Remove invalid RawMu and UnitMu checkpoints

The 60K runs used an RKD cosine schedule that reset after the 15K resume. Remove both invalid checkpoint trees before corrected retraining finishes.

rkd/Raw_Mu/checkpoint-60000/config.json

@@ -1,88 +0,0 @@
-{
-  "action_horizon": 40,
-  "add_pos_embed": true,
-  "apply_sincos_state_encoding": false,
-  "architectures": [
-    "Gr00tN1d7"
-  ],
-  "attn_dropout": 0.2,
-  "attn_implementation": null,
-  "backbone_embedding_dim": 2048,
-  "backbone_trainable_params_fp32": true,
-  "color_jitter_params": {
-    "brightness": 0.3,
-    "contrast": 0.4,
-    "hue": 0.08,
-    "saturation": 0.5
-  },
-  "crop_fraction": 0.95,
-  "diffusion_model_cfg": {
-    "attention_head_dim": 48,
-    "dropout": 0.2,
-    "final_dropout": true,
-    "interleave_self_attention": true,
-    "norm_type": "ada_norm",
-    "num_attention_heads": 32,
-    "num_layers": 32,
-    "output_dim": 1024,
-    "positional_embeddings": null
-  },
-  "dtype": "float32",
-  "exclude_state": false,
-  "formalize_language": true,
-  "hidden_size": 1024,
-  "image_crop_size": [
-    230,
-    230
-  ],
-  "image_target_size": [
-    256,
-    256
-  ],
-  "letter_box_transform": false,
-  "load_bf16": false,
-  "max_action_dim": 132,
-  "max_num_embodiments": 32,
-  "max_seq_len": 1024,
-  "max_state_dim": 132,
-  "model_dtype": "bfloat16",
-  "model_name": "nvidia/Cosmos-Reason2-2B",
-  "model_type": "Gr00tN1d7",
-  "noise_beta_alpha": 1.5,
-  "noise_beta_beta": 1.0,
-  "noise_s": 0.999,
-  "num_inference_timesteps": 4,
-  "num_timestep_buckets": 1000,
-  "random_history_crop": true,
-  "random_rotation_angle": 0,
-  "reproject_vision": false,
-  "rtc_ramp_rate": 6.0,
-  "select_layer": 16,
-  "shortest_image_edge": 256,
-  "state_dropout_prob": 0.0,
-  "state_gaussian_noise_std": 0.0,
-  "transformers_version": "4.57.3",
-  "tune_diffusion_model": true,
-  "tune_linear": true,
-  "tune_llm": false,
-  "tune_projector": true,
-  "tune_top_llm_layers": 0,
-  "tune_visual": false,
-  "tune_vlln": true,
-  "use_albumentations": true,
-  "use_alternate_vl_dit": true,
-  "use_flash_attention": true,
-  "use_future_tokens": false,
-  "use_mean_std": false,
-  "use_percentiles": true,
-  "use_vl_self_attention": 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
-  }
-}

