Add files using upload-large-folder tool

.gitattributes

@@ -58,3 +58,6 @@ TimewarpVAE/logs/RKDv3_TimewarpVAE_DA_APHead_FM_RKD_CosineDecay_from_Atomic26Bas
 TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k/checkpoint-90000/trainer_state.json filter=lfs diff=lfs merge=lfs -text
 TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k/trainer_state.json filter=lfs diff=lfs merge=lfs -text
 TimewarpVAE/logs/RKDv3_TimewarpVAE_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k_gpu7_bs128_numgpu1_wandb_20260702_125026.log filter=lfs diff=lfs merge=lfs -text
+RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human/default/phase3/trainer_state.json filter=lfs diff=lfs merge=lfs -text
+RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human/default/phase3/trainer_state.json filter=lfs diff=lfs merge=lfs -text
+RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human/default/phase2/trainer_state.json filter=lfs diff=lfs merge=lfs -text

RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human.stopped_nospace_20260708_204923/default/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human.yaml

@@ -0,0 +1,49 @@
+experiment_name: RKDv3 TimewarpVAE DA, Student:APHead from GR00T base to 120k on Atomic65
+  human, phase2 40k + phase3 80k, FM:RKD 1:0.5
+policy_type: groot_RKDv3
+base_model_path: nvidia/GR00T-N1.5-3B
+output_root: ${HOME}/groot_robocasa/robocasa_v2/RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human
+dataset:
+  dataset_soup: atomic_pretrain_human
+training:
+  num_gpus: 1
+  batch_size: 128
+  seed: 42
+model:
+  rkd_teacher_source: timewarp_action
+  rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46
+  rkd_relation_mode: flatten
+  rkd_loss_type: distance_angle
+  rkd_student_reconstruction_head_pooling: attention
+  rkd_student_reconstruction_head_enabled: true
+  rkd_student_reconstruction_head_dim: 512
+  rkd_student_reconstruction_head_hidden_dim: 512
+  rkd_distance_loss_weight: 1.0
+  rkd_angle_loss_weight: 2.0
+  rkd_exclude_diagonal: true
+phases:
+- name: phase2_rkdv3_timewarp_vae_da_aphead_only_40k
+  max_steps: 40000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 0.0
+    rkd_loss_weight: 1.0
+- name: phase3_fm_rkdv3_timewarp_vae_da_aphead_fixed_0p5_80k
+  max_steps: 80000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5

RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human.stopped_nospace_20260708_204923/default/phase2/experiment_cfg/metadata.json

@@ -0,0 +1,431 @@
+{
+    "new_embodiment": {
+        "statistics": {
+            "state": {
+                "base_position": {
+                    "max": [
+                        7.778976917266846,
+                        0.4876587688922882,
+                        0.7223060727119446
+                    ],
+                    "min": [
+                        -4.94293737411499,
+                        -6.890198230743408,
+                        0.6994727253913879
+                    ],
+                    "mean": [
+                        2.645730005800653,
+                        -2.110066447108802,
+                        0.7004254938507055
+                    ],
+                    "std": [
+                        1.674798582069234,
+                        1.350392482318102,
+                        0.001107956680671985
+                    ],
+                    "q01": [
+                        -1.0132281893317567,
+                        -5.366714195503661,
+                        0.699973412653353
+                    ],
+                    "q99": [
+                        6.099414437993715,
+                        -0.5498886012762193,
+                        0.7032860957123939
+                    ]
+                },
+                "base_rotation": {
+                    "max": [
+                        0.0,
+                        0.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        0.0
+                    ],
+                    "mean": [
+                        0.0,
+                        0.0,
+                        0.24103797327895668,
+                        0.6071393324239354
+                    ],
+                    "std": [
+                        0.0,
+                        0.0,
+                        0.6615962784298529,
+                        0.36814045893518177
+                    ],
+                    "q01": [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        3.3913522062507517e-06
+                    ],
+                    "q99": [
+                        0.0,
+                        0.0,
+                        1.0,
+                        1.0
+                    ]
+                },
+                "end_effector_position_relative": {
+                    "max": [
+                        0.9014528393745422,
+                        0.8569459915161133,
+                        1.053884744644165
+                    ],
+                    "min": [
+                        -0.5828549861907959,
+                        -0.8486236333847046,
+                        -0.3446122705936432
+                    ],
+                    "mean": [
+                        0.2641355221895152,
+                        -0.01768191244102862,
+                        0.4458847037294584
+                    ],
+                    "std": [
+                        0.16437879912713016,
+                        0.24835923712456218,
+                        0.2124190803465676
+                    ],
+                    "q01": [
+                        -0.004962867024380738,
+                        -0.46862868595225443,
+                        0.20316236863116172
+                    ],
+                    "q99": [
+                        0.5495510296644974,
+                        0.44201455499146414,
+                        0.6984316542098391
+                    ]
+                },
+                "end_effector_rotation_relative": {
+                    "max": [
+                        0.9999998807907104,
+                        0.9997354745864868,
+                        0.9900747537612915,
+                        0.9735639095306396
+                    ],
+                    "min": [
+                        -0.9999930262565613,
+                        -0.9999884366989136,
+                        -0.9975369572639465,
+                        6.754255821306288e-08
+                    ],
+                    "mean": [
+                        -0.23536101367097556,
+                        0.0384247508727208,
+                        -0.06854891687606551,
+                        0.1400254132624415
+                    ],
+                    "std": [
+                        0.8296216819146821,
+                        0.30067208350163366,
+                        0.33390768096919515,
+                        0.16926885514344236
+                    ],
+                    "q01": [
+                        -0.9950540525525874,
+                        -0.5590028004550295,
+                        -0.5635208777456633,
+                        0.001747048046951923
+                    ],
+                    "q99": [
+                        0.9472459325196646,
+                        0.6183763159959191,
+                        0.5108060516185887,
+                        0.46646525101830405
+                    ]
+                },
+                "gripper_qpos": {
+                    "max": [
+                        0.055869169533252716,
+                        0.010916369967162609
+                    ],
+                    "min": [
+                        -0.011669117026031017,
+                        -0.06307756155729294
+                    ],
+                    "mean": [
+                        0.031849369408926076,
+                        -0.03200748595341724
+                    ],
+                    "std": [
+                        0.012248040928874927,
+                        0.01206276030599065
+                    ],
+                    "q01": [
+                        0.006329614505051435,
+                        -0.0405872199089872
+                    ],
+                    "q99": [
+                        0.040445365520021676,
+                        -0.006282430560590391
+                    ]
+                }
+            },
+            "action": {
+                "base_motion": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0,
+                        0.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0,
+                        0.0
+                    ],
+                    "mean": [
+                        0.0071452133647496785,
+                        0.0015603604277540566,
+                        -0.0014052511062474704,
+                        0.0
+                    ],
+                    "std": [
+                        0.11471999232420287,
+                        0.10209228015027566,
+                        0.0855718789814838,
+                        0.0
+                    ],
+                    "q01": [
+                        -0.13329522793794643,
+                        -0.16270717101832055,
+                        -0.12619798329427676,
+                        0.0
+                    ],
+                    "q99": [
+                        0.1721366453818688,
+                        0.1972873452547982,
+                        0.11128571706089413,
+                        0.0
+                    ]
+                },
+                "control_mode": {
+                    "max": [
+                        1.0
+                    ],
+                    "min": [
+                        -1.0
+                    ],
+                    "mean": [
+                        -0.9218734936549906
+                    ],
+                    "std": [
+                        0.3874975703570591
+                    ],
+                    "q01": [
+                        -1.0
+                    ],
+                    "q99": [
+                        -0.26692269247002653
+                    ]
+                },
+                "end_effector_position": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0
+                    ],
+                    "mean": [
+                        0.002920238070268553,
+                        -0.0060913649045883315,
+                        -0.07322447393298565
+                    ],
+                    "std": [
+                        0.4482114094812734,
+                        0.41233706159751987,
+                        0.4006084454909327
+                    ],
+                    "q01": [
+                        -0.934104737554819,
+                        -0.9255792016234818,
+                        -0.8085822192859831
+                    ],
+                    "q99": [
+                        0.7874185230421324,
+                        0.9004049161564378,
+                        0.8018332495119154
+                    ]
+                },
+                "end_effector_rotation": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0
+                    ],
+                    "mean": [
+                        0.0077772595328458915,
+                        -0.022620543966259083,
+                        -0.00029332176634943376
+                    ],
+                    "std": [
+                        0.11155576533045976,
+                        0.13202104364511658,
+                        0.1240098754411023
+                    ],
+                    "q01": [
+                        -0.2726786325766535,
+                        -0.4125887853047325,
+                        -0.3445183934868137
+                    ],
+                    "q99": [
+                        0.31803481867756295,
+                        0.3015153519871841,
+                        0.34730986869917346
+                    ]
+                },
+                "gripper_close": {
+                    "max": [
+                        1.0
+                    ],
+                    "min": [
+                        -1.0
+                    ],
+                    "mean": [
+                        -0.33422761717726496
+                    ],
+                    "std": [
+                        0.9425001619711008
+                    ],
+                    "q01": [
+                        -1.0
+                    ],
+                    "q99": [
+                        0.681821585371573
+                    ]
+                }
+            }
+        },
+        "modalities": {
+            "video": {
+                "robot0_eye_in_hand": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                },
+                "robot0_agentview_left": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                },
+                "robot0_agentview_right": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                }
+            },
+            "state": {
+                "base_position": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "base_rotation": {
+                    "absolute": true,
+                    "rotation_type": "quaternion",
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "end_effector_position_relative": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "end_effector_rotation_relative": {
+                    "absolute": true,
+                    "rotation_type": "quaternion",
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "gripper_qpos": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        2
+                    ],
+                    "continuous": true
+                }
+            },
+            "action": {
+                "base_motion": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "control_mode": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        1
+                    ],
+                    "continuous": true
+                },
+                "end_effector_position": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "end_effector_rotation": {
+                    "absolute": true,
+                    "rotation_type": "axis_angle",
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "gripper_close": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        1
+                    ],
+                    "continuous": true
+                }
+            }
+        },
+        "embodiment_tag": "new_embodiment"
+    }
+}

RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human.stopped_nospace_20260708_204923/default/resolved_config.yaml

@@ -0,0 +1,50 @@
+experiment_name: RKDv3 TimewarpVAE DA, Student:APHead from GR00T base to 120k on Atomic65
+  human, phase2 40k + phase3 80k, FM:RKD 1:0.5
+policy_type: groot_RKDv3
+base_model_path: nvidia/GR00T-N1.5-3B
+output_root: ${HOME}/groot_robocasa/robocasa_v2/RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human
+dataset:
+  dataset_soup: atomic_pretrain_human
+training:
+  num_gpus: 1
+  batch_size: 128
+  seed: 42
+model:
+  rkd_teacher_source: timewarp_action
+  rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46
+  rkd_relation_mode: flatten
+  rkd_loss_type: distance_angle
+  rkd_student_reconstruction_head_pooling: attention
+  rkd_student_reconstruction_head_enabled: true
+  rkd_student_reconstruction_head_dim: 512
+  rkd_student_reconstruction_head_hidden_dim: 512
+  rkd_distance_loss_weight: 1.0
+  rkd_angle_loss_weight: 2.0
+  rkd_exclude_diagonal: true
+phases:
+- name: phase2_rkdv3_timewarp_vae_da_aphead_only_40k
+  max_steps: 40000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 0.0
+    rkd_loss_weight: 1.0
+- name: phase3_fm_rkdv3_timewarp_vae_da_aphead_fixed_0p5_80k
+  max_steps: 80000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5
+resolved_sweep: {}

RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human/default/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human.yaml

@@ -0,0 +1,49 @@
+experiment_name: RKDv3 TimewarpVAE DA, Student:APHead from GR00T base to 120k on Atomic65
+  human, phase2 40k + phase3 80k, FM:RKD 1:0.5
+policy_type: groot_RKDv3
+base_model_path: nvidia/GR00T-N1.5-3B
+output_root: ${HOME}/groot_robocasa/robocasa_v2/RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human
+dataset:
+  dataset_soup: atomic_pretrain_human
+training:
+  num_gpus: 1
+  batch_size: 128
+  seed: 42
+model:
+  rkd_teacher_source: timewarp_action
+  rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/atomic65_z8_g16_h32_tw32_reg0p01_gb_ctrl_30k/checkpoint-step-30000-epoch-2.73
+  rkd_relation_mode: flatten
+  rkd_loss_type: distance_angle
+  rkd_student_reconstruction_head_pooling: attention
+  rkd_student_reconstruction_head_enabled: true
+  rkd_student_reconstruction_head_dim: 512
+  rkd_student_reconstruction_head_hidden_dim: 512
+  rkd_distance_loss_weight: 1.0
+  rkd_angle_loss_weight: 2.0
+  rkd_exclude_diagonal: true
+phases:
+- name: phase2_rkdv3_timewarp_vae_da_aphead_only_40k
+  max_steps: 40000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 0.0
+    rkd_loss_weight: 1.0
+- name: phase3_fm_rkdv3_timewarp_vae_da_aphead_fixed_0p5_80k
+  max_steps: 80000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5

RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human/default/phase2/config.json

@@ -0,0 +1,101 @@
+{
+  "action_dim": 32,
+  "action_head_cfg": {
+    "action_dim": 32,
+    "action_horizon": 16,
+    "add_pos_embed": true,
+    "backbone_embedding_dim": 2048,
+    "diffusion_model_cfg": {
+      "attention_head_dim": 48,
+      "cross_attention_dim": 2048,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "interleave_self_attention": true,
+      "norm_type": "ada_norm",
+      "num_attention_heads": 32,
+      "num_layers": 16,
+      "output_dim": 1024,
+      "positional_embeddings": null
+    },
+    "hidden_size": 1024,
+    "input_embedding_dim": 1536,
+    "max_action_dim": 32,
+    "max_state_dim": 64,
+    "model_dtype": "float32",
+    "noise_beta_alpha": 1.5,
+    "noise_beta_beta": 1.0,
+    "noise_s": 0.999,
+    "num_inference_timesteps": 4,
+    "num_target_vision_tokens": 32,
+    "num_timestep_buckets": 1000,
+    "tune_diffusion_model": true,
+    "tune_projector": true,
+    "use_vlln": true,
+    "vl_self_attention_cfg": {
+      "attention_head_dim": 64,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "num_attention_heads": 32,
+      "num_layers": 4,
+      "positional_embeddings": null
+    }
+  },
+  "action_horizon": 16,
+  "architectures": [
+    "GR00T_N1_5_RKD"
+  ],
+  "attn_implementation": null,
+  "backbone_cfg": {
+    "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
+    "load_bf16": false,
+    "project_to_dim": null,
+    "reproject_vision": false,
+    "select_layer": 12,
+    "tune_llm": false,
+    "tune_visual": true,
+    "use_flash_attention": true
+  },
+  "compute_dtype": "bfloat16",
+  "hidden_size": 2048,
+  "model_dtype": "float32",
+  "model_type": "gr00t_n1_5",
+  "rkd_action_encoder_cls_ffn_hidden_dim": 2048,
+  "rkd_action_encoder_cls_num_heads": 8,
+  "rkd_action_encoder_cls_num_layers": 1,
+  "rkd_action_encoder_projector_dim": 512,
+  "rkd_action_encoder_projector_enabled": false,
+  "rkd_action_encoder_projector_pooling": "flatten",
+  "rkd_action_temp": 0.1,
+  "rkd_angle_loss_weight": 2.0,
+  "rkd_distance_loss_weight": 1.0,
+  "rkd_dtw_adaptive_floor": 0.05,
+  "rkd_dtw_adaptive_mix_lambda": 0.5,
+  "rkd_dtw_base_weight": 1.0,
+  "rkd_dtw_gripper_weight": 0.5,
+  "rkd_dtw_mix_mode": "distance_mix",
+  "rkd_dtw_normalize_components": true,
+  "rkd_dtw_pos_weight": 1.0,
+  "rkd_dtw_rot_weight": 1.0,
+  "rkd_dtw_timing_log_interval": 1000,
+  "rkd_enabled": true,
+  "rkd_exclude_diagonal": true,
+  "rkd_fm_loss_weight": 0.0,
+  "rkd_loss_type": "distance_angle",
+  "rkd_loss_weight": 1.0,
+  "rkd_loss_weight_end": 0.0,
+  "rkd_loss_weight_schedule": null,
+  "rkd_loss_weight_start": 0.1,
+  "rkd_raw_action_projector_dim": 512,
+  "rkd_raw_action_projector_enabled": false,
+  "rkd_raw_action_projector_pooling": "flatten",
+  "rkd_relation_mode": "flatten",
+  "rkd_student_reconstruction_head_dim": 512,
+  "rkd_student_reconstruction_head_enabled": true,
+  "rkd_student_reconstruction_head_hidden_dim": 512,
+  "rkd_student_reconstruction_head_pooling": "attention",
+  "rkd_teacher_source": "timewarp_action",
+  "rkd_timewarp_vae_checkpoint": "${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/atomic65_z8_g16_h32_tw32_reg0p01_gb_ctrl_30k/checkpoint-step-30000-epoch-2.73",
+  "rkd_vlm_temp": 0.1,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
+}

RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human/default/phase2/experiment_cfg/metadata.json

