector: True
|
| 31 |
+
tune_diffusion_model: True
|
| 32 |
+
resume: False
|
| 33 |
+
learning_rate: 3e-05
|
| 34 |
+
weight_decay: 1e-05
|
| 35 |
+
warmup_ratio: 0.05
|
| 36 |
+
lora_rank: 0
|
| 37 |
+
lora_alpha: 16
|
| 38 |
+
lora_dropout: 0.1
|
| 39 |
+
lora_full_model: False
|
| 40 |
+
dataloader_num_workers: 8
|
| 41 |
+
report_to: wandb
|
| 42 |
+
embodiment_tag: new_embodiment
|
| 43 |
+
video_backend: opencv
|
| 44 |
+
balance_dataset_weights: True
|
| 45 |
+
balance_trajectory_weights: True
|
| 46 |
+
ds_weights_alpha: 0.4
|
| 47 |
+
==================================================
|
| 48 |
+
|
| 49 |
+
Using 1 GPUs
|
| 50 |
+
|
| 51 |
+
================================================================================
|
| 52 |
+
Starting sweep branch: default
|
| 53 |
+
Sweep vars: {}
|
| 54 |
+
================================================================================
|
| 55 |
+
|
| 56 |
+
--------------------------------------------------------------------------------
|
| 57 |
+
Running phase 1: phase2_rkd_da_only
|
| 58 |
+
Policy type: groot_rkd_v2
|
| 59 |
+
Base model path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 60 |
+
Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/phase2
|
| 61 |
+
Trainable preset: processing_line_only
|
| 62 |
+
Policy overrides: {'rkd_enabled': True, 'rkd_fm_loss_weight': 0.0, 'rkd_loss_weight': 1.0, 'rkd_relation_mode': 'flatten', 'rkd_loss_type': 'distance_angle', 'rkd_teacher_source': 'raw_action', 'rkd_action_encoder_projector_enabled': False, 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True}
|
| 63 |
+
--------------------------------------------------------------------------------
|
| 64 |
+
|
| 65 |
+
[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
|
| 66 |
+
self.statistics[key] = torch.tensor(value)
|
| 67 |
+
|
| 68 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 69 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 70 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 71 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 72 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 73 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 74 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 75 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 76 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 77 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 78 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 79 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 80 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 81 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 82 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 83 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 84 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 85 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 86 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 87 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 88 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 89 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 90 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 91 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 92 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 93 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 94 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 95 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 96 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 97 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 98 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 99 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 100 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 101 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 102 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 103 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 104 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 105 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 106 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 107 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 108 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 109 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 110 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 111 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 112 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 113 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 114 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 115 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 116 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 117 |
+
Using 100 subset demos for filter_key: 100_demos
|
| 118 |
+
Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
|
| 119 |
+
dataset weights: [1. 0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
|
| 120 |
+
0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
|
| 121 |
+
0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
|
| 122 |
+
0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
|
| 123 |
+
0.75517122 0.7973985 ]
|
| 124 |
+
Loaded 26 datasets
|
| 125 |
+
Loading pretrained dual brain from /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 126 |
+
Tune backbone vision tower: False
|
| 127 |
+
Tune backbone LLM: False
|
| 128 |
+
Tune action head projector: False
|
| 129 |
+
Tune action head DiT: False
|
| 130 |
+
Model not found or avail in the huggingface hub. Loading from local path: /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 131 |
+
Tune backbone llm: False
|
| 132 |
+
Tune backbone visual: True
|
| 133 |
+
Total number of DiT parameters: 550386688
|
| 134 |
+
Total number of SelfAttentionTransformer parameters: 201433088
|
| 135 |
+
Tune action head projector: True
|
| 136 |
+
Tune action head diffusion model: True
|
| 137 |
+
|
| 138 |
+
Some weights of GR00T_N1_5_RKD were not initialized from the model checkpoint at /home/ext_minje/groot_robocasa/Atomic26_baseline/checkpoint-60000 and are newly initialized: ['rkd_action_encoder_projector.bias', 'rkd_action_encoder_projector.weight']
|
| 139 |
+
You should probably TRAIN this model on a down-stream task to be able to use it for predictions and inference.