rkd/Raw_Mu/checkpoint-60000/dataset_state.json

@@ -1 +0,0 @@
-{"epoch": 0, "curr_shard_index": null}

rkd/Raw_Mu/checkpoint-60000/embodiment_id.json

@@ -1,57 +0,0 @@
-{
-  "robocasa_panda_omron": 13,
-  "oxe_droid": 17,
-  "oxe_fractal": 18,
-  "oxe_language_table": 19,
-  "oxe_bridge": 20,
-  "unknown": 22,
-  "gr1_unified": 20,
-  "agibot": 26,
-  "sim_behavior_r1_pro": 23,
-  "xdof": 24,
-  "xdof_oss_data": 25,
-  "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
-  "real_r1_pro_sharpa": 27,
-  "real_r1_pro_sharpa_add_view": 27,
-  "real_r1_pro_sharpa_relative_arm_joint": 26,
-  "real_r1_pro_sharpa_delta_eef": 26,
-  "real_r1_pro_sharpa_absolute_eef": 26,
-  "real_r1_pro_sharpa_meanstd": 26,
-  "real_r1_pro_sharpa_relative_eef": 26,
-  "real_r1_pro_sharpa_relative_eef_add_view": 26,
-  "real_r1_pro_sharpa_relative_eef_relative_hand": 26,
-  "real_r1_pro_sharpa_relative_eef_human": 26,
-  "real_r1_pro_sharpa_relative_eef_human_add_view": 26,
-  "real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
-  "real_r1_pro_sharpa_relative_eef_egodex": 26,
-  "real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
-  "real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
-  "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
-  "real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
-  "real_r1_pro_sharpa_relative_eef_mecka": 26,
-  "real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
-  "real_g1_relative_eef_absolute_joints": 25,
-  "real_g1_relative_eef_absolute_joints_wrist_cam": 25,
-  "real_g1_relative_eef_relative_joints": 25,
-  "real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
-  "real_r1_pro_sharpa_relative_joint": 29,
-  "oxe_droid_relative_eef_relative_joint": 24,
-  "oxe_droid_relative_eef_relative_joint_swapped": 24,
-  "oxe_droid_relative_eef_relative_joint_upweight_z": 24,
-  "oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
-  "oxe_droid_relative_eef_relative_joint_3view": 24,
-  "oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
-  "oxe_droid_relative_eef": 24,
-  "oxe_droid_joint_position_relative": 24,
-  "xdof_relative_eef_relative_joint": 27,
-  "xdof_relative_eef_relative_joint_subtask": 27,
-  "xdof_relative_eef": 27,
-  "xdof_relative_joint": 28,
-  "simpler_env_google": 0,
-  "simpler_env_widowx": 1,
-  "libero_sim": 2,
-  "droid_sim": 3,
-  "new_embodiment": 10,
-  "robocasa_gr1_tabletop": 10,
-  "unitree_g1_sonic": 11
-}