@@ -0,0 +1,431 @@
+{
+    "new_embodiment": {
+        "statistics": {
+            "state": {
+                "base_position": {
+                    "max": [
+                        7.778976917266846,
+                        0.4876587688922882,
+                        0.7223060727119446
+                    ],
+                    "min": [
+                        -4.94293737411499,
+                        -6.890198230743408,
+                        0.6994727253913879
+                    ],
+                    "mean": [
+                        2.645730005800653,
+                        -2.110066447108802,
+                        0.7004254938507055
+                    ],
+                    "std": [
+                        1.674798582069234,
+                        1.350392482318102,
+                        0.001107956680671985
+                    ],
+                    "q01": [
+                        -1.0132281893317567,
+                        -5.366714195503661,
+                        0.699973412653353
+                    ],
+                    "q99": [
+                        6.099414437993715,
+                        -0.5498886012762193,
+                        0.7032860957123939
+                    ]
+                },
+                "base_rotation": {
+                    "max": [
+                        0.0,
+                        0.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        0.0
+                    ],
+                    "mean": [
+                        0.0,
+                        0.0,
+                        0.24103797327895668,
+                        0.6071393324239354
+                    ],
+                    "std": [
+                        0.0,
+                        0.0,
+                        0.6615962784298529,
+                        0.36814045893518177
+                    ],
+                    "q01": [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        3.3913522062507517e-06
+                    ],
+                    "q99": [
+                        0.0,
+                        0.0,
+                        1.0,
+                        1.0
+                    ]
+                },
+                "end_effector_position_relative": {
+                    "max": [
+                        0.9014528393745422,
+                        0.8569459915161133,
+                        1.053884744644165
+                    ],
+                    "min": [
+                        -0.5828549861907959,
+                        -0.8486236333847046,
+                        -0.3446122705936432
+                    ],
+                    "mean": [
+                        0.2641355221895152,
+                        -0.01768191244102862,
+                        0.4458847037294584
+                    ],
+                    "std": [
+                        0.16437879912713016,
+                        0.24835923712456218,
+                        0.2124190803465676
+                    ],
+                    "q01": [
+                        -0.004962867024380738,
+                        -0.46862868595225443,
+                        0.20316236863116172
+                    ],
+                    "q99": [
+                        0.5495510296644974,
+                        0.44201455499146414,
+                        0.6984316542098391
+                    ]
+                },
+                "end_effector_rotation_relative": {
+                    "max": [
+                        0.9999998807907104,
+                        0.9997354745864868,
+                        0.9900747537612915,
+                        0.9735639095306396
+                    ],
+                    "min": [
+                        -0.9999930262565613,
+                        -0.9999884366989136,
+                        -0.9975369572639465,
+                        6.754255821306288e-08
+                    ],
+                    "mean": [
+                        -0.23536101367097556,
+                        0.0384247508727208,
+                        -0.06854891687606551,
+                        0.1400254132624415
+                    ],
+                    "std": [
+                        0.8296216819146821,
+                        0.30067208350163366,
+                        0.33390768096919515,
+                        0.16926885514344236
+                    ],
+                    "q01": [
+                        -0.9950540525525874,
+                        -0.5590028004550295,
+                        -0.5635208777456633,
+                        0.001747048046951923
+                    ],
+                    "q99": [
+                        0.9472459325196646,
+                        0.6183763159959191,
+                        0.5108060516185887,
+                        0.46646525101830405
+                    ]
+                },
+                "gripper_qpos": {
+                    "max": [
+                        0.055869169533252716,
+                        0.010916369967162609
+                    ],
+                    "min": [
+                        -0.011669117026031017,
+                        -0.06307756155729294
+                    ],
+                    "mean": [
+                        0.031849369408926076,
+                        -0.03200748595341724
+                    ],
+                    "std": [
+                        0.012248040928874927,
+                        0.01206276030599065
+                    ],
+                    "q01": [
+                        0.006329614505051435,
+                        -0.0405872199089872
+                    ],
+                    "q99": [
+                        0.040445365520021676,
+                        -0.006282430560590391
+                    ]
+                }
+            },
+            "action": {
+                "base_motion": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0,
+                        0.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0,
+                        0.0
+                    ],
+                    "mean": [
+                        0.0071452133647496785,
+                        0.0015603604277540566,
+                        -0.0014052511062474704,
+                        0.0
+                    ],
+                    "std": [
+                        0.11471999232420287,
+                        0.10209228015027566,
+                        0.0855718789814838,
+                        0.0
+                    ],
+                    "q01": [
+                        -0.13329522793794643,
+                        -0.16270717101832055,
+                        -0.12619798329427676,
+                        0.0
+                    ],
+                    "q99": [
+                        0.1721366453818688,
+                        0.1972873452547982,
+                        0.11128571706089413,
+                        0.0
+                    ]
+                },
+                "control_mode": {
+                    "max": [
+                        1.0
+                    ],
+                    "min": [
+                        -1.0
+                    ],
+                    "mean": [
+                        -0.9218734936549906
+                    ],
+                    "std": [
+                        0.3874975703570591
+                    ],
+                    "q01": [
+                        -1.0
+                    ],
+                    "q99": [
+                        -0.26692269247002653
+                    ]
+                },
+                "end_effector_position": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0
+                    ],
+                    "mean": [
+                        0.002920238070268553,
+                        -0.0060913649045883315,
+                        -0.07322447393298565
+                    ],
+                    "std": [
+                        0.4482114094812734,
+                        0.41233706159751987,
+                        0.4006084454909327
+                    ],
+                    "q01": [
+                        -0.934104737554819,
+                        -0.9255792016234818,
+                        -0.8085822192859831
+                    ],
+                    "q99": [
+                        0.7874185230421324,
+                        0.9004049161564378,
+                        0.8018332495119154
+                    ]
+                },
+                "end_effector_rotation": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0
+                    ],
+                    "mean": [
+                        0.0077772595328458915,
+                        -0.022620543966259083,
+                        -0.00029332176634943376
+                    ],
+                    "std": [
+                        0.11155576533045976,
+                        0.13202104364511658,
+                        0.1240098754411023
+                    ],
+                    "q01": [
+                        -0.2726786325766535,
+                        -0.4125887853047325,
+                        -0.3445183934868137
+                    ],
+                    "q99": [
+                        0.31803481867756295,
+                        0.3015153519871841,
+                        0.34730986869917346
+                    ]
+                },
+                "gripper_close": {
+                    "max": [
+                        1.0
+                    ],
+                    "min": [
+                        -1.0
+                    ],
+                    "mean": [
+                        -0.33422761717726496
+                    ],
+                    "std": [
+                        0.9425001619711008
+                    ],
+                    "q01": [
+                        -1.0
+                    ],
+                    "q99": [
+                        0.681821585371573
+                    ]
+                }
+            }
+        },
+        "modalities": {
+            "video": {
+                "robot0_eye_in_hand": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                },
+                "robot0_agentview_left": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                },
+                "robot0_agentview_right": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                }
+            },
+            "state": {
+                "base_position": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "base_rotation": {
+                    "absolute": true,
+                    "rotation_type": "quaternion",
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "end_effector_position_relative": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "end_effector_rotation_relative": {
+                    "absolute": true,
+                    "rotation_type": "quaternion",
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "gripper_qpos": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        2
+                    ],
+                    "continuous": true
+                }
+            },
+            "action": {
+                "base_motion": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "control_mode": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        1
+                    ],
+                    "continuous": true
+                },
+                "end_effector_position": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "end_effector_rotation": {
+                    "absolute": true,
+                    "rotation_type": "axis_angle",
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "gripper_close": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        1
+                    ],
+                    "continuous": true
+                }
+            }
+        },
+        "embodiment_tag": "new_embodiment"
+    }
+}

RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human/default/phase2/model-00001-of-00002.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e65895a7b6c052e58b679bdd68bff54a68694a81f38e23d3e03a92059b3600b
+size 4999367032

RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human/default/phase2/model-00002-of-00002.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92af9ac4022f93629bcae242d1c22b5d2706bd79c0b5dba9a1676f10aeb77d9d
+size 2664461700

RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human/default/phase2/training_args.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b12a8ec3c4989036079d41526de61c9f07a256aa1529292eb10871a19be9b256
+size 6033

RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human/default/phase3/config.json

@@ -0,0 +1,101 @@
+{
+  "action_dim": 32,
+  "action_head_cfg": {
+    "action_dim": 32,
+    "action_horizon": 16,
+    "add_pos_embed": true,
+    "backbone_embedding_dim": 2048,
+    "diffusion_model_cfg": {
+      "attention_head_dim": 48,
+      "cross_attention_dim": 2048,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "interleave_self_attention": true,
+      "norm_type": "ada_norm",
+      "num_attention_heads": 32,
+      "num_layers": 16,
+      "output_dim": 1024,
+      "positional_embeddings": null
+    },
+    "hidden_size": 1024,
+    "input_embedding_dim": 1536,
+    "max_action_dim": 32,
+    "max_state_dim": 64,
+    "model_dtype": "float32",
+    "noise_beta_alpha": 1.5,
+    "noise_beta_beta": 1.0,
+    "noise_s": 0.999,
+    "num_inference_timesteps": 4,
+    "num_target_vision_tokens": 32,
+    "num_timestep_buckets": 1000,
+    "tune_diffusion_model": true,
+    "tune_projector": true,
+    "use_vlln": true,
+    "vl_self_attention_cfg": {
+      "attention_head_dim": 64,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "num_attention_heads": 32,
+      "num_layers": 4,
+      "positional_embeddings": null
+    }
+  },
+  "action_horizon": 16,
+  "architectures": [
+    "GR00T_N1_5_RKD"
+  ],
+  "attn_implementation": null,
+  "backbone_cfg": {
+    "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
+    "load_bf16": false,
+    "project_to_dim": null,
+    "reproject_vision": false,
+    "select_layer": 12,
+    "tune_llm": false,
+    "tune_visual": true,
+    "use_flash_attention": true
+  },
+  "compute_dtype": "bfloat16",
+  "hidden_size": 2048,
+  "model_dtype": "float32",
+  "model_type": "gr00t_n1_5",
+  "rkd_action_encoder_cls_ffn_hidden_dim": 2048,
+  "rkd_action_encoder_cls_num_heads": 8,
+  "rkd_action_encoder_cls_num_layers": 1,
+  "rkd_action_encoder_projector_dim": 512,
+  "rkd_action_encoder_projector_enabled": false,
+  "rkd_action_encoder_projector_pooling": "flatten",
+  "rkd_action_temp": 0.1,
+  "rkd_angle_loss_weight": 2.0,
+  "rkd_distance_loss_weight": 1.0,
+  "rkd_dtw_adaptive_floor": 0.05,
+  "rkd_dtw_adaptive_mix_lambda": 0.5,
+  "rkd_dtw_base_weight": 1.0,
+  "rkd_dtw_gripper_weight": 0.5,
+  "rkd_dtw_mix_mode": "distance_mix",
+  "rkd_dtw_normalize_components": true,
+  "rkd_dtw_pos_weight": 1.0,
+  "rkd_dtw_rot_weight": 1.0,
+  "rkd_dtw_timing_log_interval": 1000,
+  "rkd_enabled": true,
+  "rkd_exclude_diagonal": true,
+  "rkd_fm_loss_weight": 1.0,
+  "rkd_loss_type": "distance_angle",
+  "rkd_loss_weight": 0.5,
+  "rkd_loss_weight_end": 0.0,
+  "rkd_loss_weight_schedule": null,
+  "rkd_loss_weight_start": 0.1,
+  "rkd_raw_action_projector_dim": 512,
+  "rkd_raw_action_projector_enabled": false,
+  "rkd_raw_action_projector_pooling": "flatten",
+  "rkd_relation_mode": "flatten",
+  "rkd_student_reconstruction_head_dim": 512,
+  "rkd_student_reconstruction_head_enabled": true,
+  "rkd_student_reconstruction_head_hidden_dim": 512,
+  "rkd_student_reconstruction_head_pooling": "attention",
+  "rkd_teacher_source": "timewarp_action",
+  "rkd_timewarp_vae_checkpoint": "${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/atomic65_z8_g16_h32_tw32_reg0p01_gb_ctrl_30k/checkpoint-step-30000-epoch-2.73",
+  "rkd_vlm_temp": 0.1,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
+}

RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human/default/phase3/experiment_cfg/metadata.json

