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Browse files- rkd_v2_1/rkd_v2_1_angle/default/phase3/config.json +77 -0
- rkd_v2_1/rkd_v2_1_angle/default/phase3/model-00001-of-00002.safetensors +3 -0
- rkd_v2_1/rkd_v2_1_angle/default/phase3/model-00002-of-00002.safetensors +3 -0
- rkd_v2_1/rkd_v2_1_angle/default/phase3/model.safetensors.index.json +0 -0
- rkd_v2_1/rkd_v2_1_angle/default/phase3/trainer_state.json +0 -0
- rkd_v2_1/rkd_v2_1_angle/default/phase3/training_args.bin +3 -0
- rkd_v2_1/rkd_v2_1_distance_angle/default/phase3/config.json +77 -0
- rkd_v2_1/rkd_v2_1_distance_angle/default/phase3/model-00002-of-00002.safetensors +3 -0
- rkd_v2_1/rkd_v2_1_distance_angle/default/phase3/model.safetensors.index.json +0 -0
- rkd_v2_1/rkd_v2_1_distance_angle/default/phase3/trainer_state.json +0 -0
- rkd_v2_1/rkd_v2_1_distance_angle/default/phase3/training_args.bin +3 -0
- rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/phase2/config.json +77 -0
- rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/phase2/experiment_cfg/metadata.json +431 -0
- rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/phase2/model-00001-of-00002.safetensors +3 -0
- rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/phase2/model-00002-of-00002.safetensors +3 -0
- rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/phase2/model.safetensors.index.json +0 -0
- rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/phase2/trainer_state.json +0 -0
- rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/phase2/training_args.bin +3 -0
- rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/phase3/config.json +77 -0
- rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/phase3/experiment_cfg/metadata.json +431 -0
- rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/phase3/model-00001-of-00002.safetensors +3 -0
- rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/phase3/model-00002-of-00002.safetensors +3 -0
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- rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/phase3/training_args.bin +3 -0
- rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/resolved_config.yaml +48 -0
- rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/rkd_v2_1_da_from_baseline40_stepup_40k.yaml +47 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-30000/config.json +77 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-30000/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-30000/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/checkpoint-30000/rng_state.pth +3 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-30000/scheduler.pt +3 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-30000/trainer_state.json +0 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-60000/config.json +77 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-60000/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-60000/model.safetensors.index.json +0 -0
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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-60000/scheduler.pt +3 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-60000/trainer_state.json +0 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-90000/config.json +77 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-90000/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-90000/model-00001-of-00002.safetensors +3 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-90000/model-00002-of-00002.safetensors +3 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-90000/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/checkpoint-90000/rng_state.pth +3 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-90000/scheduler.pt +3 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-90000/trainer_state.json +0 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/experiment_cfg/metadata.json +431 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/resolved_config.yaml +33 -0
- rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/rkd_v2_1_da_full_120k_cosine_decay.yaml +32 -0
rkd_v2_1/rkd_v2_1_angle/default/phase3/config.json
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rkd_v2_1/rkd_v2_1_angle/default/phase3/model-00001-of-00002.safetensors
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rkd_v2_1/rkd_v2_1_angle/default/phase3/training_args.bin
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rkd_v2_1/rkd_v2_1_distance_angle/default/phase3/config.json
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rkd_v2_1/rkd_v2_1_distance_angle/default/phase3/trainer_state.json
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rkd_v2_1/rkd_v2_1_distance_angle/default/phase3/training_args.bin
ADDED
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rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/phase2/config.json
ADDED
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|
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|
rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/phase2/experiment_cfg/metadata.json
ADDED
|
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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 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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|
| 7 |
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| 9 |
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| 10 |