rkd/Raw_Mu/checkpoint-60000/experiment_cfg/conf.yaml

@@ -1,234 +0,0 @@
-load_config_path: null
-model:
-  model_type: Gr00tN1d7
-  model_dtype: bfloat16
-  model_name: nvidia/Cosmos-Reason2-2B
-  backbone_model_type: qwen
-  model_revision: null
-  tune_top_llm_layers: 0
-  backbone_embedding_dim: 2048
-  tune_llm: false
-  tune_visual: false
-  select_layer: 12
-  reproject_vision: false
-  use_flash_attention: true
-  load_bf16: false
-  backbone_trainable_params_fp32: true
-  image_crop_size:
-  - 230
-  - 230
-  image_target_size:
-  - 256
-  - 256
-  shortest_image_edge: null
-  crop_fraction: null
-  random_rotation_angle: null
-  color_jitter_params: null
-  use_albumentations_transforms: true
-  letter_box_transform: false
-  extra_augmentation_config: null
-  formalize_language: true
-  apply_sincos_state_encoding: false
-  use_percentiles: true
-  use_relative_action: true
-  max_state_dim: 132
-  max_action_dim: 132
-  action_horizon: 40
-  hidden_size: 1024
-  input_embedding_dim: 1536
-  state_history_length: 1
-  add_pos_embed: true
-  attn_dropout: 0.2
-  use_vlln: true
-  max_seq_len: 1024
-  use_alternate_vl_dit: true
-  attend_text_every_n_blocks: 2
-  diffusion_model_cfg:
-    positional_embeddings: null
-    num_layers: 16
-    num_attention_heads: 32
-    attention_head_dim: 48
-    norm_type: ada_norm
-    dropout: 0.2
-    final_dropout: true
-    output_dim: 1024
-    interleave_self_attention: true
-  num_inference_timesteps: 4
-  noise_beta_alpha: 1.5
-  noise_beta_beta: 1.0
-  noise_s: 0.999
-  num_timestep_buckets: 1000
-  tune_projector: true
-  tune_diffusion_model: true
-  tune_vlln: true
-  state_dropout_prob: 0.0
-  exclude_state: false
-  use_mean_std: false
-  max_num_embodiments: 32
-data:
-  datasets:
-  - dataset_paths:
-    - /home/junhyeong/robocasa_mg_gr00t_300
-    embodiment_tag: new_embodiment
-    mix_ratio: 1.0
-    dataset_type: physical_embodiment
-    val_dataset_path: null
-  modality_configs:
-    new_embodiment:
-      video:
-        delta_indices:
-        - 0
-        modality_keys:
-        - left_view
-        - right_view
-        - wrist_view
-        sin_cos_embedding_keys: null
-        mean_std_embedding_keys: null
-        action_configs: null
-      state:
-        delta_indices:
-        - 0
-        modality_keys:
-        - end_effector_position_relative
-        - end_effector_rotation_relative
-        - gripper_qpos
-        - base_position
-        - base_rotation
-        sin_cos_embedding_keys: null
-        mean_std_embedding_keys: null
-        action_configs: null
-      action:
-        delta_indices:
-        - 0
-        - 1
-        - 2
-        - 3
-        - 4
-        - 5
-        - 6
-        - 7
-        - 8
-        - 9
-        - 10
-        - 11
-        - 12
-        - 13
-        - 14
-        - 15
-        modality_keys:
-        - end_effector_position
-        - end_effector_rotation
-        - gripper_close
-        - base_motion
-        - control_mode
-        sin_cos_embedding_keys: null
-        mean_std_embedding_keys: null
-        action_configs:
-        - rep: DELTA
-          type: EEF
-          format: DEFAULT
-          state_key: null
-        - rep: DELTA
-          type: EEF
-          format: DEFAULT
-          state_key: null
-        - rep: ABSOLUTE
-          type: NON_EEF
-          format: DEFAULT
-          state_key: null
-        - rep: DELTA
-          type: NON_EEF
-          format: DEFAULT
-          state_key: null
-        - rep: ABSOLUTE
-          type: NON_EEF
-          format: DEFAULT
-          state_key: null
-      language:
-        delta_indices:
-        - 0
-        modality_keys:
-        - annotation.human.action.task_description
-        sin_cos_embedding_keys: null
-        mean_std_embedding_keys: null
-        action_configs: null
-  download_cache: false
-  shard_size: 1024
-  episode_sampling_rate: 0.1
-  num_shards_per_epoch: 100000
-  ds_weights_alpha: null
-  override_pretraining_statistics: true
-  mode: single_turn
-  random_chop: 0.0
-  mock_dataset_mode: false
-  shuffle: true
-  seed: 42
-  multiprocessing_context: fork
-  allow_padding: false
-  subsample_ratio: 1.0
-  image_crop_size:
-  - 244
-  - 244
-  image_target_size:
-  - 224
-  - 224
-training:
-  output_dir: /home/junhyeong/groot_robocasa-kitchen/train_ckpt/RKD_RawMu
-  experiment_name: RKD_RawMu
-  max_steps: 60000
-  global_batch_size: 64
-  per_gpu_batch_size: null
-  gradient_accumulation_steps: 1
-  learning_rate: 0.0001
-  lr_scheduler_type: cosine
-  weight_decay: 1.0e-05
-  warmup_ratio: 0.05
-  warmup_steps: 0
-  max_grad_norm: 1.0
-  optim: adamw_torch
-  start_from_checkpoint: nvidia/GR00T-N1.7-3B
-  skip_weight_loading: false
-  tf32: true
-  fp16: false
-  bf16: true
-  eval_bf16: true
-  logging_steps: 10
-  save_steps: 5000
-  save_total_limit: 2
-  save_vl_model: false
-  save_only_model: false
-  resume_from_checkpoint: true
-  upload_checkpoints: false
-  upload_every: 1000
-  upload_last_n_checkpoints: 5
-  max_concurrent_uploads: 2
-  eval_strategy: 'no'
-  eval_steps: 500
-  eval_set_split_ratio: 0.1
-  eval_batch_size: 2
-  save_best_eval_metric_name: ''
-  save_best_eval_metric_greater_is_better: true
-  deepspeed_stage: 2
-  gradient_checkpointing: false
-  transformers_trust_remote_code: true
-  transformers_local_files_only: false
-  transformers_cache_dir: null
-  transformers_access_token: null
-  use_ddp: false
-  ddp_bucket_cap_mb: 100
-  num_gpus: 1
-  dataloader_num_workers: 2
-  remove_unused_columns: false
-  use_wandb: true
-  wandb_project: finetune-gr00t-n1d7
-  enable_profiling: false
-  max_retries: 3
-  assert_loss_less_than: null
-  add_rl_callback: false
-  enable_open_loop_eval: false
-  open_loop_eval_traj_ids:
-  - 0
-  open_loop_eval_steps_per_traj: 100
-  open_loop_eval_plot_indices: null
-max_steps: 60000
-save_steps: 5000