|
| 140 |
+
Tune backbone llm: False
|
| 141 |
+
Tune backbone visual: False
|
| 142 |
+
Warning: No backbone trainable parameters found.
|
| 143 |
+
Tune action head projector: False
|
| 144 |
+
Tune action head diffusion model: False
|
| 145 |
+
Action head trainable parameter: future_tokens.weight
|
| 146 |
+
Action head trainable parameter: vlln.weight
|
| 147 |
+
Action head trainable parameter: vlln.bias
|
| 148 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.weight
|
| 149 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm1.bias
|
| 150 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 151 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 152 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 153 |
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 154 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 155 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 156 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 157 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 158 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.weight
|
| 159 |
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Action head trainable parameter: vl_self_attention.transformer_blocks.0.norm3.bias
|
| 160 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 161 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 162 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 163 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 164 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.weight
|
| 165 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm1.bias
|
| 166 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 167 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 168 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 169 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 170 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
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Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.weight
|
| 175 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.norm3.bias
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
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+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 178 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 179 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 180 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.weight
|
| 181 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm1.bias
|
| 182 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 183 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 184 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 185 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 186 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 187 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 188 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 189 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 190 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.weight
|
| 191 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.norm3.bias
|
| 192 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 193 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 194 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 195 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 196 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.weight
|
| 197 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm1.bias
|
| 198 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 199 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 200 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 201 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 202 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 203 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 204 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 205 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 206 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.weight
|
| 207 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.norm3.bias
|
| 208 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 209 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 210 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 211 |
+
Action head trainable parameter: vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 212 |
+
Applied trainable preset: processing_line_only
|
| 213 |
+
Trainable parameter tensors after preset: 66
|
| 214 |
+
trainable: action_head.vlln.weight
|
| 215 |
+
trainable: action_head.vlln.bias
|
| 216 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.weight
|
| 217 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm1.bias
|
| 218 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.weight
|
| 219 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_q.bias
|
| 220 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.weight
|
| 221 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_k.bias
|
| 222 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.weight
|
| 223 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_v.bias
|
| 224 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.weight
|
| 225 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.attn1.to_out.0.bias
|
| 226 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.weight
|
| 227 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.norm3.bias
|
| 228 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.weight
|
| 229 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.0.proj.bias
|
| 230 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.weight
|
| 231 |
+
trainable: action_head.vl_self_attention.transformer_blocks.0.ff.net.2.bias
|
| 232 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.weight
|
| 233 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm1.bias
|
| 234 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.weight
|
| 235 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_q.bias
|
| 236 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.weight
|
| 237 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_k.bias
|
| 238 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.weight
|
| 239 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_v.bias
|
| 240 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.weight
|
| 241 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.attn1.to_out.0.bias
|
| 242 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.weight
|
| 243 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.norm3.bias
|
| 244 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.weight
|
| 245 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.0.proj.bias
|
| 246 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.weight
|
| 247 |
+
trainable: action_head.vl_self_attention.transformer_blocks.1.ff.net.2.bias
|
| 248 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.weight
|
| 249 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm1.bias
|
| 250 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.weight
|
| 251 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_q.bias
|
| 252 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.weight
|
| 253 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_k.bias
|
| 254 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.weight
|
| 255 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_v.bias
|
| 256 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.weight
|
| 257 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.attn1.to_out.0.bias
|
| 258 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.weight
|
| 259 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.norm3.bias
|
| 260 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.weight
|
| 261 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.0.proj.bias
|
| 262 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.weight
|
| 263 |
+
trainable: action_head.vl_self_attention.transformer_blocks.2.ff.net.2.bias
|
| 264 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.weight
|
| 265 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm1.bias
|
| 266 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.weight
|
| 267 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_q.bias
|
| 268 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.weight
|
| 269 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_k.bias
|
| 270 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.weight
|
| 271 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_v.bias
|
| 272 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.weight
|
| 273 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.attn1.to_out.0.bias
|
| 274 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.weight
|
| 275 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.norm3.bias
|
| 276 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.weight
|
| 277 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.0.proj.bias
|
| 278 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.weight
|
| 279 |
+
trainable: action_head.vl_self_attention.transformer_blocks.3.ff.net.2.bias
|
| 280 |
+
Trainable summary: {'trainable_preset': 'processing_line_only', 'trainable_modules': 'backbone.eagle_linear(0), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088)', 'trainable_module_names': 'backbone.eagle_linear, action_head.vlln, action_head.vl_self_attention', 'trainable_module_param_counts': {'backbone.eagle_linear': 0, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088}, 'trainable_param_count': 201437184, 'total_param_count': 2736746944, 'trainable_param_ratio': 0.07360460726616601}
|
| 281 |
+
Run name: rkd_v2_2_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5_phase2
|
| 282 |
+
train dataloader length: 3437
|
| 283 |
+
train dataset length: 439854
|
| 284 |
+
GPU memory before training: 7.111904144287109 GB
|
| 285 |
+
wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from /home/ext_minje/.netrc.
