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Add RoboCasa365 Baseline BS128 Baseline/BS128/alpha0p4/checkpoint-120000

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Files changed (20) hide show
  1. Baseline/BS128/alpha0p4/checkpoint-120000/config.json +88 -0
  2. Baseline/BS128/alpha0p4/checkpoint-120000/dataset_state.json +1 -0
  3. Baseline/BS128/alpha0p4/checkpoint-120000/embodiment_id.json +57 -0
  4. Baseline/BS128/alpha0p4/checkpoint-120000/experiment_cfg/conf.yaml +533 -0
  5. Baseline/BS128/alpha0p4/checkpoint-120000/experiment_cfg/config.yaml +531 -0
  6. Baseline/BS128/alpha0p4/checkpoint-120000/experiment_cfg/dataset_statistics.json +317 -0
  7. Baseline/BS128/alpha0p4/checkpoint-120000/experiment_cfg/final_model_config.json +56 -0
  8. Baseline/BS128/alpha0p4/checkpoint-120000/experiment_cfg/final_processor_config.json +0 -0
  9. Baseline/BS128/alpha0p4/checkpoint-120000/model-00001-of-00003.safetensors +3 -0
  10. Baseline/BS128/alpha0p4/checkpoint-120000/model-00002-of-00003.safetensors +3 -0
  11. Baseline/BS128/alpha0p4/checkpoint-120000/model-00003-of-00003.safetensors +3 -0
  12. Baseline/BS128/alpha0p4/checkpoint-120000/model.safetensors.index.json +0 -0
  13. Baseline/BS128/alpha0p4/checkpoint-120000/optimizer.pt +3 -0
  14. Baseline/BS128/alpha0p4/checkpoint-120000/processor_config.json +1148 -0
  15. Baseline/BS128/alpha0p4/checkpoint-120000/rng_state.pth +3 -0
  16. Baseline/BS128/alpha0p4/checkpoint-120000/scheduler.pt +3 -0
  17. Baseline/BS128/alpha0p4/checkpoint-120000/statistics.json +0 -0
  18. Baseline/BS128/alpha0p4/checkpoint-120000/trainer_state.json +0 -0
  19. Baseline/BS128/alpha0p4/checkpoint-120000/training_args.bin +3 -0
  20. Baseline/BS128/alpha0p4/checkpoint-120000/wandb_config.json +1 -0
Baseline/BS128/alpha0p4/checkpoint-120000/config.json ADDED
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1
+ {
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+ "action_horizon": 40,
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+ "add_pos_embed": true,
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+ "apply_sincos_state_encoding": false,
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+ "architectures": [
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+ "Gr00tN1d7"
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+ ],
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+ "attn_dropout": 0.2,
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+ "attn_implementation": null,
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+ "backbone_embedding_dim": 2048,
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+ "backbone_trainable_params_fp32": true,
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+ "color_jitter_params": {
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+ "brightness": 0.3,
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+ "contrast": 0.4,
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+ "hue": 0.08,
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+ "saturation": 0.5
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+ },
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+ "crop_fraction": 0.95,
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+ "diffusion_model_cfg": {
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+ "attention_head_dim": 48,
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+ "dropout": 0.2,
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+ "final_dropout": true,
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+ "interleave_self_attention": true,
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+ "norm_type": "ada_norm",
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+ "num_attention_heads": 32,
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+ "num_layers": 32,
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+ "output_dim": 1024,
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+ "positional_embeddings": null
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+ },
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+ "dtype": "float32",
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+ "exclude_state": false,
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+ "formalize_language": true,
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+ "hidden_size": 1024,
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+ "image_crop_size": [
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+ 230,
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+ 230
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+ ],
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+ "image_target_size": [
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+ 256,
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+ 256
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+ ],
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+ "letter_box_transform": false,
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+ "load_bf16": false,
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+ "max_action_dim": 132,
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+ "max_num_embodiments": 32,
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+ "max_seq_len": 1024,
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+ "max_state_dim": 132,
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+ "model_dtype": "bfloat16",
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+ "model_name": "nvidia/Cosmos-Reason2-2B",
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+ "model_type": "Gr00tN1d7",
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+ "noise_beta_alpha": 1.5,
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+ "noise_beta_beta": 1.0,
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+ "noise_s": 0.999,
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+ "num_inference_timesteps": 4,
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+ "num_timestep_buckets": 1000,
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+ "random_history_crop": true,
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+ "random_rotation_angle": 0,
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+ "reproject_vision": false,
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+ "rtc_ramp_rate": 6.0,
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+ "select_layer": 16,
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+ "shortest_image_edge": 256,
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+ "state_dropout_prob": 0.0,
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+ "state_gaussian_noise_std": 0.0,
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+ "transformers_version": "4.57.3",
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+ "tune_diffusion_model": true,
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+ "tune_linear": true,
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+ "tune_llm": false,
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+ "tune_projector": true,
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+ "tune_top_llm_layers": 0,
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+ "tune_visual": false,
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+ "tune_vlln": true,
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+ "use_albumentations": true,
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+ "use_alternate_vl_dit": true,
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+ "use_flash_attention": true,
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+ "use_future_tokens": false,
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+ "use_mean_std": false,
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+ "use_percentiles": true,
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+ "use_vl_self_attention": true,
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+ "use_vlln": true,
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+ "vl_self_attention_cfg": {
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+ "attention_head_dim": 64,
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+ "dropout": 0.2,