rkd/Raw_Mu/checkpoint-60000/experiment_cfg/config.yaml

@@ -1,232 +0,0 @@
-load_config_path: null
-model:
-  model_type: Gr00tN1d7
-  model_dtype: bfloat16
-  model_name: nvidia/Cosmos-Reason2-2B
-  backbone_model_type: qwen
-  model_revision: null
-  tune_top_llm_layers: 0
-  backbone_embedding_dim: 2048
-  tune_llm: false
-  tune_visual: false
-  select_layer: 12
-  reproject_vision: false
-  use_flash_attention: true
-  load_bf16: false
-  backbone_trainable_params_fp32: true
-  image_crop_size:
-  - 230
-  - 230
-  image_target_size:
-  - 256
-  - 256
-  shortest_image_edge: null
-  crop_fraction: null
-  random_rotation_angle: null
-  color_jitter_params: null
-  use_albumentations_transforms: true
-  letter_box_transform: false
-  extra_augmentation_config: null
-  formalize_language: true
-  apply_sincos_state_encoding: false
-  use_percentiles: true
-  use_relative_action: true
-  max_state_dim: 132
-  max_action_dim: 132
-  action_horizon: 40
-  hidden_size: 1024
-  input_embedding_dim: 1536
-  state_history_length: 1
-  add_pos_embed: true
-  attn_dropout: 0.2
-  use_vlln: true
-  max_seq_len: 1024
-  use_alternate_vl_dit: true
-  attend_text_every_n_blocks: 2
-  diffusion_model_cfg:
-    positional_embeddings: null
-    num_layers: 16
-    num_attention_heads: 32
-    attention_head_dim: 48
-    norm_type: ada_norm
-    dropout: 0.2
-    final_dropout: true
-    output_dim: 1024
-    interleave_self_attention: true
-  num_inference_timesteps: 4
-  noise_beta_alpha: 1.5
-  noise_beta_beta: 1.0
-  noise_s: 0.999
-  num_timestep_buckets: 1000
-  tune_projector: true
-  tune_diffusion_model: true
-  tune_vlln: true
-  state_dropout_prob: 0.0
-  exclude_state: false
-  use_mean_std: false
-  max_num_embodiments: 32
-data:
-  datasets:
-  - dataset_paths:
-    - /home/junhyeong/robocasa_mg_gr00t_300
-    embodiment_tag: new_embodiment
-    mix_ratio: 1.0
-    dataset_type: physical_embodiment
-    val_dataset_path: null
-  modality_configs:
-    new_embodiment:
-      video:
-        delta_indices:
-        - 0
-        modality_keys:
-        - left_view
-        - right_view
-        - wrist_view
-        sin_cos_embedding_keys: null
-        mean_std_embedding_keys: null
-        action_configs: null
-      state:
-        delta_indices:
-        - 0
-        modality_keys:
-        - end_effector_position_relative
-        - end_effector_rotation_relative
-        - gripper_qpos
-        - base_position
-        - base_rotation
-        sin_cos_embedding_keys: null
-        mean_std_embedding_keys: null
-        action_configs: null
-      action:
-        delta_indices:
-        - 0
-        - 1
-        - 2
-        - 3
-        - 4
-        - 5
-        - 6
-        - 7
-        - 8
-        - 9
-        - 10
-        - 11
-        - 12
-        - 13
-        - 14
-        - 15
-        modality_keys:
-        - end_effector_position
-        - end_effector_rotation
-        - gripper_close
-        - base_motion
-        - control_mode
-        sin_cos_embedding_keys: null
-        mean_std_embedding_keys: null
-        action_configs:
-        - rep: delta
-          type: eef
-          format: default
-          state_key: null
-        - rep: delta
-          type: eef
-          format: default
-          state_key: null
-        - rep: absolute
-          type: non_eef
-          format: default
-          state_key: null
-        - rep: delta
-          type: non_eef
-          format: default
-          state_key: null
-        - rep: absolute
-          type: non_eef
-          format: default
-          state_key: null
-      language:
-        delta_indices:
-        - 0
-        modality_keys:
-        - annotation.human.action.task_description
-        sin_cos_embedding_keys: null
-        mean_std_embedding_keys: null
-        action_configs: null
-  download_cache: false
-  shard_size: 1024
-  episode_sampling_rate: 0.1
-  num_shards_per_epoch: 100000
-  ds_weights_alpha: null
-  override_pretraining_statistics: true
-  mode: single_turn
-  random_chop: 0.0
-  mock_dataset_mode: false
-  shuffle: true
-  seed: 42
-  multiprocessing_context: fork
-  allow_padding: false
-  subsample_ratio: 1.0
-  image_crop_size:
-  - 244
-  - 244
-  image_target_size:
-  - 224
-  - 224
-training:
-  output_dir: /home/junhyeong/groot_robocasa-kitchen/train_ckpt/RKD_RawMu
-  experiment_name: RKD_RawMu
-  max_steps: 60000
-  global_batch_size: 64
-  per_gpu_batch_size: null
-  gradient_accumulation_steps: 1
-  learning_rate: 0.0001
-  lr_scheduler_type: cosine
-  weight_decay: 1.0e-05
-  warmup_ratio: 0.05
-  warmup_steps: 0
-  max_grad_norm: 1.0
-  optim: adamw_torch
-  start_from_checkpoint: nvidia/GR00T-N1.7-3B
-  skip_weight_loading: false
-  tf32: true
-  fp16: false
-  bf16: true
-  eval_bf16: true
-  logging_steps: 10
-  save_steps: 5000
-  save_total_limit: 2
-  save_vl_model: false
-  save_only_model: false
-  resume_from_checkpoint: true
-  upload_checkpoints: false
-  upload_every: 1000
-  upload_last_n_checkpoints: 5
-  max_concurrent_uploads: 2
-  eval_strategy: 'no'
-  eval_steps: 500
-  eval_set_split_ratio: 0.1
-  eval_batch_size: 2
-  save_best_eval_metric_name: ''
-  save_best_eval_metric_greater_is_better: true
-  deepspeed_stage: 2
-  gradient_checkpointing: false
-  transformers_trust_remote_code: true
-  transformers_local_files_only: false
-  transformers_cache_dir: null
-  transformers_access_token: null
-  use_ddp: false
-  ddp_bucket_cap_mb: 100
-  num_gpus: 1
-  dataloader_num_workers: 2
-  remove_unused_columns: false
-  use_wandb: true
-  wandb_project: finetune-gr00t-n1d7
-  enable_profiling: false
-  max_retries: 3
-  assert_loss_less_than: null
-  add_rl_callback: false
-  enable_open_loop_eval: false
-  open_loop_eval_traj_ids:
-  - 0
-  open_loop_eval_steps_per_traj: 100
-  open_loop_eval_plot_indices: null