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|
| 11 |
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| 12 |
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|
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| 16 |
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| 17 |
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|
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|
| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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"vl_self_attention_cfg": {
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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"compute_dtype": "bfloat16",
|
| 59 |
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"hidden_size": 2048,
|
| 60 |
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"model_dtype": "float32",
|
| 61 |
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"model_type": "gr00t_n1_5",
|
| 62 |
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"rkd_action_temp": 0.1,
|
| 63 |
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"rkd_angle_loss_weight": 2.0,
|
| 64 |
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"rkd_distance_loss_weight": 1.0,
|
| 65 |
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"rkd_enabled": true,
|
| 66 |
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"rkd_exclude_diagonal": true,
|
| 67 |
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"rkd_fm_loss_weight": 1.0,
|
| 68 |
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"rkd_loss_type": "distance_angle",
|
| 69 |
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"rkd_loss_weight": 0.5,
|
| 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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"torch_dtype": "bfloat16",
|
| 76 |
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"transformers_version": "4.51.3"
|
| 77 |
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}
|
rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/phase3/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,431 @@
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| 1 |
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|
| 45 |
+
rkd_distance_loss_weight: 1.0
|
| 46 |
+
rkd_angle_loss_weight: 2.0
|
| 47 |
+
rkd_exclude_diagonal: true
|
| 48 |
+
resolved_sweep: {}
|
rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k/default/rkd_v2_1_da_from_baseline40_stepup_40k.yaml
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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: rkd_v2_1_distance_angle_from_baseline40_phase2_phase3_40k
|
| 2 |
+
policy_type: groot_rkd_v2
|
| 3 |
+
base_model_path: ${HOME}/groot_robocasa/Atomic26_baseline/checkpoint-40000
|
| 4 |
+
output_root: ${HOME}/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle_from_baseline40_stepup_40k
|
| 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_rkd_da_only_from_baseline40_40k
|
| 14 |
+
max_steps: 40000
|
| 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: token_pair_mean
|
| 27 |
+
rkd_loss_type: distance_angle
|
| 28 |
+
rkd_distance_loss_weight: 1.0
|
| 29 |
+
rkd_angle_loss_weight: 2.0
|
| 30 |
+
rkd_exclude_diagonal: true
|
| 31 |
+
- name: phase3_fm_rkd_da_fixed_0p5_from_baseline40_40k
|
| 32 |
+
max_steps: 40000
|
| 33 |
+
save_steps: 0
|
| 34 |
+
trainable:
|
| 35 |
+
tune_llm: false
|
| 36 |
+
tune_visual: false
|
| 37 |
+
tune_projector: true
|
| 38 |
+
tune_diffusion_model: true
|
| 39 |
+
losses:
|
| 40 |
+
rkd_enabled: true
|
| 41 |
+
rkd_fm_loss_weight: 1.0
|
| 42 |
+
rkd_loss_weight: 0.5
|
| 43 |
+
rkd_relation_mode: token_pair_mean
|
| 44 |
+
rkd_loss_type: distance_angle
|
| 45 |
+
rkd_distance_loss_weight: 1.0
|
| 46 |
+
rkd_angle_loss_weight: 2.0
|
| 47 |
+
rkd_exclude_diagonal: true
|
rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-30000/config.json
ADDED
|
@@ -0,0 +1,77 @@
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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_temp": 0.1,
|
| 63 |
+
"rkd_angle_loss_weight": 2.0,
|
| 64 |
+
"rkd_distance_loss_weight": 1.0,
|
| 65 |
+
"rkd_enabled": true,
|
| 66 |
+
"rkd_exclude_diagonal": true,
|
| 67 |
+
"rkd_fm_loss_weight": 1.0,
|
| 68 |
+
"rkd_loss_type": "distance_angle",
|
| 69 |
+
"rkd_loss_weight": 0.8535603325875607,
|
| 70 |
+
"rkd_loss_weight_end": 0.0,
|
| 71 |
+
"rkd_loss_weight_schedule": "cosine_decay",
|
| 72 |
+
"rkd_loss_weight_start": 1.0,
|
| 73 |
+
"rkd_relation_mode": "token_pair_mean",
|
| 74 |
+
"rkd_vlm_temp": 0.07,
|
| 75 |
+
"torch_dtype": "bfloat16",
|
| 76 |
+
"transformers_version": "4.51.3"
|
| 77 |
+
}
|
rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/full_fm_rkd_da_cosine_decay_120k/checkpoint-30000/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-30000/model.safetensors.index.json
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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-30000/rng_state.pth
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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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-30000/scheduler.pt
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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-30000/trainer_state.json
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The diff for this file is too large to render.