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+ "final_dropout": true,
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+ "num_attention_heads": 32,
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+ "num_layers": 4,
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+ "positional_embeddings": null
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+ }
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+ }
Baseline/BS128/alpha0p4/checkpoint-120000/dataset_state.json ADDED
@@ -0,0 +1 @@
 
 
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+ {"epoch": 0, "curr_shard_index": null}
Baseline/BS128/alpha0p4/checkpoint-120000/embodiment_id.json ADDED
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1
+ {
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+ "robocasa_panda_omron": 13,
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+ "oxe_droid": 17,
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+ "oxe_fractal": 18,
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+ "oxe_language_table": 19,
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+ "oxe_bridge": 20,
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+ "unknown": 22,
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+ "gr1_unified": 20,
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+ "agibot": 26,
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+ "sim_behavior_r1_pro": 23,
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+ "xdof": 24,
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+ "xdof_oss_data": 25,
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+ "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
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+ "real_r1_pro_sharpa": 27,
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+ "real_r1_pro_sharpa_add_view": 27,
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+ "real_r1_pro_sharpa_relative_arm_joint": 26,
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+ "real_r1_pro_sharpa_delta_eef": 26,
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+ "real_r1_pro_sharpa_absolute_eef": 26,
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+ "real_r1_pro_sharpa_meanstd": 26,
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+ "real_r1_pro_sharpa_relative_eef": 26,
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+ "real_r1_pro_sharpa_relative_eef_add_view": 26,
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+ "real_r1_pro_sharpa_relative_eef_relative_hand": 26,
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+ "real_r1_pro_sharpa_relative_eef_human": 26,
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+ "real_r1_pro_sharpa_relative_eef_human_add_view": 26,
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+ "real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
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+ "real_r1_pro_sharpa_relative_eef_egodex": 26,
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+ "real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
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+ "real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
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+ "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
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+ "real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
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+ "real_r1_pro_sharpa_relative_eef_mecka": 26,
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+ "real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
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+ "real_g1_relative_eef_absolute_joints": 25,
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+ "real_g1_relative_eef_absolute_joints_wrist_cam": 25,
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+ "real_g1_relative_eef_relative_joints": 25,
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+ "real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
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+ "real_r1_pro_sharpa_relative_joint": 29,
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+ "oxe_droid_relative_eef_relative_joint": 24,
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+ "oxe_droid_relative_eef_relative_joint_swapped": 24,
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+ "oxe_droid_relative_eef_relative_joint_upweight_z": 24,
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+ "oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
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+ "oxe_droid_relative_eef_relative_joint_3view": 24,
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+ "oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
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+ "oxe_droid_relative_eef": 24,
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+ "oxe_droid_joint_position_relative": 24,
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+ "xdof_relative_eef_relative_joint": 27,
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+ "xdof_relative_eef_relative_joint_subtask": 27,
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+ "xdof_relative_eef": 27,
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+ "xdof_relative_joint": 28,
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+ "simpler_env_google": 0,
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+ "simpler_env_widowx": 1,
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+ "libero_sim": 2,
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+ "droid_sim": 3,
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+ "new_embodiment": 10,
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+ "robocasa_gr1_tabletop": 10,
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+ "unitree_g1_sonic": 11
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+ }
Baseline/BS128/alpha0p4/checkpoint-120000/experiment_cfg/conf.yaml ADDED
@@ -0,0 +1,533 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ load_config_path: null
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+ model:
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+ model_type: Gr00tN1d7
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+ model_dtype: bfloat16
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+ model_name: nvidia/Cosmos-Reason2-2B
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+ backbone_model_type: qwen
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+ model_revision: null
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+ tune_top_llm_layers: 0
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+ backbone_embedding_dim: 2048
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+ tune_llm: false
11
+ tune_visual: false
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+ select_layer: 12
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+ reproject_vision: false
14
+ use_flash_attention: true
15
+ load_bf16: false
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+ backbone_trainable_params_fp32: true
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+ image_crop_size:
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+ - 230
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+ - 230
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+ image_target_size:
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+ - 256
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+ - 256
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+ shortest_image_edge: null
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+ crop_fraction: null
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+ random_rotation_angle: null
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+ color_jitter_params: null
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+ use_albumentations_transforms: true
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+ letter_box_transform: false
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+ extra_augmentation_config: null
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+ formalize_language: true