rkd/Raw_Mu/checkpoint-60000/experiment_cfg/dataset_statistics.json

@@ -1,317 +0,0 @@
-{
-  "new_embodiment": {
-    "state": {
-      "end_effector_position_relative": {
-        "min": [
-          -0.46594083309173584,
-          -0.8278615474700928,
-          0.011948669329285622
-        ],
-        "max": [
-          0.8734620809555054,
-          0.8441421985626221,
-          1.1348456144332886
-        ],
-        "mean": [
-          0.266306072473526,
-          -0.04002884030342102,
-          0.5537278652191162
-        ],
-        "std": [
-          0.19139817357063293,
-          0.2582354247570038,
-          0.2461009919643402
-        ],
-        "q01": [
-          -0.251964715719223,
-          -0.6177875232696534,
-          0.07541620314121246
-        ],
-        "q99": [
-          0.736240336894989,
-          0.6068667078018188,
-          0.9772176861763
-        ]
-      },
-      "end_effector_rotation_relative": {
-        "min": [
-          -0.9999996423721313,
-          -0.9910850524902344,
-          -0.9571061134338379,
-          6.351022108219695e-08
-        ],
-        "max": [
-          0.9999980926513672,
-          0.990567147731781,
-          0.964046835899353,
-          0.9740113019943237
-        ],
-        "mean": [
-          -0.14963096380233765,
-          0.1248803362250328,
-          0.0027880165725946426,
-          0.2082664668560028
-        ],
-        "std": [
-          0.7683019042015076,
-          0.36296239495277405,
-          0.37635329365730286,
-          0.2322801947593689
-        ],
-        "q01": [
-          -0.9973158955574035,
-          -0.6837371301651001,
-          -0.7814695286750794,
-          0.0013687612861394884
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-    "model_type": "qwen",
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rkd/Raw_Mu/checkpoint-60000/wandb_config.json

