Add files using upload-large-folder tool
Browse files- .gitattributes +2 -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_flatten_action_encoder/default/phase3/config.json +84 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase3/model-00001-of-00002.safetensors +3 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase3/model-00002-of-00002.safetensors +3 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase3/model.safetensors.index.json +0 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase3/task_fm_loss_1024_seed42.json +244 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase3/task_fm_loss_smoke16.json +244 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase3/trainer_state.json +0 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase3/training_args.bin +3 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder_phase3_plus30k/default/mgrkd_da_flatten_action_encoder_phase3_plus30k.yaml +36 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder_phase3_plus30k/default/phase3/experiment_cfg/metadata.json +431 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder_phase3_plus30k/default/phase3_bad_aux_reset_20260624_120659/experiment_cfg/metadata.json +431 -0
- MGRKD/mgrkd_distance_angle_flatten_action_encoder_phase3_plus30k/default/resolved_config.yaml +37 -0
- MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase3/config.json +90 -0
- MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase3/model-00001-of-00002.safetensors +3 -0
- MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase3/model-00002-of-00002.safetensors +3 -0
- MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase3/model.safetensors.index.json +0 -0
- MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase3/trainer_state.json +0 -0
- MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase3/training_args.bin +3 -0
- MGRKD/task_fm_loss_baseline120k_rkdv21a_mgrkdae_1024_seed42.tsv +28 -0
- rkd_v2_1/rkd_v2_1_angle/default/phase3/task_fm_loss_1024_seed42.json +244 -0
.gitattributes
CHANGED
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experiment_cfg/processing_line_only_v2/MGD_v2/mgd_v2_mask_ratio_gpu01_lane.log filter=lfs diff=lfs merge=lfs -text
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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/trainer_state.json filter=lfs diff=lfs merge=lfs -text
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experiment_cfg/processing_line_only_v2/MGD_v2/mgd_v2_mask_ratio_gpu01_lane.log filter=lfs diff=lfs merge=lfs -text
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MGRKD/logs/mgrkd_da_flatten_action_encoder_gpu4_bs128_20260622_134555.log filter=lfs diff=lfs merge=lfs -text
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MGRKD/launch_logs/mgrkd_raw_action_flatten_frozen_mlp_gpu5_bs128_20260622_165623.log filter=lfs diff=lfs merge=lfs -text
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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_flatten_action_encoder/default/phase3/config.json
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MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase3/model-00001-of-00002.safetensors
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MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase3/task_fm_loss_1024_seed42.json
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MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase3/task_fm_loss_smoke16.json
ADDED
|
@@ -0,0 +1,244 @@
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| 1 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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},
|
| 99 |
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{
|
| 100 |
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"task": "PickPlaceDrawerToCounter",
|
| 101 |
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"fm_loss": 0.008698298479430377,
|
| 102 |
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"samples": 16,
|
| 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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"task": "PickPlaceSinkToCounter",
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"task": "PickPlaceToasterToCounter",
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"task": "PickPlaceCabinetToCounter",
|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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{
|
| 136 |
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"task": "TurnOnElectricKettle",
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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{
|
| 145 |
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"task": "TurnOnMicrowave",
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"task": "TurnOffMicrowave",
|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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{
|
| 163 |
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"task": "OpenElectricKettleLid",
|
| 164 |
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|
| 165 |
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| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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{
|
| 172 |
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|
| 173 |
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|
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|
| 175 |
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|
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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{
|
| 181 |
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"task": "TurnOnSinkFaucet",
|
| 182 |
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|
| 183 |
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| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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"task": "TurnSinkSpout",
|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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{
|
| 199 |
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"task": "TurnOffSinkFaucet",
|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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{
|
| 208 |
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"task": "AdjustWaterTemperature",
|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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{
|
| 217 |
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"task": "TurnOffStove",
|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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{
|
| 226 |
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"task": "TurnOnStove",
|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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{
|
| 235 |
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"task": "AdjustToasterOvenTemperature",
|
| 236 |
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"fm_loss": 0.022244758903980255,
|
| 237 |
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|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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"planned_samples": 16
|
| 242 |
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|
| 243 |
+
]
|
| 244 |
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}
|
MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase3/trainer_state.json
ADDED
|
The diff for this file is too large to render.