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+ apply_sincos_state_encoding: false
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+ use_percentiles: true
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+ use_relative_action: true
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+ max_state_dim: 132
35
+ max_action_dim: 132
36
+ action_horizon: 40
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+ hidden_size: 1024
38
+ input_embedding_dim: 1536
39
+ state_history_length: 1
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+ add_pos_embed: true
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+ attn_dropout: 0.2
42
+ use_vlln: true
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+ max_seq_len: 1024
44
+ use_alternate_vl_dit: true
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+ attend_text_every_n_blocks: 2
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+ diffusion_model_cfg:
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+ positional_embeddings: null
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+ num_layers: 16
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+ num_attention_heads: 32
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+ attention_head_dim: 48
51
+ norm_type: ada_norm
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+ dropout: 0.2
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+ final_dropout: true
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+ output_dim: 1024
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+ interleave_self_attention: true
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+ num_inference_timesteps: 4
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+ noise_beta_alpha: 1.5
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+ noise_beta_beta: 1.0
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+ noise_s: 0.999
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+ num_timestep_buckets: 1000
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+ tune_projector: true
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+ tune_diffusion_model: true
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+ tune_vlln: true
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+ state_dropout_prob: 0.0
65
+ exclude_state: false
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+ use_mean_std: false
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+ max_num_embodiments: 32
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+ data:
69
+ datasets:
70
+ - dataset_paths:
71
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0001
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0002
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0003
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0004
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0005
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0006
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0007
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0008
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0009
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0010
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0011
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0012
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0013
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0014
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0015
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0016
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0017
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0018
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0019
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0020
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0021
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0022
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0023
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0024
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0025
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0026
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0027
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0028
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0029
100
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0030
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0031
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0032
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0033
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0034
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0035
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0036
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0037
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0038
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0039
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0040
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0041
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0042
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0043
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0044
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0045
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0046
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0047
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0048
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0049
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0050
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0051
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0052
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0053
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0054
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0055
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0056
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0057
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0058
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0059
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0060
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0061
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0062
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0063
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0175
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0177
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0178
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0179
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0180
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0181
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0182
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0183
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0184
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0185
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0186
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0192
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0193
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0194
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0195
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0197
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0198
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0199
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0201
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0205
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0207
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0208
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0209
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0212
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0213
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0214
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0215
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0216
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0217
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0218
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0219
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0220
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0222