@@ -0,0 +1,431 @@
+{
+    "new_embodiment": {
+        "statistics": {
+            "state": {
+                "base_position": {
+                    "max": [
+                        7.778976917266846,
+                        0.4876587688922882,
+                        0.7223060727119446
+                    ],
+                    "min": [
+                        -4.94293737411499,
+                        -6.890198230743408,
+                        0.6994727253913879
+                    ],
+                    "mean": [
+                        2.645730005800653,
+                        -2.110066447108802,
+                        0.7004254938507055
+                    ],
+                    "std": [
+                        1.674798582069234,
+                        1.350392482318102,
+                        0.001107956680671985
+                    ],
+                    "q01": [
+                        -1.0132281893317567,
+                        -5.366714195503661,
+                        0.699973412653353
+                    ],
+                    "q99": [
+                        6.099414437993715,
+                        -0.5498886012762193,
+                        0.7032860957123939
+                    ]
+                },
+                "base_rotation": {
+                    "max": [
+                        0.0,
+                        0.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        0.0
+                    ],
+                    "mean": [
+                        0.0,
+                        0.0,
+                        0.24103797327895668,
+                        0.6071393324239354
+                    ],
+                    "std": [
+                        0.0,
+                        0.0,
+                        0.6615962784298529,
+                        0.36814045893518177
+                    ],
+                    "q01": [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        3.3913522062507517e-06
+                    ],
+                    "q99": [
+                        0.0,
+                        0.0,
+                        1.0,
+                        1.0
+                    ]
+                },
+                "end_effector_position_relative": {
+                    "max": [
+                        0.9014528393745422,
+                        0.8569459915161133,
+                        1.053884744644165
+                    ],
+                    "min": [
+                        -0.5828549861907959,
+                        -0.8486236333847046,
+                        -0.3446122705936432
+                    ],
+                    "mean": [
+                        0.2641355221895152,
+                        -0.01768191244102862,
+                        0.4458847037294584
+                    ],
+                    "std": [
+                        0.16437879912713016,
+                        0.24835923712456218,
+                        0.2124190803465676
+                    ],
+                    "q01": [
+                        -0.004962867024380738,
+                        -0.46862868595225443,
+                        0.20316236863116172
+                    ],
+                    "q99": [
+                        0.5495510296644974,
+                        0.44201455499146414,
+                        0.6984316542098391
+                    ]
+                },
+                "end_effector_rotation_relative": {
+                    "max": [
+                        0.9999998807907104,
+                        0.9997354745864868,
+                        0.9900747537612915,
+                        0.9735639095306396
+                    ],
+                    "min": [
+                        -0.9999930262565613,
+                        -0.9999884366989136,
+                        -0.9975369572639465,
+                        6.754255821306288e-08
+                    ],
+                    "mean": [
+                        -0.23536101367097556,
+                        0.0384247508727208,
+                        -0.06854891687606551,
+                        0.1400254132624415
+                    ],
+                    "std": [
+                        0.8296216819146821,
+                        0.30067208350163366,
+                        0.33390768096919515,
+                        0.16926885514344236
+                    ],
+                    "q01": [
+                        -0.9950540525525874,
+                        -0.5590028004550295,
+                        -0.5635208777456633,
+                        0.001747048046951923
+                    ],
+                    "q99": [
+                        0.9472459325196646,
+                        0.6183763159959191,
+                        0.5108060516185887,
+                        0.46646525101830405
+                    ]
+                },
+                "gripper_qpos": {
+                    "max": [
+                        0.055869169533252716,
+                        0.010916369967162609
+                    ],
+                    "min": [
+                        -0.011669117026031017,
+                        -0.06307756155729294
+                    ],
+                    "mean": [
+                        0.031849369408926076,
+                        -0.03200748595341724
+                    ],
+                    "std": [
+                        0.012248040928874927,
+                        0.01206276030599065
+                    ],
+                    "q01": [
+                        0.006329614505051435,
+                        -0.0405872199089872
+                    ],
+                    "q99": [
+                        0.040445365520021676,
+                        -0.006282430560590391
+                    ]
+                }
+            },
+            "action": {
+                "base_motion": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0,
+                        0.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0,
+                        0.0
+                    ],
+                    "mean": [
+                        0.0071452133647496785,
+                        0.0015603604277540566,
+                        -0.0014052511062474704,
+                        0.0
+                    ],
+                    "std": [
+                        0.11471999232420287,
+                        0.10209228015027566,
+                        0.0855718789814838,
+                        0.0
+                    ],
+                    "q01": [
+                        -0.13329522793794643,
+                        -0.16270717101832055,
+                        -0.12619798329427676,
+                        0.0
+                    ],
+                    "q99": [
+                        0.1721366453818688,
+                        0.1972873452547982,
+                        0.11128571706089413,
+                        0.0
+                    ]
+                },
+                "control_mode": {
+                    "max": [
+                        1.0
+                    ],
+                    "min": [
+                        -1.0
+                    ],
+                    "mean": [
+                        -0.9218734936549906
+                    ],
+                    "std": [
+                        0.3874975703570591
+                    ],
+                    "q01": [
+                        -1.0
+                    ],
+                    "q99": [
+                        -0.26692269247002653
+                    ]
+                },
+                "end_effector_position": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0
+                    ],
+                    "mean": [
+                        0.002920238070268553,
+                        -0.0060913649045883315,
+                        -0.07322447393298565
+                    ],
+                    "std": [
+                        0.4482114094812734,
+                        0.41233706159751987,
+                        0.4006084454909327
+                    ],
+                    "q01": [
+                        -0.934104737554819,
+                        -0.9255792016234818,
+                        -0.8085822192859831
+                    ],
+                    "q99": [
+                        0.7874185230421324,
+                        0.9004049161564378,
+                        0.8018332495119154
+                    ]
+                },
+                "end_effector_rotation": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0
+                    ],
+                    "mean": [
+                        0.0077772595328458915,
+                        -0.022620543966259083,
+                        -0.00029332176634943376
+                    ],
+                    "std": [
+                        0.11155576533045976,
+                        0.13202104364511658,
+                        0.1240098754411023
+                    ],
+                    "q01": [
+                        -0.2726786325766535,
+                        -0.4125887853047325,
+                        -0.3445183934868137
+                    ],
+                    "q99": [
+                        0.31803481867756295,
+                        0.3015153519871841,
+                        0.34730986869917346
+                    ]
+                },
+                "gripper_close": {
+                    "max": [
+                        1.0
+                    ],
+                    "min": [
+                        -1.0
+                    ],
+                    "mean": [
+                        -0.33422761717726496
+                    ],
+                    "std": [
+                        0.9425001619711008
+                    ],
+                    "q01": [
+                        -1.0
+                    ],
+                    "q99": [
+                        0.681821585371573
+                    ]
+                }
+            }
+        },
+        "modalities": {
+            "video": {
+                "robot0_eye_in_hand": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                },
+                "robot0_agentview_left": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                },
+                "robot0_agentview_right": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                }
+            },
+            "state": {
+                "base_position": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "base_rotation": {
+                    "absolute": true,
+                    "rotation_type": "quaternion",
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "end_effector_position_relative": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "end_effector_rotation_relative": {
+                    "absolute": true,
+                    "rotation_type": "quaternion",
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "gripper_qpos": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        2
+                    ],
+                    "continuous": true
+                }
+            },
+            "action": {
+                "base_motion": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "control_mode": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        1
+                    ],
+                    "continuous": true
+                },
+                "end_effector_position": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "end_effector_rotation": {
+                    "absolute": true,
+                    "rotation_type": "axis_angle",
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "gripper_close": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        1
+                    ],
+                    "continuous": true
+                }
+            }
+        },
+        "embodiment_tag": "new_embodiment"
+    }
+}

RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human/default/phase3/model-00001-of-00002.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5be9d3e52b412befbd0e893296605df7c70588d2df8ea3b20fcc419636cdd6f8
+size 4999367032

RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human/default/phase3/model-00002-of-00002.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f1815b389cffe82e2cedf87c0a3450b62f4268306d778cf5d56bdfb3047d287
+size 2664461700

RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human/default/phase3/trainer_state.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d874dd47654e6febdf8efa8fb687d576c40884d3ef74704590bdb15b5ea8db5
+size 14938163

RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human/default/phase3/training_args.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cab682ec6f389a5d94312b52adb8f96130271e4abc1e408e26e30808d05a48ac
+size 6033

RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human/default/resolved_config.yaml

@@ -0,0 +1,50 @@
+experiment_name: RKDv3 TimewarpVAE DA, Student:APHead from GR00T base to 120k on Atomic65
+  human, phase2 40k + phase3 80k, FM:RKD 1:0.5
+policy_type: groot_RKDv3
+base_model_path: nvidia/GR00T-N1.5-3B
+output_root: ${HOME}/groot_robocasa/robocasa_v2/RKDv3/base120_p2-40k_p3-80k_fm1-rkd0p5_atomic65_human
+dataset:
+  dataset_soup: atomic_pretrain_human
+training:
+  num_gpus: 1
+  batch_size: 128
+  seed: 42
+model:
+  rkd_teacher_source: timewarp_action
+  rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/atomic65_z8_g16_h32_tw32_reg0p01_gb_ctrl_30k/checkpoint-step-30000-epoch-2.73
+  rkd_relation_mode: flatten
+  rkd_loss_type: distance_angle
+  rkd_student_reconstruction_head_pooling: attention
+  rkd_student_reconstruction_head_enabled: true
+  rkd_student_reconstruction_head_dim: 512
+  rkd_student_reconstruction_head_hidden_dim: 512
+  rkd_distance_loss_weight: 1.0
+  rkd_angle_loss_weight: 2.0
+  rkd_exclude_diagonal: true
+phases:
+- name: phase2_rkdv3_timewarp_vae_da_aphead_only_40k
+  max_steps: 40000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 0.0
+    rkd_loss_weight: 1.0
+- name: phase3_fm_rkdv3_timewarp_vae_da_aphead_fixed_0p5_80k
+  max_steps: 80000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5
+resolved_sweep: {}

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human.stopped_nospace_20260708_204923/default/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human.yaml