|
| 286 |
+
wandb: Currently logged in as: minje227_hyu (minje227_hyu-hanyang-university) to https://api.wandb.ai. Use `wandb login --relogin` to force relogin
|
| 287 |
+
wandb: setting up run jhlxs19d
|
| 288 |
+
wandb: Tracking run with wandb version 0.25.0
|
| 289 |
+
wandb: Run data is saved locally in /home/ext_minje/clvla/benchmarks/robocasa_v2/wandb/run-20260622_131555-jhlxs19d
|
| 290 |
+
wandb: Run `wandb offline` to turn off syncing.
|
| 291 |
+
wandb: Syncing run rkd_v2_2_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5_phase2
|
| 292 |
+
wandb: ⭐️ View project at https://wandb.ai/minje227_hyu-hanyang-university/huggingface
|
| 293 |
+
wandb: 🚀 View run at https://wandb.ai/minje227_hyu-hanyang-university/huggingface/runs/jhlxs19d
|
| 294 |
+
TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/phase2/runs
|
| 295 |
+
|
| 296 |
0%| | 0/30000 [00:00<?, ?it/s]wandb: updating run metadata
|
| 297 |
+
wandb: uploading wandb-summary.json; uploading config.yaml; uploading output.log
|
| 298 |
+
wandb: uploading summary
|
| 299 |
+
wandb: 🚀 View run rkd_v2_2_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5_phase2 at: https://wandb.ai/minje227_hyu-hanyang-university/huggingface/runs/jhlxs19d
|
| 300 |
+
wandb: ⭐️ View project at: https://wandb.ai/minje227_hyu-hanyang-university/huggingface
|
| 301 |
+
wandb: Synced 5 W&B file(s), 0 media file(s), 0 artifact file(s) and 0 other file(s)
|
| 302 |
+
wandb: Find logs at: ./wandb/run-20260622_131555-jhlxs19d/logs
|
| 303 |
+
Traceback (most recent call last):
|
| 304 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1032, in <module>
|
| 305 |
+
run_yaml_experiment(
|
| 306 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 991, in run_yaml_experiment
|
| 307 |
+
main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
|
| 308 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 721, in main
|
| 309 |
+
experiment.train()
|
| 310 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
|
| 311 |
+
self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
|
| 312 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
|
| 313 |
+
return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
|
| 314 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 315 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
|
| 316 |
+
return inner_training_loop(
|
| 317 |
+
^^^^^^^^^^^^^^^^^^^^
|
| 318 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2560, in _inner_training_loop
|
| 319 |
+
tr_loss_step = self.training_step(model, inputs, num_items_in_batch)
|
| 320 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 321 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 3736, in training_step
|
| 322 |
+
loss = self.compute_loss(model, inputs, num_items_in_batch=num_items_in_batch)
|
| 323 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 324 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 77, in compute_loss
|
| 325 |
+
outputs = model(inputs)
|
| 326 |
+
^^^^^^^^^^^^^
|
| 327 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1751, in _wrapped_call_impl
|
| 328 |
+
return self._call_impl(*args, **kwargs)
|
| 329 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 330 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/module.py", line 1762, in _call_impl
|
| 331 |
+
return forward_call(*args, **kwargs)
|
| 332 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 333 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 823, in forward
|
| 334 |
+
return model_forward(*args, **kwargs)
|
| 335 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 336 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/accelerate/utils/operations.py", line 811, in __call__
|
| 337 |
+
return convert_to_fp32(self.model_forward(*args, **kwargs))
|
| 338 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 339 |
+