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|
|
|
MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase3/training_args.bin
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
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|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:ef72ba30b63e015c8ef5b9d5c3dfdfefc8d06160a9599f02ac6a102a7484241e
|
| 3 |
+
size 5969
|
MGRKD/mgrkd_distance_angle_flatten_action_encoder_phase3_plus30k/default/mgrkd_da_flatten_action_encoder_phase3_plus30k.yaml
ADDED
|
@@ -0,0 +1,36 @@
|
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|
| 1 |
+
experiment_name: mgrkd_distance_angle_flatten_action_encoder_phase3_plus30k_aux_fixed_0p5
|
| 2 |
+
policy_type: groot_MGRKD
|
| 3 |
+
base_model_path: ${HOME}/groot_robocasa/robocasa_v2/MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase3
|
| 4 |
+
output_root: ${HOME}/groot_robocasa/robocasa_v2/MGRKD/mgrkd_distance_angle_flatten_action_encoder_phase3_plus30k
|
| 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: phase3_fm_mgrkd_da_fixed_0p5
|
| 14 |
+
max_steps: 30000
|
| 15 |
+
save_steps: 0
|
| 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: 0.5
|
| 25 |
+
rkd_relation_mode: flatten
|
| 26 |
+
rkd_loss_type: distance_angle
|
| 27 |
+
rkd_teacher_source: action_encoder
|
| 28 |
+
rkd_action_encoder_projector_enabled: true
|
| 29 |
+
rkd_action_encoder_projector_dim: 512
|
| 30 |
+
rkd_action_encoder_projector_pooling: flatten
|
| 31 |
+
rkd_student_reconstruction_head_enabled: true
|
| 32 |
+
rkd_student_reconstruction_head_dim: 512
|
| 33 |
+
rkd_student_reconstruction_head_hidden_dim: 512
|
| 34 |
+
rkd_distance_loss_weight: 1.0
|
| 35 |
+
rkd_angle_loss_weight: 2.0
|
| 36 |
+
rkd_exclude_diagonal: true
|
MGRKD/mgrkd_distance_angle_flatten_action_encoder_phase3_plus30k/default/phase3/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,431 @@
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MGRKD/mgrkd_distance_angle_flatten_action_encoder_phase3_plus30k/default/phase3_bad_aux_reset_20260624_120659/experiment_cfg/metadata.json
ADDED
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|
MGRKD/mgrkd_distance_angle_flatten_action_encoder_phase3_plus30k/default/resolved_config.yaml
ADDED
|
@@ -0,0 +1,37 @@
|
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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_phase3_plus30k_aux_fixed_0p5
|
| 2 |
+
policy_type: groot_MGRKD
|
| 3 |
+
base_model_path: ${HOME}/groot_robocasa/robocasa_v2/MGRKD/mgrkd_distance_angle_flatten_action_encoder/default/phase3
|
| 4 |
+
output_root: ${HOME}/groot_robocasa/robocasa_v2/MGRKD/mgrkd_distance_angle_flatten_action_encoder_phase3_plus30k
|
| 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: phase3_fm_mgrkd_da_fixed_0p5
|
| 14 |
+
max_steps: 30000
|
| 15 |
+
save_steps: 0
|
| 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: 0.5
|
| 25 |
+
rkd_relation_mode: flatten
|
| 26 |
+
rkd_loss_type: distance_angle
|
| 27 |
+
rkd_teacher_source: action_encoder
|
| 28 |
+
rkd_action_encoder_projector_enabled: true
|
| 29 |
+
rkd_action_encoder_projector_dim: 512
|
| 30 |
+
rkd_action_encoder_projector_pooling: flatten
|
| 31 |
+
rkd_student_reconstruction_head_enabled: true
|
| 32 |
+
rkd_student_reconstruction_head_dim: 512
|
| 33 |
+
rkd_student_reconstruction_head_hidden_dim: 512
|
| 34 |
+
rkd_distance_loss_weight: 1.0
|
| 35 |
+
rkd_angle_loss_weight: 2.0
|
| 36 |
+
rkd_exclude_diagonal: true
|
| 37 |
+
resolved_sweep: {}
|
MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase3/config.json
ADDED
|
@@ -0,0 +1,90 @@
|
|
|
|
|
|
|
|
|
|
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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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"action_head_cfg": {
|
| 4 |
+
"action_dim": 32,
|
| 5 |
+
"action_horizon": 16,
|
| 6 |
+
"add_pos_embed": true,
|
| 7 |
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"backbone_embedding_dim": 2048,
|
| 8 |
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"diffusion_model_cfg": {
|
| 9 |
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"attention_head_dim": 48,
|
| 10 |
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"cross_attention_dim": 2048,
|
| 11 |
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"dropout": 0.2,
|
| 12 |
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"final_dropout": true,
|
| 13 |
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"interleave_self_attention": true,
|
| 14 |
+
"norm_type": "ada_norm",
|
| 15 |
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"num_attention_heads": 32,
|
| 16 |
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"num_layers": 16,
|
| 17 |
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"output_dim": 1024,