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0225
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_composite/task_0235
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372
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373
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374
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375
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379
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382
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392
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+ - gripper_qpos
394
+ - base_position
395
+ - base_rotation
396
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411
+ - 10
412
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413
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414
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415
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416
+ - 15
417
+ modality_keys:
418
+ - end_effector_position
419
+ - end_effector_rotation
420
+ - gripper_close
421
+ - base_motion
422
+ - control_mode
423
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424
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426
+ - rep: DELTA
427
+ type: EEF
428
+ format: DEFAULT
429
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+ type: EEF
432
+ format: DEFAULT
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+ state_key: null
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+ - rep: ABSOLUTE
435
+ type: NON_EEF
436
+ format: DEFAULT
437
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+ - rep: DELTA
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+ type: NON_EEF
440
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443
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444
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446
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+ - annotation.human.task_description
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467
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468
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+ - 244
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+ - 224
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+ - 224
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475
+ output_dir: /home/work/workspace/test/seonho/groot_robocasa365/train_ckpt/Baseline_alpha0p4
476
+ experiment_name: Robocasa365_Baseline_alpha0p4
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483
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+ tf32: true
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498
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500
+ upload_checkpoints: false
501
+ upload_every: 1000
502
+ upload_last_n_checkpoints: 5
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+ max_concurrent_uploads: 2
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+ eval_strategy: 'no'
505
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+ eval_set_split_ratio: 0.1
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+ eval_batch_size: 2
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+ save_best_eval_metric_name: ''
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511
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512
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+ wandb_project: finetune-gr00t-n1d7
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+ assert_loss_less_than: null
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+ add_rl_callback: false
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529
+ - 0
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+ open_loop_eval_plot_indices: null
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+ max_steps: 120000
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+ save_steps: 5000
Baseline/BS128/alpha0p4/checkpoint-120000/experiment_cfg/config.yaml ADDED
@@ -0,0 +1,531 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ load_config_path: null
2
+ model:
3
+ model_type: Gr00tN1d7
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+ model_dtype: bfloat16
5
+ model_name: nvidia/Cosmos-Reason2-2B
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+ backbone_model_type: qwen
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+ model_revision: null
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+ backbone_embedding_dim: 2048
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11
+ tune_visual: false
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+ select_layer: 12
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+ reproject_vision: false
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+ use_flash_attention: true
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+ load_bf16: false
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+ backbone_trainable_params_fp32: true
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+ image_crop_size:
18
+ - 230
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+ - 230
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+ - 256
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+ color_jitter_params: null
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+ formalize_language: true
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32
+ use_percentiles: true
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+ use_relative_action: true
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+ action_horizon: 40
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+ hidden_size: 1024
38
+ input_embedding_dim: 1536
39
+ state_history_length: 1
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+ add_pos_embed: true
41
+ attn_dropout: 0.2
42
+ use_vlln: true
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+ max_seq_len: 1024
44
+ use_alternate_vl_dit: true
45
+ attend_text_every_n_blocks: 2
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+ diffusion_model_cfg:
47
+ positional_embeddings: null
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+ num_layers: 16
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+ num_attention_heads: 32
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+ attention_head_dim: 48
51
+ norm_type: ada_norm
52
+ dropout: 0.2
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+ final_dropout: true
54
+ output_dim: 1024
55
+ interleave_self_attention: true
56
+ num_inference_timesteps: 4
57
+ noise_beta_alpha: 1.5
58
+ noise_beta_beta: 1.0
59
+ noise_s: 0.999
60
+ num_timestep_buckets: 1000
61
+ tune_projector: true
62
+ tune_diffusion_model: true
63
+ tune_vlln: true
64
+ state_dropout_prob: 0.0
65
+ exclude_state: false
66
+ use_mean_std: false
67
+ max_num_embodiments: 32
68
+ data:
69
+ datasets:
70
+ - dataset_paths:
71
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0001
72
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0002
73
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0003
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+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0004
75
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0005
76
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0006
77
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0007
78
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0008
79
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0009
80
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0010
81
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0011
82
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0012
83
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0013
84
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0014
85
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0015
86
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0016
87
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0017
88
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0018
89
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0019
90
+ - /home/work/workspace/test/seonho/robocasa_v3_official_presliced/robocasa_pretrain_human_atomic/task_0020
91
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