File "/home/ext_minje/miniforge3/envs/robocasa/lib/python3.11/site-packages/torch/amp/autocast_mode.py", line 44, in decorate_autocast
|
| 340 |
+
return func(*args, **kwargs)
|
| 341 |
+
^^^^^^^^^^^^^^^^^^^^^
|
| 342 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 597, in forward
|
| 343 |
+
self._add_rkd_loss(action_head_outputs, backbone_outputs, action_inputs)
|
| 344 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 529, in _add_rkd_loss
|
| 345 |
+
rkd_loss, rkd_metrics = self._compute_rkd_loss(
|
| 346 |
+
^^^^^^^^^^^^^^^^^^^^^^^
|
| 347 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/gr00t_n1.py", line 436, in _compute_rkd_loss
|
| 348 |
+
angle_loss = rkd_angle_loss(student_vector, teacher_vector)
|
| 349 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 350 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 167, in rkd_angle_loss
|
| 351 |
+
student_angle = _angle_relation(student, eps=eps)
|
| 352 |
+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
| 353 |
+
File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_policies/groot_rkd_v2/rkd_utils.py", line 184, in _angle_relation
|
| 354 |
+
diff = x[:, None, :] - x[None, :, :]
|
| 355 |
+
~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
|
| 356 |
+
torch.OutOfMemoryError: CUDA out of memory. Tried to allocate 104.38 GiB. GPU 0 has a total capacity of 139.80 GiB of which 81.16 GiB is free. Including non-PyTorch memory, this process has 58.62 GiB memory in use. Of the allocated memory 57.79 GiB is allocated by PyTorch, and 165.56 MiB is reserved by PyTorch but unallocated. If reserved but unallocated memory is large try setting PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True to avoid fragmentation. See documentation for Memory Management (https://pytorch.org/docs/stable/notes/cuda.html#environment-variables)
|
rkd_v2_2/logs/rkd_v2_2_flatten_raw_action_gpu4_bs128_20260622_131539.log.pid
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
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|
| 1 |
+
2713001
|
rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/phase2/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,431 @@
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|
| 1 |
+
{
|
| 2 |
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"new_embodiment": {
|
| 3 |
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"statistics": {
|
| 4 |
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"state": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
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|
| 10 |
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|
| 11 |
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|
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|
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|
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|
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|
| 16 |
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|
| 17 |
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|
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|
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|
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|
| 21 |
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|
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|
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|
| 25 |
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|
| 26 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 36 |
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|
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|
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|
| 39 |
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|
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|
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|