|
| 18 |
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"positional_embeddings": null
|
| 19 |
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},
|
| 20 |
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"hidden_size": 1024,
|
| 21 |
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"input_embedding_dim": 1536,
|
| 22 |
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"max_action_dim": 32,
|
| 23 |
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"max_state_dim": 64,
|
| 24 |
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"model_dtype": "float32",
|
| 25 |
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"noise_beta_alpha": 1.5,
|
| 26 |
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"noise_beta_beta": 1.0,
|
| 27 |
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"noise_s": 0.999,
|
| 28 |
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"num_inference_timesteps": 4,
|
| 29 |
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"num_target_vision_tokens": 32,
|
| 30 |
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"num_timestep_buckets": 1000,
|
| 31 |
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"tune_diffusion_model": true,
|
| 32 |
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"tune_projector": true,
|
| 33 |
+
"use_vlln": true,
|
| 34 |
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"vl_self_attention_cfg": {
|
| 35 |
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"attention_head_dim": 64,
|
| 36 |
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"dropout": 0.2,
|
| 37 |
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"final_dropout": true,
|
| 38 |
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"num_attention_heads": 32,
|
| 39 |
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"num_layers": 4,
|
| 40 |
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"positional_embeddings": null
|
| 41 |
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}
|
| 42 |
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},
|
| 43 |
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"action_horizon": 16,
|
| 44 |
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"architectures": [
|
| 45 |
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"GR00T_N1_5_RKD"
|
| 46 |
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],
|
| 47 |
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"attn_implementation": null,
|
| 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",
|
| 50 |
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"load_bf16": false,
|
| 51 |
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"project_to_dim": null,
|
| 52 |
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"reproject_vision": false,
|
| 53 |
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"select_layer": 12,
|
| 54 |
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"tune_llm": false,
|
| 55 |
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"tune_visual": true,
|
| 56 |
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"use_flash_attention": true
|
| 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_encoder_cls_ffn_hidden_dim": 2048,
|
| 63 |
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"rkd_action_encoder_cls_num_heads": 8,
|
| 64 |
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"rkd_action_encoder_cls_num_layers": 1,
|
| 65 |
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"rkd_action_encoder_projector_dim": 512,
|
| 66 |
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"rkd_action_encoder_projector_enabled": false,
|
| 67 |
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"rkd_action_encoder_projector_pooling": "flatten",
|
| 68 |
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"rkd_action_temp": 0.1,
|
| 69 |
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"rkd_angle_loss_weight": 2.0,
|
| 70 |
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"rkd_distance_loss_weight": 1.0,
|
| 71 |
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"rkd_enabled": true,
|
| 72 |
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"rkd_exclude_diagonal": true,
|
| 73 |
+
"rkd_fm_loss_weight": 1.0,
|
| 74 |
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"rkd_loss_type": "distance_angle",
|
| 75 |
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"rkd_loss_weight": 0.5,
|
| 76 |
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"rkd_loss_weight_end": 0.0,
|
| 77 |
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"rkd_loss_weight_schedule": null,
|
| 78 |
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"rkd_loss_weight_start": 0.1,
|
| 79 |
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"rkd_raw_action_projector_dim": 512,