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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-60000/config.json
ADDED
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}
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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-60000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,431 @@
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| 31 |
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| 34 |
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"vl_self_attention_cfg": {
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| 35 |
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| 37 |
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"action_horizon": 16,
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"architectures": [
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"GR00T_N1_5_RKD"
|
| 46 |
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],
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| 47 |
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| 48 |
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"backbone_cfg": {
|
| 49 |
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"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
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| 50 |
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"load_bf16": false,
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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"compute_dtype": "bfloat16",
|
| 59 |
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"hidden_size": 2048,
|
| 60 |
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"model_dtype": "float32",
|
| 61 |
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"model_type": "gr00t_n1_5",
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| 62 |
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"rkd_action_temp": 0.1,
|
| 63 |
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"rkd_angle_loss_weight": 2.0,
|
| 64 |
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"rkd_distance_loss_weight": 1.0,
|
| 65 |
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"rkd_enabled": true,
|
| 66 |
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"rkd_exclude_diagonal": true,
|
| 67 |
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"rkd_fm_loss_weight": 1.0,
|
| 68 |
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"rkd_loss_type": "distance_angle",
|
| 69 |
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"rkd_loss_weight": 0.14644892343511284,
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| 70 |
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"rkd_loss_weight_end": 0.0,
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| 71 |
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"rkd_loss_weight_schedule": "cosine_decay",
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| 72 |
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"rkd_loss_weight_start": 1.0,
|
| 73 |
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"rkd_relation_mode": "token_pair_mean",
|
| 74 |
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"rkd_vlm_temp": 0.07,
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| 75 |
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"torch_dtype": "bfloat16",
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| 76 |
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"transformers_version": "4.51.3"
|
| 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/checkpoint-90000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,431 @@
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"robot0_eye_in_hand": {
|
| 320 |
+
"resolution": [
|
| 321 |
+
256,
|
| 322 |
+
256
|
| 323 |
+
],
|
| 324 |
+
"channels": 3,
|
| 325 |
+
"fps": 20.0
|
| 326 |
+
},
|
| 327 |
+
"robot0_agentview_left": {
|
| 328 |
+
"resolution": [
|
| 329 |
+
256,
|
| 330 |
+
256
|
| 331 |
+
],
|
| 332 |
+
"channels": 3,
|
| 333 |
+