@@ -0,0 +1,49 @@
+experiment_name: RKDv3 TimewarpVAE DA, Student:APHead from GR00T base to 120k on Atomic65
+  human, phase2 60k + phase3 60k, FM:RKD 1:0.5
+policy_type: groot_RKDv3
+base_model_path: nvidia/GR00T-N1.5-3B
+output_root: ${HOME}/groot_robocasa/robocasa_v2/RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human
+dataset:
+  dataset_soup: atomic_pretrain_human
+training:
+  num_gpus: 1
+  batch_size: 128
+  seed: 42
+model:
+  rkd_teacher_source: timewarp_action
+  rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46
+  rkd_relation_mode: flatten
+  rkd_loss_type: distance_angle
+  rkd_student_reconstruction_head_pooling: attention
+  rkd_student_reconstruction_head_enabled: true
+  rkd_student_reconstruction_head_dim: 512
+  rkd_student_reconstruction_head_hidden_dim: 512
+  rkd_distance_loss_weight: 1.0
+  rkd_angle_loss_weight: 2.0
+  rkd_exclude_diagonal: true
+phases:
+- name: phase2_rkdv3_timewarp_vae_da_aphead_only_60k
+  max_steps: 60000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 0.0
+    rkd_loss_weight: 1.0
+- name: phase3_fm_rkdv3_timewarp_vae_da_aphead_fixed_0p5_60k
+  max_steps: 60000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human.stopped_nospace_20260708_204923/default/phase2/experiment_cfg/metadata.json

@@ -0,0 +1,431 @@
+{
+    "new_embodiment": {
+        "statistics": {
+            "state": {
+                "base_position": {
+                    "max": [
+                        7.778976917266846,
+                        0.4876587688922882,
+                        0.7223060727119446
+                    ],
+                    "min": [
+                        -4.94293737411499,
+                        -6.890198230743408,
+                        0.6994727253913879
+                    ],
+                    "mean": [
+                        2.645730005800653,
+                        -2.110066447108802,
+                        0.7004254938507055
+                    ],
+                    "std": [
+                        1.674798582069234,
+                        1.350392482318102,
+                        0.001107956680671985
+                    ],
+                    "q01": [
+                        -1.0132281893317567,
+                        -5.366714195503661,
+                        0.699973412653353
+                    ],
+                    "q99": [
+                        6.099414437993715,
+                        -0.5498886012762193,
+                        0.7032860957123939
+                    ]
+                },
+                "base_rotation": {
+                    "max": [
+                        0.0,
+                        0.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        0.0
+                    ],
+                    "mean": [
+                        0.0,
+                        0.0,
+                        0.24103797327895668,
+                        0.6071393324239354
+                    ],
+                    "std": [
+                        0.0,
+                        0.0,
+                        0.6615962784298529,
+                        0.36814045893518177
+                    ],
+                    "q01": [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        3.3913522062507517e-06
+                    ],
+                    "q99": [
+                        0.0,
+                        0.0,
+                        1.0,
+                        1.0
+                    ]
+                },
+                "end_effector_position_relative": {
+                    "max": [
+                        0.9014528393745422,
+                        0.8569459915161133,
+                        1.053884744644165
+                    ],
+                    "min": [
+                        -0.5828549861907959,
+                        -0.8486236333847046,
+                        -0.3446122705936432
+                    ],
+                    "mean": [
+                        0.2641355221895152,
+                        -0.01768191244102862,
+                        0.4458847037294584
+                    ],
+                    "std": [
+                        0.16437879912713016,
+                        0.24835923712456218,
+                        0.2124190803465676
+                    ],
+                    "q01": [
+                        -0.004962867024380738,
+                        -0.46862868595225443,
+                        0.20316236863116172
+                    ],
+                    "q99": [
+                        0.5495510296644974,
+                        0.44201455499146414,
+                        0.6984316542098391
+                    ]
+                },
+                "end_effector_rotation_relative": {
+                    "max": [
+                        0.9999998807907104,
+                        0.9997354745864868,
+                        0.9900747537612915,
+                        0.9735639095306396
+                    ],
+                    "min": [
+                        -0.9999930262565613,
+                        -0.9999884366989136,
+                        -0.9975369572639465,
+                        6.754255821306288e-08
+                    ],
+                    "mean": [
+                        -0.23536101367097556,
+                        0.0384247508727208,
+                        -0.06854891687606551,
+                        0.1400254132624415
+                    ],
+                    "std": [
+                        0.8296216819146821,
+                        0.30067208350163366,
+                        0.33390768096919515,
+                        0.16926885514344236
+                    ],
+                    "q01": [
+                        -0.9950540525525874,
+                        -0.5590028004550295,
+                        -0.5635208777456633,
+                        0.001747048046951923
+                    ],
+                    "q99": [
+                        0.9472459325196646,
+                        0.6183763159959191,
+                        0.5108060516185887,
+                        0.46646525101830405
+                    ]
+                },
+                "gripper_qpos": {
+                    "max": [
+                        0.055869169533252716,
+                        0.010916369967162609
+                    ],
+                    "min": [
+                        -0.011669117026031017,
+                        -0.06307756155729294
+                    ],
+                    "mean": [
+                        0.031849369408926076,
+                        -0.03200748595341724
+                    ],
+                    "std": [
+                        0.012248040928874927,
+                        0.01206276030599065
+                    ],
+                    "q01": [
+                        0.006329614505051435,
+                        -0.0405872199089872
+                    ],
+                    "q99": [
+                        0.040445365520021676,
+                        -0.006282430560590391
+                    ]
+                }
+            },
+            "action": {
+                "base_motion": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0,
+                        0.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0,
+                        0.0
+                    ],
+                    "mean": [
+                        0.0071452133647496785,
+                        0.0015603604277540566,
+                        -0.0014052511062474704,
+                        0.0
+                    ],
+                    "std": [
+                        0.11471999232420287,
+                        0.10209228015027566,
+                        0.0855718789814838,
+                        0.0
+                    ],
+                    "q01": [
+                        -0.13329522793794643,
+                        -0.16270717101832055,
+                        -0.12619798329427676,
+                        0.0
+                    ],
+                    "q99": [
+                        0.1721366453818688,
+                        0.1972873452547982,
+                        0.11128571706089413,
+                        0.0
+                    ]
+                },
+                "control_mode": {
+                    "max": [
+                        1.0
+                    ],
+                    "min": [
+                        -1.0
+                    ],
+                    "mean": [
+                        -0.9218734936549906
+                    ],
+                    "std": [
+                        0.3874975703570591
+                    ],
+                    "q01": [
+                        -1.0
+                    ],
+                    "q99": [
+                        -0.26692269247002653
+                    ]
+                },
+                "end_effector_position": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0
+                    ],
+                    "mean": [
+                        0.002920238070268553,
+                        -0.0060913649045883315,
+                        -0.07322447393298565
+                    ],
+                    "std": [
+                        0.4482114094812734,
+                        0.41233706159751987,
+                        0.4006084454909327
+                    ],
+                    "q01": [
+                        -0.934104737554819,
+                        -0.9255792016234818,
+                        -0.8085822192859831
+                    ],
+                    "q99": [
+                        0.7874185230421324,
+                        0.9004049161564378,
+                        0.8018332495119154
+                    ]
+                },
+                "end_effector_rotation": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0
+                    ],
+                    "mean": [
+                        0.0077772595328458915,
+                        -0.022620543966259083,
+                        -0.00029332176634943376
+                    ],
+                    "std": [
+                        0.11155576533045976,
+                        0.13202104364511658,
+                        0.1240098754411023
+                    ],
+                    "q01": [
+                        -0.2726786325766535,
+                        -0.4125887853047325,
+                        -0.3445183934868137
+                    ],
+                    "q99": [
+                        0.31803481867756295,
+                        0.3015153519871841,
+                        0.34730986869917346
+                    ]
+                },
+                "gripper_close": {
+                    "max": [
+                        1.0
+                    ],
+                    "min": [
+                        -1.0
+                    ],
+                    "mean": [
+                        -0.33422761717726496
+                    ],
+                    "std": [
+                        0.9425001619711008
+                    ],
+                    "q01": [
+                        -1.0
+                    ],
+                    "q99": [
+                        0.681821585371573
+                    ]
+                }
+            }
+        },
+        "modalities": {
+            "video": {
+                "robot0_eye_in_hand": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                },
+                "robot0_agentview_left": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                },
+                "robot0_agentview_right": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                }
+            },
+            "state": {
+                "base_position": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "base_rotation": {
+                    "absolute": true,
+                    "rotation_type": "quaternion",
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "end_effector_position_relative": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "end_effector_rotation_relative": {
+                    "absolute": true,
+                    "rotation_type": "quaternion",
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "gripper_qpos": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        2
+                    ],
+                    "continuous": true
+                }
+            },
+            "action": {
+                "base_motion": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "control_mode": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        1
+                    ],
+                    "continuous": true
+                },
+                "end_effector_position": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "end_effector_rotation": {
+                    "absolute": true,
+                    "rotation_type": "axis_angle",
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "gripper_close": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        1
+                    ],
+                    "continuous": true
+                }
+            }
+        },
+        "embodiment_tag": "new_embodiment"
+    }
+}

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human.stopped_nospace_20260708_204923/default/resolved_config.yaml

@@ -0,0 +1,50 @@
+experiment_name: RKDv3 TimewarpVAE DA, Student:APHead from GR00T base to 120k on Atomic65
+  human, phase2 60k + phase3 60k, FM:RKD 1:0.5
+policy_type: groot_RKDv3
+base_model_path: nvidia/GR00T-N1.5-3B
+output_root: ${HOME}/groot_robocasa/robocasa_v2/RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human
+dataset:
+  dataset_soup: atomic_pretrain_human
+training:
+  num_gpus: 1
+  batch_size: 128
+  seed: 42
+model:
+  rkd_teacher_source: timewarp_action
+  rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46
+  rkd_relation_mode: flatten
+  rkd_loss_type: distance_angle
+  rkd_student_reconstruction_head_pooling: attention
+  rkd_student_reconstruction_head_enabled: true
+  rkd_student_reconstruction_head_dim: 512
+  rkd_student_reconstruction_head_hidden_dim: 512
+  rkd_distance_loss_weight: 1.0
+  rkd_angle_loss_weight: 2.0
+  rkd_exclude_diagonal: true
+phases:
+- name: phase2_rkdv3_timewarp_vae_da_aphead_only_60k
+  max_steps: 60000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 0.0
+    rkd_loss_weight: 1.0
+- name: phase3_fm_rkdv3_timewarp_vae_da_aphead_fixed_0p5_60k
+  max_steps: 60000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5
+resolved_sweep: {}

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human/default/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human.yaml