|
| 80 |
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"rkd_raw_action_projector_enabled": true,
|
| 81 |
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"rkd_raw_action_projector_pooling": "flatten",
|
| 82 |
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"rkd_relation_mode": "flatten",
|
| 83 |
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"rkd_student_reconstruction_head_dim": 512,
|
| 84 |
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"rkd_student_reconstruction_head_enabled": true,
|
| 85 |
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"rkd_student_reconstruction_head_hidden_dim": 512,
|
| 86 |
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"rkd_teacher_source": "raw_action",
|
| 87 |
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"rkd_vlm_temp": 0.07,
|
| 88 |
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"torch_dtype": "bfloat16",
|
| 89 |
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"transformers_version": "4.51.3"
|
| 90 |
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}
|
MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase3/model-00001-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 4999367032
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MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase3/model-00002-of-00002.safetensors
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MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase3/trainer_state.json
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MGRKD/mgrkd_distance_angle_flatten_raw_action/default/phase3/training_args.bin
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Task Baseline120K RKD v2.1 A MGRKD AE
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| 2 |
+
CloseBlenderLid 0.013299564 0.012893491 0.014584552
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| 3 |
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CloseFridge 0.017638529 0.018061224 0.015641167
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| 4 |
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OpenStandMixerHead 0.014427024 0.015075979 0.015409717
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| 10 |
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PickPlaceCounterToCabinet 0.016352756 0.016090463 0.016514294
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| 11 |
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PickPlaceCounterToStove 0.014688284 0.014552780 0.013721773
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| 12 |
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PickPlaceDrawerToCounter 0.016490812 0.016062375 0.015555709
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PickPlaceSinkToCounter 0.015005368 0.015319367 0.013916868
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| 14 |
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PickPlaceToasterToCounter 0.013634393 0.013780935 0.014703710
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| 15 |
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PickPlaceCabinetToCounter 0.018807061 0.019037108 0.015287194
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TurnOnElectricKettle 0.018448099 0.018178111 0.019986314
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| 18 |
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SlideDishwasherRack 0.010529016 0.011744259 0.011758072
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| 21 |
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|
| 22 |
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TurnSinkSpout 0.017223676 0.017699005 0.015947425
|
| 23 |
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TurnOffSinkFaucet 0.015480601 0.015963105 0.016457596
|
| 24 |
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AdjustWaterTemperature 0.009746092 0.010782943 0.010618240
|
| 25 |
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TurnOffStove 0.011625355 0.011809507 0.011689438
|
| 26 |
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TurnOnStove 0.014633293 0.015040388 0.013856436
|
| 27 |
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AdjustToasterOvenTemperature 0.012944635 0.013481709 0.012874456
|
| 28 |
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AVG 0.014639860 0.014875111 0.014533606
|
rkd_v2_1/rkd_v2_1_angle/default/phase3/task_fm_loss_1024_seed42.json
ADDED
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| 1 |
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{
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| 2 |
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"model_path": "/home/ext_minje/groot_robocasa/robocasa_v2/rkd_v2_1/rkd_v2_1_angle/default/phase3",
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