"fps": 20.0
|
| 334 |
+
},
|
| 335 |
+
"robot0_agentview_right": {
|
| 336 |
+
"resolution": [
|
| 337 |
+
256,
|
| 338 |
+
256
|
| 339 |
+
],
|
| 340 |
+
"channels": 3,
|
| 341 |
+
"fps": 20.0
|
| 342 |
+
}
|
| 343 |
+
},
|
| 344 |
+
"state": {
|
| 345 |
+
"base_position": {
|
| 346 |
+
"absolute": true,
|
| 347 |
+
"rotation_type": null,
|
| 348 |
+
"shape": [
|
| 349 |
+
3
|
| 350 |
+
],
|
| 351 |
+
"continuous": true
|
| 352 |
+
},
|
| 353 |
+
"base_rotation": {
|
| 354 |
+
"absolute": true,
|
| 355 |
+
"rotation_type": "quaternion",
|
| 356 |
+
"shape": [
|
| 357 |
+
4
|
| 358 |
+
],
|
| 359 |
+
"continuous": true
|
| 360 |
+
},
|
| 361 |
+
"end_effector_position_relative": {
|
| 362 |
+
"absolute": true,
|
| 363 |
+
"rotation_type": null,
|
| 364 |
+
"shape": [
|
| 365 |
+
3
|
| 366 |
+
],
|
| 367 |
+
"continuous": true
|
| 368 |
+
},
|
| 369 |
+
"end_effector_rotation_relative": {
|
| 370 |
+
"absolute": true,
|
| 371 |
+
"rotation_type": "quaternion",
|
| 372 |
+
"shape": [
|
| 373 |
+
4
|
| 374 |
+
],
|
| 375 |
+
"continuous": true
|
| 376 |
+
},
|
| 377 |
+
"gripper_qpos": {
|
| 378 |
+
"absolute": true,
|
| 379 |
+
"rotation_type": null,
|
| 380 |
+
"shape": [
|
| 381 |
+
2
|
| 382 |
+
],
|
| 383 |
+
"continuous": true
|
| 384 |
+
}
|
| 385 |
+
},
|
| 386 |
+
"action": {
|
| 387 |
+
"base_motion": {
|
| 388 |
+
"absolute": true,
|
| 389 |
+
"rotation_type": null,
|
| 390 |
+
"shape": [
|
| 391 |
+
4
|
| 392 |
+
],
|
| 393 |
+
"continuous": true
|
| 394 |
+
},
|
| 395 |
+
"control_mode": {
|
| 396 |
+
"absolute": true,
|
| 397 |
+
"rotation_type": null,
|
| 398 |
+
"shape": [
|
| 399 |
+
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 |
+
}
|
rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/resolved_config.yaml
ADDED
|
@@ -0,0 +1,33 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: rkd_v2_1_distance_angle_full_120k_cosine_decay
|
| 2 |
+
policy_type: groot_rkd_v2
|
| 3 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 4 |
+
output_root: ${HOME}/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay
|
| 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: full_fm_rkd_da_cosine_decay_120k
|
| 14 |
+
max_steps: 120000
|
| 15 |
+
save_steps: 30000
|
| 16 |
+
trainable:
|
| 17 |
+
tune_llm: false
|
| 18 |
+
tune_visual: false
|
| 19 |
+
tune_projector: true
|
| 20 |
+
tune_diffusion_model: true
|
| 21 |
+
losses:
|
| 22 |
+
rkd_enabled: true
|
| 23 |
+
rkd_fm_loss_weight: 1.0
|
| 24 |
+
rkd_loss_weight: 1.0
|
| 25 |
+
rkd_loss_weight_schedule: cosine_decay
|
| 26 |
+
rkd_loss_weight_start: 1.0
|
| 27 |
+
rkd_loss_weight_end: 0.0
|
| 28 |
+
rkd_relation_mode: token_pair_mean
|
| 29 |
+
rkd_loss_type: distance_angle
|
| 30 |
+
rkd_distance_loss_weight: 1.0
|
| 31 |
+
rkd_angle_loss_weight: 2.0
|
| 32 |
+
rkd_exclude_diagonal: true
|
| 33 |
+
resolved_sweep: {}
|
rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay/default/rkd_v2_1_da_full_120k_cosine_decay.yaml
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: rkd_v2_1_distance_angle_full_120k_cosine_decay
|
| 2 |
+
policy_type: groot_rkd_v2
|
| 3 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 4 |
+
output_root: ${HOME}/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_distance_angle_full_120k_cosine_decay
|
| 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: full_fm_rkd_da_cosine_decay_120k
|
| 14 |
+
max_steps: 120000
|
| 15 |
+
save_steps: 30000
|
| 16 |
+
trainable:
|
| 17 |
+
tune_llm: false
|
| 18 |
+
tune_visual: false
|
| 19 |
+
tune_projector: true
|
| 20 |
+
tune_diffusion_model: true
|
| 21 |
+
losses:
|
| 22 |
+
rkd_enabled: true
|
| 23 |
+
rkd_fm_loss_weight: 1.0
|
| 24 |
+
rkd_loss_weight: 1.0
|
| 25 |
+
rkd_loss_weight_schedule: cosine_decay
|
| 26 |
+
rkd_loss_weight_start: 1.0
|
| 27 |
+
rkd_loss_weight_end: 0.0
|
| 28 |
+
rkd_relation_mode: token_pair_mean
|
| 29 |
+
rkd_loss_type: distance_angle
|
| 30 |
+
rkd_distance_loss_weight: 1.0
|
| 31 |
+
rkd_angle_loss_weight: 2.0
|
| 32 |
+
rkd_exclude_diagonal: true
|