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|
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|
| 44 |
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|
| 45 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 56 |
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|
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|
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|
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|
| 62 |
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|
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|
| 65 |
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|
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|
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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]
|
| 74 |
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},
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
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|
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|
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|
| 82 |
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|
| 83 |
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|
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
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|
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|
| 91 |
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| 92 |
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|
| 93 |
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|
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|
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|
| 96 |
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| 97 |
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|
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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| 111 |
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|
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
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|
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|
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|
| 121 |
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|
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|
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|
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|
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|
| 144 |
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|
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|
| 146 |
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|
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|
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|
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|
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|
| 431 |
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}
|
rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/resolved_config.yaml
ADDED
|
@@ -0,0 +1,56 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5
|
| 2 |
+
policy_type: groot_rkd_v2
|
| 3 |
+
base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 4 |
+
output_root: ${HOME}/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder
|
| 5 |
+
dataset:
|
| 6 |
+
dataset_soup: my_atomic26_human
|
| 7 |
+
training:
|
| 8 |
+
num_gpus: 2
|
| 9 |
+
batch_size: 32
|
| 10 |
+
seed: 42
|
| 11 |
+
model: null
|
| 12 |
+
phases:
|
| 13 |
+
- name: phase2_rkd_da_only
|
| 14 |
+
max_steps: 30000
|
| 15 |
+
save_steps: 0
|
| 16 |
+
trainable:
|
| 17 |
+
preset: processing_line_only
|
| 18 |
+
tune_llm: false
|
| 19 |
+
tune_visual: false
|
| 20 |
+
tune_projector: false
|
| 21 |
+
tune_diffusion_model: false
|
| 22 |
+
losses:
|
| 23 |
+
rkd_enabled: true
|
| 24 |
+
rkd_fm_loss_weight: 0.0
|
| 25 |
+
rkd_loss_weight: 1.0
|
| 26 |