@@ -0,0 +1,49 @@
+experiment_name: RKDv3 TimewarpVAE DA, Student:APHead from GR00T base to 120k on Atomic65
+  human, phase2 60k + phase3 60k, FM:RKD 1:0.5
+policy_type: groot_RKDv3
+base_model_path: nvidia/GR00T-N1.5-3B
+output_root: ${HOME}/groot_robocasa/robocasa_v2/RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human
+dataset:
+  dataset_soup: atomic_pretrain_human
+training:
+  num_gpus: 1
+  batch_size: 128
+  seed: 42
+model:
+  rkd_teacher_source: timewarp_action
+  rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/atomic65_z8_g16_h32_tw32_reg0p01_gb_ctrl_30k/checkpoint-step-30000-epoch-2.73
+  rkd_relation_mode: flatten
+  rkd_loss_type: distance_angle
+  rkd_student_reconstruction_head_pooling: attention
+  rkd_student_reconstruction_head_enabled: true
+  rkd_student_reconstruction_head_dim: 512
+  rkd_student_reconstruction_head_hidden_dim: 512
+  rkd_distance_loss_weight: 1.0
+  rkd_angle_loss_weight: 2.0
+  rkd_exclude_diagonal: true
+phases:
+- name: phase2_rkdv3_timewarp_vae_da_aphead_only_60k
+  max_steps: 60000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 0.0
+    rkd_loss_weight: 1.0
+- name: phase3_fm_rkdv3_timewarp_vae_da_aphead_fixed_0p5_60k
+  max_steps: 60000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human/default/phase2/config.json

@@ -0,0 +1,101 @@
+{
+  "action_dim": 32,
+  "action_head_cfg": {
+    "action_dim": 32,
+    "action_horizon": 16,
+    "add_pos_embed": true,
+    "backbone_embedding_dim": 2048,
+    "diffusion_model_cfg": {
+      "attention_head_dim": 48,
+      "cross_attention_dim": 2048,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "interleave_self_attention": true,
+      "norm_type": "ada_norm",
+      "num_attention_heads": 32,
+      "num_layers": 16,
+      "output_dim": 1024,
+      "positional_embeddings": null
+    },
+    "hidden_size": 1024,
+    "input_embedding_dim": 1536,
+    "max_action_dim": 32,
+    "max_state_dim": 64,
+    "model_dtype": "float32",
+    "noise_beta_alpha": 1.5,
+    "noise_beta_beta": 1.0,
+    "noise_s": 0.999,
+    "num_inference_timesteps": 4,
+    "num_target_vision_tokens": 32,
+    "num_timestep_buckets": 1000,
+    "tune_diffusion_model": true,
+    "tune_projector": true,
+    "use_vlln": true,
+    "vl_self_attention_cfg": {
+      "attention_head_dim": 64,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "num_attention_heads": 32,
+      "num_layers": 4,
+      "positional_embeddings": null
+    }
+  },
+  "action_horizon": 16,
+  "architectures": [
+    "GR00T_N1_5_RKD"
+  ],
+  "attn_implementation": null,
+  "backbone_cfg": {
+    "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
+    "load_bf16": false,
+    "project_to_dim": null,
+    "reproject_vision": false,
+    "select_layer": 12,
+    "tune_llm": false,
+    "tune_visual": true,
+    "use_flash_attention": true
+  },
+  "compute_dtype": "bfloat16",
+  "hidden_size": 2048,
+  "model_dtype": "float32",
+  "model_type": "gr00t_n1_5",
+  "rkd_action_encoder_cls_ffn_hidden_dim": 2048,
+  "rkd_action_encoder_cls_num_heads": 8,
+  "rkd_action_encoder_cls_num_layers": 1,
+  "rkd_action_encoder_projector_dim": 512,
+  "rkd_action_encoder_projector_enabled": false,
+  "rkd_action_encoder_projector_pooling": "flatten",
+  "rkd_action_temp": 0.1,
+  "rkd_angle_loss_weight": 2.0,
+  "rkd_distance_loss_weight": 1.0,
+  "rkd_dtw_adaptive_floor": 0.05,
+  "rkd_dtw_adaptive_mix_lambda": 0.5,
+  "rkd_dtw_base_weight": 1.0,
+  "rkd_dtw_gripper_weight": 0.5,
+  "rkd_dtw_mix_mode": "distance_mix",
+  "rkd_dtw_normalize_components": true,
+  "rkd_dtw_pos_weight": 1.0,
+  "rkd_dtw_rot_weight": 1.0,
+  "rkd_dtw_timing_log_interval": 1000,
+  "rkd_enabled": true,
+  "rkd_exclude_diagonal": true,
+  "rkd_fm_loss_weight": 0.0,
+  "rkd_loss_type": "distance_angle",
+  "rkd_loss_weight": 1.0,
+  "rkd_loss_weight_end": 0.0,
+  "rkd_loss_weight_schedule": null,
+  "rkd_loss_weight_start": 0.1,
+  "rkd_raw_action_projector_dim": 512,
+  "rkd_raw_action_projector_enabled": false,
+  "rkd_raw_action_projector_pooling": "flatten",
+  "rkd_relation_mode": "flatten",
+  "rkd_student_reconstruction_head_dim": 512,
+  "rkd_student_reconstruction_head_enabled": true,
+  "rkd_student_reconstruction_head_hidden_dim": 512,
+  "rkd_student_reconstruction_head_pooling": "attention",
+  "rkd_teacher_source": "timewarp_action",
+  "rkd_timewarp_vae_checkpoint": "${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/atomic65_z8_g16_h32_tw32_reg0p01_gb_ctrl_30k/checkpoint-step-30000-epoch-2.73",
+  "rkd_vlm_temp": 0.1,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
+}

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human/default/phase2/experiment_cfg/metadata.json

@@ -0,0 +1,431 @@
+{
+    "new_embodiment": {
+        "statistics": {
+            "state": {
+                "base_position": {
+                    "max": [
+                        7.778976917266846,
+                        0.4876587688922882,
+                        0.7223060727119446
+                    ],
+                    "min": [
+                        -4.94293737411499,
+                        -6.890198230743408,
+                        0.6994727253913879
+                    ],
+                    "mean": [
+                        2.645730005800653,
+                        -2.110066447108802,
+                        0.7004254938507055
+                    ],
+                    "std": [
+                        1.674798582069234,
+                        1.350392482318102,
+                        0.001107956680671985
+                    ],
+                    "q01": [
+                        -1.0132281893317567,
+                        -5.366714195503661,
+                        0.699973412653353
+                    ],
+                    "q99": [
+                        6.099414437993715,
+                        -0.5498886012762193,
+                        0.7032860957123939
+                    ]
+                },
+                "base_rotation": {
+                    "max": [
+                        0.0,
+                        0.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        0.0
+                    ],
+                    "mean": [
+                        0.0,
+                        0.0,
+                        0.24103797327895668,
+                        0.6071393324239354
+                    ],
+                    "std": [
+                        0.0,
+                        0.0,
+                        0.6615962784298529,
+                        0.36814045893518177
+                    ],
+                    "q01": [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        3.3913522062507517e-06
+                    ],
+                    "q99": [
+                        0.0,
+                        0.0,
+                        1.0,
+                        1.0
+                    ]
+                },
+                "end_effector_position_relative": {
+                    "max": [
+                        0.9014528393745422,
+                        0.8569459915161133,
+                        1.053884744644165
+                    ],
+                    "min": [
+                        -0.5828549861907959,
+                        -0.8486236333847046,
+                        -0.3446122705936432
+                    ],
+                    "mean": [
+                        0.2641355221895152,
+                        -0.01768191244102862,
+                        0.4458847037294584
+                    ],
+                    "std": [
+                        0.16437879912713016,
+                        0.24835923712456218,
+                        0.2124190803465676
+                    ],
+                    "q01": [
+                        -0.004962867024380738,
+                        -0.46862868595225443,
+                        0.20316236863116172
+                    ],
+                    "q99": [
+                        0.5495510296644974,
+                        0.44201455499146414,
+                        0.6984316542098391
+                    ]
+                },
+                "end_effector_rotation_relative": {
+                    "max": [
+                        0.9999998807907104,
+                        0.9997354745864868,
+                        0.9900747537612915,
+                        0.9735639095306396
+                    ],
+                    "min": [
+                        -0.9999930262565613,
+                        -0.9999884366989136,
+                        -0.9975369572639465,
+                        6.754255821306288e-08
+                    ],
+                    "mean": [
+                        -0.23536101367097556,
+                        0.0384247508727208,
+                        -0.06854891687606551,
+                        0.1400254132624415
+                    ],
+                    "std": [
+                        0.8296216819146821,
+                        0.30067208350163366,
+                        0.33390768096919515,
+                        0.16926885514344236
+                    ],
+                    "q01": [
+                        -0.9950540525525874,
+                        -0.5590028004550295,
+                        -0.5635208777456633,
+                        0.001747048046951923
+                    ],
+                    "q99": [
+                        0.9472459325196646,
+                        0.6183763159959191,
+                        0.5108060516185887,
+                        0.46646525101830405
+                    ]
+                },
+                "gripper_qpos": {
+                    "max": [
+                        0.055869169533252716,
+                        0.010916369967162609
+                    ],
+                    "min": [
+                        -0.011669117026031017,
+                        -0.06307756155729294
+                    ],
+                    "mean": [
+                        0.031849369408926076,
+                        -0.03200748595341724
+                    ],
+                    "std": [
+                        0.012248040928874927,
+                        0.01206276030599065
+                    ],
+                    "q01": [
+                        0.006329614505051435,
+                        -0.0405872199089872
+                    ],
+                    "q99": [
+                        0.040445365520021676,
+                        -0.006282430560590391
+                    ]
+                }
+            },
+            "action": {
+                "base_motion": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0,
+                        0.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0,
+                        0.0
+                    ],
+                    "mean": [
+                        0.0071452133647496785,
+                        0.0015603604277540566,
+                        -0.0014052511062474704,
+                        0.0
+                    ],
+                    "std": [
+                        0.11471999232420287,
+                        0.10209228015027566,
+                        0.0855718789814838,
+                        0.0
+                    ],
+                    "q01": [
+                        -0.13329522793794643,
+                        -0.16270717101832055,
+                        -0.12619798329427676,
+                        0.0
+                    ],
+                    "q99": [
+                        0.1721366453818688,
+                        0.1972873452547982,
+                        0.11128571706089413,
+                        0.0
+                    ]
+                },
+                "control_mode": {
+                    "max": [
+                        1.0
+                    ],
+                    "min": [
+                        -1.0
+                    ],
+                    "mean": [
+                        -0.9218734936549906
+                    ],
+                    "std": [
+                        0.3874975703570591
+                    ],
+                    "q01": [
+                        -1.0
+                    ],
+                    "q99": [
+                        -0.26692269247002653
+                    ]
+                },
+                "end_effector_position": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0
+                    ],
+                    "mean": [
+                        0.002920238070268553,
+                        -0.0060913649045883315,
+                        -0.07322447393298565
+                    ],
+                    "std": [
+                        0.4482114094812734,
+                        0.41233706159751987,
+                        0.4006084454909327
+                    ],
+                    "q01": [
+                        -0.934104737554819,
+                        -0.9255792016234818,
+                        -0.8085822192859831
+                    ],
+                    "q99": [
+                        0.7874185230421324,
+                        0.9004049161564378,
+                        0.8018332495119154
+                    ]
+                },
+                "end_effector_rotation": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0
+                    ],
+                    "mean": [
+                        0.0077772595328458915,
+                        -0.022620543966259083,
+                        -0.00029332176634943376
+                    ],
+                    "std": [
+                        0.11155576533045976,
+                        0.13202104364511658,
+                        0.1240098754411023
+                    ],
+                    "q01": [
+                        -0.2726786325766535,
+                        -0.4125887853047325,
+                        -0.3445183934868137
+                    ],
+                    "q99": [
+                        0.31803481867756295,
+                        0.3015153519871841,
+                        0.34730986869917346
+                    ]
+                },
+                "gripper_close": {
+                    "max": [
+                        1.0
+                    ],
+                    "min": [
+                        -1.0
+                    ],
+                    "mean": [
+                        -0.33422761717726496
+                    ],
+                    "std": [
+                        0.9425001619711008
+                    ],
+                    "q01": [
+                        -1.0
+                    ],
+                    "q99": [
+                        0.681821585371573
+                    ]
+                }
+            }
+        },
+        "modalities": {
+            "video": {
+                "robot0_eye_in_hand": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                },
+                "robot0_agentview_left": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                },
+                "robot0_agentview_right": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                }
+            },
+            "state": {
+                "base_position": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "base_rotation": {
+                    "absolute": true,
+                    "rotation_type": "quaternion",
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "end_effector_position_relative": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "end_effector_rotation_relative": {
+                    "absolute": true,
+                    "rotation_type": "quaternion",
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "gripper_qpos": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        2
+                    ],
+                    "continuous": true
+                }
+            },
+            "action": {
+                "base_motion": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "control_mode": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        1
+                    ],
+                    "continuous": true
+                },
+                "end_effector_position": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "end_effector_rotation": {
+                    "absolute": true,
+                    "rotation_type": "axis_angle",
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "gripper_close": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        1
+                    ],
+                    "continuous": true
+                }
+            }
+        },
+        "embodiment_tag": "new_embodiment"
+    }
+}