+
rkd_relation_mode: flatten
|
| 27 |
+
rkd_loss_type: distance_angle
|
| 28 |
+
rkd_teacher_source: action_encoder
|
| 29 |
+
rkd_action_encoder_projector_enabled: true
|
| 30 |
+
rkd_action_encoder_projector_dim: 512
|
| 31 |
+
rkd_action_encoder_projector_pooling: flatten
|
| 32 |
+
rkd_distance_loss_weight: 1.0
|
| 33 |
+
rkd_angle_loss_weight: 2.0
|
| 34 |
+
rkd_exclude_diagonal: true
|
| 35 |
+
- name: phase3_fm_rkd_da_fixed_0p5
|
| 36 |
+
max_steps: 30000
|
| 37 |
+
save_steps: 0
|
| 38 |
+
trainable:
|
| 39 |
+
tune_llm: false
|
| 40 |
+
tune_visual: false
|
| 41 |
+
tune_projector: true
|
| 42 |
+
tune_diffusion_model: true
|
| 43 |
+
losses:
|
| 44 |
+
rkd_enabled: true
|
| 45 |
+
rkd_fm_loss_weight: 1.0
|
| 46 |
+
rkd_loss_weight: 0.5
|
| 47 |
+
rkd_relation_mode: flatten
|
| 48 |
+
rkd_loss_type: distance_angle
|
| 49 |
+
rkd_teacher_source: action_encoder
|
| 50 |
+
rkd_action_encoder_projector_enabled: true
|
| 51 |
+
rkd_action_encoder_projector_dim: 512
|
| 52 |
+
rkd_action_encoder_projector_pooling: flatten
|
| 53 |
+
rkd_distance_loss_weight: 1.0
|
| 54 |
+
rkd_angle_loss_weight: 2.0
|
| 55 |
+
rkd_exclude_diagonal: true
|
| 56 |
+
resolved_sweep: {}
|
rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder/default/rkd_v2.2_da_flatten_action_encoder.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: rkd_v2_2_distance_angle_flatten_action_encoder_phase2_phase3_aux_fixed_0p5
|
| 2 |
+
policy_type: groot_rkd_v2
|
| 3 |
+
base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 4 |
+
output_root: ${HOME}/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_action_encoder
|
| 5 |
+
dataset:
|
| 6 |
+
dataset_soup: my_atomic26_human
|
| 7 |
+
training:
|
| 8 |
+
num_gpus: 2
|
| 9 |
+
batch_size: 32
|
| 10 |
+
seed: 42
|
| 11 |
+
model: null
|
| 12 |
+
phases:
|
| 13 |
+
- name: phase2_rkd_da_only
|
| 14 |
+
max_steps: 30000
|
| 15 |
+
save_steps: 0
|
| 16 |
+
trainable:
|
| 17 |
+
preset: processing_line_only
|
| 18 |
+
tune_llm: false
|
| 19 |
+
tune_visual: false
|
| 20 |
+
tune_projector: false
|
| 21 |
+
tune_diffusion_model: false
|
| 22 |
+
losses:
|
| 23 |
+
rkd_enabled: true
|
| 24 |
+
rkd_fm_loss_weight: 0.0
|
| 25 |
+
rkd_loss_weight: 1.0
|
| 26 |
+
rkd_relation_mode: flatten
|
| 27 |
+
rkd_loss_type: distance_angle
|
| 28 |
+
rkd_teacher_source: action_encoder
|
| 29 |
+
rkd_action_encoder_projector_enabled: true
|
| 30 |
+
rkd_action_encoder_projector_dim: 512
|
| 31 |
+
rkd_action_encoder_projector_pooling: flatten
|
| 32 |
+
rkd_distance_loss_weight: 1.0
|
| 33 |
+
rkd_angle_loss_weight: 2.0
|
| 34 |
+
rkd_exclude_diagonal: true
|
| 35 |
+
- name: phase3_fm_rkd_da_fixed_0p5
|
| 36 |
+
max_steps: 30000
|
| 37 |
+
save_steps: 0
|
| 38 |
+
trainable:
|
| 39 |
+
tune_llm: false
|
| 40 |
+
tune_visual: false
|
| 41 |
+
tune_projector: true
|
| 42 |
+
tune_diffusion_model: true
|
| 43 |
+
losses:
|
| 44 |
+
rkd_enabled: true
|
| 45 |
+
rkd_fm_loss_weight: 1.0
|
| 46 |
+
rkd_loss_weight: 0.5
|
| 47 |
+
rkd_relation_mode: flatten
|
| 48 |
+
rkd_loss_type: distance_angle
|
| 49 |
+
rkd_teacher_source: action_encoder
|
| 50 |
+
rkd_action_encoder_projector_enabled: true
|
| 51 |
+
rkd_action_encoder_projector_dim: 512
|
| 52 |
+
rkd_action_encoder_projector_pooling: flatten
|
| 53 |
+
rkd_distance_loss_weight: 1.0
|
| 54 |
+
rkd_angle_loss_weight: 2.0
|
| 55 |
+
rkd_exclude_diagonal: true
|
rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/phase2/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,431 @@
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| 1 |
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| 2 |
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|
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|
rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/resolved_config.yaml
ADDED
|
@@ -0,0 +1,52 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: rkd_v2_2_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5
|
| 2 |
+
policy_type: groot_rkd_v2
|
| 3 |
+
base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 4 |
+
output_root: ${HOME}/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action
|
| 5 |
+
dataset:
|
| 6 |
+
dataset_soup: my_atomic26_human
|
| 7 |
+
training:
|
| 8 |
+
num_gpus: 2
|
| 9 |
+
batch_size: 32
|
| 10 |
+
seed: 42
|
| 11 |
+
model: null
|
| 12 |
+
phases:
|
| 13 |
+
- name: phase2_rkd_da_only
|
| 14 |
+
max_steps: 30000
|
| 15 |
+
save_steps: 0
|
| 16 |
+
trainable:
|
| 17 |
+
preset: processing_line_only
|
| 18 |
+
tune_llm: false
|
| 19 |
+
tune_visual: false
|
| 20 |
+
tune_projector: false
|
| 21 |
+
tune_diffusion_model: false
|
| 22 |
+
losses:
|
| 23 |
+
rkd_enabled: true
|
| 24 |
+
rkd_fm_loss_weight: 0.0
|
| 25 |
+
rkd_loss_weight: 1.0
|
| 26 |
+
rkd_relation_mode: flatten
|
| 27 |
+
rkd_loss_type: distance_angle
|
| 28 |
+
rkd_teacher_source: raw_action
|
| 29 |
+
rkd_action_encoder_projector_enabled: false
|
| 30 |
+
rkd_distance_loss_weight: 1.0
|
| 31 |
+
rkd_angle_loss_weight: 2.0
|
| 32 |
+
rkd_exclude_diagonal: true
|
| 33 |
+
- name: phase3_fm_rkd_da_fixed_0p5
|
| 34 |
+
max_steps: 30000
|
| 35 |
+
save_steps: 0
|
| 36 |
+
trainable:
|
| 37 |
+
tune_llm: false
|
| 38 |
+
tune_visual: false
|
| 39 |
+
tune_projector: true
|
| 40 |
+
tune_diffusion_model: true
|
| 41 |
+
losses:
|
| 42 |
+
rkd_enabled: true
|
| 43 |
+
rkd_fm_loss_weight: 1.0
|
| 44 |
+
rkd_loss_weight: 0.5
|
| 45 |
+
rkd_relation_mode: flatten
|
| 46 |
+
rkd_loss_type: distance_angle
|
| 47 |
+
rkd_teacher_source: raw_action
|
| 48 |
+
rkd_action_encoder_projector_enabled: false
|
| 49 |
+
rkd_distance_loss_weight: 1.0
|
| 50 |
+
rkd_angle_loss_weight: 2.0
|
| 51 |
+
rkd_exclude_diagonal: true
|
| 52 |
+
resolved_sweep: {}
|
rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action/default/rkd_v2.2_da_flatten_raw_action.yaml
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: rkd_v2_2_distance_angle_flatten_raw_action_phase2_phase3_aux_fixed_0p5
|
| 2 |
+
policy_type: groot_rkd_v2
|
| 3 |
+
base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-60000
|
| 4 |
+
output_root: ${HOME}/groot_robocasa/robocasa_v2/rkd_v2_2/rkd_v2_2_distance_angle_flatten_raw_action
|
| 5 |
+
dataset:
|
| 6 |
+
dataset_soup: my_atomic26_human
|
| 7 |
+
training:
|
| 8 |
+
num_gpus: 2
|
| 9 |
+
batch_size: 32
|
| 10 |
+
seed: 42
|
| 11 |
+
model: null
|
| 12 |
+
phases:
|
| 13 |
+
- name: phase2_rkd_da_only
|
| 14 |
+
max_steps: 30000
|
| 15 |
+
save_steps: 0
|
| 16 |
+
trainable:
|
| 17 |
+
preset: processing_line_only
|
| 18 |
+
tune_llm: false
|
| 19 |
+
tune_visual: false
|
| 20 |
+
tune_projector: false
|
| 21 |
+
tune_diffusion_model: false
|
| 22 |
+
losses:
|
| 23 |
+
rkd_enabled: true
|
| 24 |
+
rkd_fm_loss_weight: 0.0
|
| 25 |
+
rkd_loss_weight: 1.0
|
| 26 |
+
rkd_relation_mode: flatten
|
| 27 |
+
rkd_loss_type: distance_angle
|
| 28 |
+
rkd_teacher_source: raw_action
|
| 29 |
+
rkd_action_encoder_projector_enabled: false
|
| 30 |
+
rkd_distance_loss_weight: 1.0
|
| 31 |
+
rkd_angle_loss_weight: 2.0
|
| 32 |
+
rkd_exclude_diagonal: true
|
| 33 |
+
- name: phase3_fm_rkd_da_fixed_0p5
|
| 34 |
+
max_steps: 30000
|
| 35 |
+
save_steps: 0
|
| 36 |
+
trainable:
|
| 37 |
+
tune_llm: false
|
| 38 |
+
tune_visual: false
|
| 39 |
+
tune_projector: true
|
| 40 |
+
tune_diffusion_model: true
|
| 41 |
+
losses:
|
| 42 |
+
rkd_enabled: true
|
| 43 |
+
rkd_fm_loss_weight: 1.0
|
| 44 |
+
rkd_loss_weight: 0.5
|
| 45 |
+
rkd_relation_mode: flatten
|
| 46 |
+
rkd_loss_type: distance_angle
|
| 47 |
+
rkd_teacher_source: raw_action
|
| 48 |
+
rkd_action_encoder_projector_enabled: false
|
| 49 |
+
rkd_distance_loss_weight: 1.0
|
| 50 |
+
rkd_angle_loss_weight: 2.0
|
| 51 |
+
rkd_exclude_diagonal: true
|