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human/default/phase2/model-00001-of-00002.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e65895a7b6c052e58b679bdd68bff54a68694a81f38e23d3e03a92059b3600b
+size 4999367032

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human/default/phase2/model-00002-of-00002.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f180b376369d5c5550806f3c58db54714fd0f986cd41593a589ba29ec26e3fe
+size 2664461700

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human/default/phase2/trainer_state.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a93dd5c979d7e9de8a311f6ddd355187eb19314049c8773731f6dcaf887841d7
+size 10995731

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human/default/phase2/training_args.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32020ad7f082328a011d7f08f5d5f138b36d34d35d9d325b589526ba57831432
+size 6033

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human/default/phase3/config.json

@@ -0,0 +1,101 @@
+{
+  "action_dim": 32,
+  "action_head_cfg": {
+    "action_dim": 32,
+    "action_horizon": 16,
+    "add_pos_embed": true,
+    "backbone_embedding_dim": 2048,
+    "diffusion_model_cfg": {
+      "attention_head_dim": 48,
+      "cross_attention_dim": 2048,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "interleave_self_attention": true,
+      "norm_type": "ada_norm",
+      "num_attention_heads": 32,
+      "num_layers": 16,
+      "output_dim": 1024,
+      "positional_embeddings": null
+    },
+    "hidden_size": 1024,
+    "input_embedding_dim": 1536,
+    "max_action_dim": 32,
+    "max_state_dim": 64,
+    "model_dtype": "float32",
+    "noise_beta_alpha": 1.5,
+    "noise_beta_beta": 1.0,
+    "noise_s": 0.999,
+    "num_inference_timesteps": 4,
+    "num_target_vision_tokens": 32,
+    "num_timestep_buckets": 1000,
+    "tune_diffusion_model": true,
+    "tune_projector": true,
+    "use_vlln": true,
+    "vl_self_attention_cfg": {
+      "attention_head_dim": 64,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "num_attention_heads": 32,
+      "num_layers": 4,
+      "positional_embeddings": null
+    }
+  },
+  "action_horizon": 16,
+  "architectures": [
+    "GR00T_N1_5_RKD"
+  ],
+  "attn_implementation": null,
+  "backbone_cfg": {
+    "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
+    "load_bf16": false,
+    "project_to_dim": null,
+    "reproject_vision": false,
+    "select_layer": 12,
+    "tune_llm": false,
+    "tune_visual": true,
+    "use_flash_attention": true
+  },
+  "compute_dtype": "bfloat16",
+  "hidden_size": 2048,
+  "model_dtype": "float32",
+  "model_type": "gr00t_n1_5",
+  "rkd_action_encoder_cls_ffn_hidden_dim": 2048,
+  "rkd_action_encoder_cls_num_heads": 8,
+  "rkd_action_encoder_cls_num_layers": 1,
+  "rkd_action_encoder_projector_dim": 512,
+  "rkd_action_encoder_projector_enabled": false,
+  "rkd_action_encoder_projector_pooling": "flatten",
+  "rkd_action_temp": 0.1,
+  "rkd_angle_loss_weight": 2.0,
+  "rkd_distance_loss_weight": 1.0,
+  "rkd_dtw_adaptive_floor": 0.05,
+  "rkd_dtw_adaptive_mix_lambda": 0.5,
+  "rkd_dtw_base_weight": 1.0,
+  "rkd_dtw_gripper_weight": 0.5,
+  "rkd_dtw_mix_mode": "distance_mix",
+  "rkd_dtw_normalize_components": true,
+  "rkd_dtw_pos_weight": 1.0,
+  "rkd_dtw_rot_weight": 1.0,
+  "rkd_dtw_timing_log_interval": 1000,
+  "rkd_enabled": true,
+  "rkd_exclude_diagonal": true,
+  "rkd_fm_loss_weight": 1.0,
+  "rkd_loss_type": "distance_angle",
+  "rkd_loss_weight": 0.5,
+  "rkd_loss_weight_end": 0.0,
+  "rkd_loss_weight_schedule": null,
+  "rkd_loss_weight_start": 0.1,
+  "rkd_raw_action_projector_dim": 512,
+  "rkd_raw_action_projector_enabled": false,
+  "rkd_raw_action_projector_pooling": "flatten",
+  "rkd_relation_mode": "flatten",
+  "rkd_student_reconstruction_head_dim": 512,
+  "rkd_student_reconstruction_head_enabled": true,
+  "rkd_student_reconstruction_head_hidden_dim": 512,
+  "rkd_student_reconstruction_head_pooling": "attention",
+  "rkd_teacher_source": "timewarp_action",
+  "rkd_timewarp_vae_checkpoint": "${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/atomic65_z8_g16_h32_tw32_reg0p01_gb_ctrl_30k/checkpoint-step-30000-epoch-2.73",
+  "rkd_vlm_temp": 0.1,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
+}

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human/default/phase3/experiment_cfg/metadata.json

@@ -0,0 +1,431 @@
+{
+    "new_embodiment": {
+        "statistics": {
+            "state": {
+                "base_position": {
+                    "max": [
+                        7.778976917266846,
+                        0.4876587688922882,
+                        0.7223060727119446
+                    ],
+                    "min": [
+                        -4.94293737411499,
+                        -6.890198230743408,
+                        0.6994727253913879
+                    ],
+                    "mean": [
+                        2.645730005800653,
+                        -2.110066447108802,
+                        0.7004254938507055
+                    ],
+                    "std": [
+                        1.674798582069234,
+                        1.350392482318102,
+                        0.001107956680671985
+                    ],
+                    "q01": [
+                        -1.0132281893317567,
+                        -5.366714195503661,
+                        0.699973412653353
+                    ],
+                    "q99": [
+                        6.099414437993715,
+                        -0.5498886012762193,
+                        0.7032860957123939
+                    ]
+                },
+                "base_rotation": {
+                    "max": [
+                        0.0,
+                        0.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        0.0
+                    ],
+                    "mean": [
+                        0.0,
+                        0.0,
+                        0.24103797327895668,
+                        0.6071393324239354
+                    ],
+                    "std": [
+                        0.0,
+                        0.0,
+                        0.6615962784298529,
+                        0.36814045893518177
+                    ],
+                    "q01": [
+                        0.0,
+                        0.0,
+                        -1.0,
+                        3.3913522062507517e-06
+                    ],
+                    "q99": [
+                        0.0,
+                        0.0,
+                        1.0,
+                        1.0
+                    ]
+                },
+                "end_effector_position_relative": {
+                    "max": [
+                        0.9014528393745422,
+                        0.8569459915161133,
+                        1.053884744644165
+                    ],
+                    "min": [
+                        -0.5828549861907959,
+                        -0.8486236333847046,
+                        -0.3446122705936432
+                    ],
+                    "mean": [
+                        0.2641355221895152,
+                        -0.01768191244102862,
+                        0.4458847037294584
+                    ],
+                    "std": [
+                        0.16437879912713016,
+                        0.24835923712456218,
+                        0.2124190803465676
+                    ],
+                    "q01": [
+                        -0.004962867024380738,
+                        -0.46862868595225443,
+                        0.20316236863116172
+                    ],
+                    "q99": [
+                        0.5495510296644974,
+                        0.44201455499146414,
+                        0.6984316542098391
+                    ]
+                },
+                "end_effector_rotation_relative": {
+                    "max": [
+                        0.9999998807907104,
+                        0.9997354745864868,
+                        0.9900747537612915,
+                        0.9735639095306396
+                    ],
+                    "min": [
+                        -0.9999930262565613,
+                        -0.9999884366989136,
+                        -0.9975369572639465,
+                        6.754255821306288e-08
+                    ],
+                    "mean": [
+                        -0.23536101367097556,
+                        0.0384247508727208,
+                        -0.06854891687606551,
+                        0.1400254132624415
+                    ],
+                    "std": [
+                        0.8296216819146821,
+                        0.30067208350163366,
+                        0.33390768096919515,
+                        0.16926885514344236
+                    ],
+                    "q01": [
+                        -0.9950540525525874,
+                        -0.5590028004550295,
+                        -0.5635208777456633,
+                        0.001747048046951923
+                    ],
+                    "q99": [
+                        0.9472459325196646,
+                        0.6183763159959191,
+                        0.5108060516185887,
+                        0.46646525101830405
+                    ]
+                },
+                "gripper_qpos": {
+                    "max": [
+                        0.055869169533252716,
+                        0.010916369967162609
+                    ],
+                    "min": [
+                        -0.011669117026031017,
+                        -0.06307756155729294
+                    ],
+                    "mean": [
+                        0.031849369408926076,
+                        -0.03200748595341724
+                    ],
+                    "std": [
+                        0.012248040928874927,
+                        0.01206276030599065
+                    ],
+                    "q01": [
+                        0.006329614505051435,
+                        -0.0405872199089872
+                    ],
+                    "q99": [
+                        0.040445365520021676,
+                        -0.006282430560590391
+                    ]
+                }
+            },
+            "action": {
+                "base_motion": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0,
+                        0.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0,
+                        0.0
+                    ],
+                    "mean": [
+                        0.0071452133647496785,
+                        0.0015603604277540566,
+                        -0.0014052511062474704,
+                        0.0
+                    ],
+                    "std": [
+                        0.11471999232420287,
+                        0.10209228015027566,
+                        0.0855718789814838,
+                        0.0
+                    ],
+                    "q01": [
+                        -0.13329522793794643,
+                        -0.16270717101832055,
+                        -0.12619798329427676,
+                        0.0
+                    ],
+                    "q99": [
+                        0.1721366453818688,
+                        0.1972873452547982,
+                        0.11128571706089413,
+                        0.0
+                    ]
+                },
+                "control_mode": {
+                    "max": [
+                        1.0
+                    ],
+                    "min": [
+                        -1.0
+                    ],
+                    "mean": [
+                        -0.9218734936549906
+                    ],
+                    "std": [
+                        0.3874975703570591
+                    ],
+                    "q01": [
+                        -1.0
+                    ],
+                    "q99": [
+                        -0.26692269247002653
+                    ]
+                },
+                "end_effector_position": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0
+                    ],
+                    "mean": [
+                        0.002920238070268553,
+                        -0.0060913649045883315,
+                        -0.07322447393298565
+                    ],
+                    "std": [
+                        0.4482114094812734,
+                        0.41233706159751987,
+                        0.4006084454909327
+                    ],
+                    "q01": [
+                        -0.934104737554819,
+                        -0.9255792016234818,
+                        -0.8085822192859831
+                    ],
+                    "q99": [
+                        0.7874185230421324,
+                        0.9004049161564378,
+                        0.8018332495119154
+                    ]
+                },
+                "end_effector_rotation": {
+                    "max": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "min": [
+                        -1.0,
+                        -1.0,
+                        -1.0
+                    ],
+                    "mean": [
+                        0.0077772595328458915,
+                        -0.022620543966259083,
+                        -0.00029332176634943376
+                    ],
+                    "std": [
+                        0.11155576533045976,
+                        0.13202104364511658,
+                        0.1240098754411023
+                    ],
+                    "q01": [
+                        -0.2726786325766535,
+                        -0.4125887853047325,
+                        -0.3445183934868137
+                    ],
+                    "q99": [
+                        0.31803481867756295,
+                        0.3015153519871841,
+                        0.34730986869917346
+                    ]
+                },
+                "gripper_close": {
+                    "max": [
+                        1.0
+                    ],
+                    "min": [
+                        -1.0
+                    ],
+                    "mean": [
+                        -0.33422761717726496
+                    ],
+                    "std": [
+                        0.9425001619711008
+                    ],
+                    "q01": [
+                        -1.0
+                    ],
+                    "q99": [
+                        0.681821585371573
+                    ]
+                }
+            }
+        },
+        "modalities": {
+            "video": {
+                "robot0_eye_in_hand": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                },
+                "robot0_agentview_left": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                },
+                "robot0_agentview_right": {
+                    "resolution": [
+                        256,
+                        256
+                    ],
+                    "channels": 3,
+                    "fps": 20.0
+                }
+            },
+            "state": {
+                "base_position": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "base_rotation": {
+                    "absolute": true,
+                    "rotation_type": "quaternion",
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "end_effector_position_relative": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "end_effector_rotation_relative": {
+                    "absolute": true,
+                    "rotation_type": "quaternion",
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "gripper_qpos": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        2
+                    ],
+                    "continuous": true
+                }
+            },
+            "action": {
+                "base_motion": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        4
+                    ],
+                    "continuous": true
+                },
+                "control_mode": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        1
+                    ],
+                    "continuous": true
+                },
+                "end_effector_position": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "end_effector_rotation": {
+                    "absolute": true,
+                    "rotation_type": "axis_angle",
+                    "shape": [
+                        3
+                    ],
+                    "continuous": true
+                },
+                "gripper_close": {
+                    "absolute": true,
+                    "rotation_type": null,
+                    "shape": [
+                        1
+                    ],
+                    "continuous": true
+                }
+            }
+        },
+        "embodiment_tag": "new_embodiment"
+    }
+}

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human/default/phase3/model-00001-of-00002.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:970f2ebce9fab15bff554fe8c34e03bf7a41c6fded29e9cc87b9e88d949cd513
+size 4999367032

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human/default/phase3/model-00002-of-00002.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:381bedadefe51967a50b34a0955d2b4419e636a6b5a01fa0efecbf7af537751a
+size 2664461700

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human/default/phase3/trainer_state.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb6283653dc62535bad21f34e7a02968a4dfa4ffc12aebf5fe785576651f6633
+size 11204654

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human/default/phase3/training_args.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f6adae4d167bebb21c718580489904d78057648f9406eb279c697d2620741d3
+size 6033

RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human/default/resolved_config.yaml

@@ -0,0 +1,50 @@
+experiment_name: RKDv3 TimewarpVAE DA, Student:APHead from GR00T base to 120k on Atomic65
+  human, phase2 60k + phase3 60k, FM:RKD 1:0.5
+policy_type: groot_RKDv3
+base_model_path: nvidia/GR00T-N1.5-3B
+output_root: ${HOME}/groot_robocasa/robocasa_v2/RKDv3/base120_p2-60k_p3-60k_fm1-rkd0p5_atomic65_human
+dataset:
+  dataset_soup: atomic_pretrain_human
+training:
+  num_gpus: 1
+  batch_size: 128
+  seed: 42
+model:
+  rkd_teacher_source: timewarp_action
+  rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/atomic65_z8_g16_h32_tw32_reg0p01_gb_ctrl_30k/checkpoint-step-30000-epoch-2.73
+  rkd_relation_mode: flatten
+  rkd_loss_type: distance_angle
+  rkd_student_reconstruction_head_pooling: attention
+  rkd_student_reconstruction_head_enabled: true
+  rkd_student_reconstruction_head_dim: 512
+  rkd_student_reconstruction_head_hidden_dim: 512
+  rkd_distance_loss_weight: 1.0
+  rkd_angle_loss_weight: 2.0
+  rkd_exclude_diagonal: true
+phases:
+- name: phase2_rkdv3_timewarp_vae_da_aphead_only_60k
+  max_steps: 60000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 0.0
+    rkd_loss_weight: 1.0
+- name: phase3_fm_rkdv3_timewarp_vae_da_aphead_fixed_0p5_60k
+  max_steps: 60000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 0.5
+resolved_sweep: {}

RKDv3/base120_single_fm1-rkd1to0_cosine_atomic65_human/default/base120_single_fm1-rkd1to0_cosine_atomic65_human.yaml

@@ -6,12 +6,12 @@ output_root: ${HOME}/groot_robocasa/robocasa_v2/RKDv3/base120_single_fm1-rkd1to0
 dataset:
   dataset_soup: atomic_pretrain_human
 training:
-  num_gpus: 2
-  batch_size: 64
+  num_gpus: 1
+  batch_size: 128
   seed: 42
 model:
   rkd_teacher_source: timewarp_action
-  rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/atomic65_z8_g16_h32_tw32_reg0p01_gb_ctrl_30k/checkpoint-step-30000-epoch-2.73
+  rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46
   rkd_relation_mode: flatten
   rkd_loss_type: distance_angle
   rkd_student_reconstruction_head_pooling: attention

RKDv3/base120_single_fm1-rkd1to0_cosine_atomic65_human/default/resolved_config.yaml

@@ -6,12 +6,12 @@ output_root: ${HOME}/groot_robocasa/robocasa_v2/RKDv3/base120_single_fm1-rkd1to0
 dataset:
   dataset_soup: atomic_pretrain_human
 training:
-  num_gpus: 2
-  batch_size: 64
+  num_gpus: 1
+  batch_size: 128
   seed: 42
 model:
   rkd_teacher_source: timewarp_action
-  rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/atomic65_z8_g16_h32_tw32_reg0p01_gb_ctrl_30k/checkpoint-step-30000-epoch-2.73
+  rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46
   rkd_relation_mode: flatten
   rkd_loss_type: distance_angle
   rkd_student_reconstruction_head_pooling: attention