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rkd/Raw_Mu/config.json

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-{
-  "action_horizon": 40,
-  "add_pos_embed": true,
-  "apply_sincos_state_encoding": false,
-  "architectures": [
-    "Gr00tN1d7"
-  ],
-  "attn_dropout": 0.2,
-  "attn_implementation": null,
-  "backbone_embedding_dim": 2048,
-  "backbone_trainable_params_fp32": true,
-  "color_jitter_params": {
-    "brightness": 0.3,
-    "contrast": 0.4,
-    "hue": 0.08,
-    "saturation": 0.5
-  },
-  "crop_fraction": 0.95,
-  "diffusion_model_cfg": {
-    "attention_head_dim": 48,
-    "dropout": 0.2,
-    "final_dropout": true,
-    "interleave_self_attention": true,
-    "norm_type": "ada_norm",
-    "num_attention_heads": 32,
-    "num_layers": 32,
-    "output_dim": 1024,
-    "positional_embeddings": null
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-  "dtype": "float32",
-  "exclude_state": false,
-  "formalize_language": true,
-  "hidden_size": 1024,
-  "image_crop_size": [
-    230,
-    230
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-  "image_target_size": [
-    256,
-    256
-  ],
-  "letter_box_transform": false,
-  "load_bf16": false,
-  "max_action_dim": 132,
-  "max_num_embodiments": 32,
-  "max_seq_len": 1024,
-  "max_state_dim": 132,
-  "model_dtype": "bfloat16",
-  "model_name": "nvidia/Cosmos-Reason2-2B",
-  "model_type": "Gr00tN1d7",
-  "noise_beta_alpha": 1.5,
-  "noise_beta_beta": 1.0,
-  "noise_s": 0.999,
-  "num_inference_timesteps": 4,
-  "num_timestep_buckets": 1000,
-  "random_history_crop": true,
-  "random_rotation_angle": 0,
-  "reproject_vision": false,
-  "rtc_ramp_rate": 6.0,
-  "select_layer": 16,
-  "shortest_image_edge": 256,
-  "state_dropout_prob": 0.0,
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-  "transformers_version": "4.57.3",
-  "tune_diffusion_model": true,
-  "tune_linear": true,
-  "tune_llm": false,
-  "tune_projector": true,
-  "tune_top_llm_layers": 0,
-  "tune_visual": false,
-  "tune_vlln": true,
-  "use_albumentations": true,
-  "use_alternate_vl_dit": true,
-  "use_flash_attention": true,
-  "use_future_tokens": false,
-  "use_mean_std": false,
-  "use_percentiles": true,
-  "use_vl_self_attention": 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
-  }
-}

rkd/Raw_Mu/experiment_cfg/conf.yaml

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-load_config_path: null
-model:
-  model_type: Gr00tN1d7
-  model_dtype: bfloat16
-  model_name: nvidia/Cosmos-Reason2-2B
-  backbone_model_type: qwen
-  model_revision: null
-  tune_top_llm_layers: 0
-  backbone_embedding_dim: 2048
-  tune_llm: false
-  tune_visual: false
-  select_layer: 12
-  reproject_vision: false
-  use_flash_attention: true
-  load_bf16: false
-  backbone_trainable_params_fp32: true
-  image_crop_size:
-  - 230
-  - 230
-  image_target_size:
-  - 256
-  - 256
-  shortest_image_edge: null
-  crop_fraction: null
-  random_rotation_angle: null
-  color_jitter_params: null
-  use_albumentations_transforms: true
-  letter_box_transform: false
-  extra_augmentation_config: null
-  formalize_language: true
-  apply_sincos_state_encoding: false
-  use_percentiles: true
-  use_relative_action: true
-  max_state_dim: 132
-  max_action_dim: 132
-  action_horizon: 40
-  hidden_size: 1024
-  input_embedding_dim: 1536
-  state_history_length: 1
-  add_pos_embed: true
-  attn_dropout: 0.2
-  use_vlln: true
-  max_seq_len: 1024
-  use_alternate_vl_dit: true
-  attend_text_every_n_blocks: 2
-  diffusion_model_cfg:
-    positional_embeddings: null
-    num_layers: 16
-    num_attention_heads: 32
-    attention_head_dim: 48
-    norm_type: ada_norm
-    dropout: 0.2
-    final_dropout: true
-    output_dim: 1024
-    interleave_self_attention: true
-  num_inference_timesteps: 4
-  noise_beta_alpha: 1.5
-  noise_beta_beta: 1.0
-  noise_s: 0.999
-  num_timestep_buckets: 1000
-  tune_projector: true
-  tune_diffusion_model: true
-  tune_vlln: true
-  state_dropout_prob: 0.0
-  exclude_state: false
-  use_mean_std: false
-  max_num_embodiments: 32
-data:
-  datasets:
-  - dataset_paths:
-    - /home/junhyeong/robocasa_mg_gr00t_300
-    embodiment_tag: new_embodiment
-    mix_ratio: 1.0
-    dataset_type: physical_embodiment
-    val_dataset_path: null
-  modality_configs:
-    new_embodiment:
-      video:
-        delta_indices:
-        - 0
-        modality_keys:
-        - left_view
-        - right_view
-        - wrist_view
-        sin_cos_embedding_keys: null
-        mean_std_embedding_keys: null
-        action_configs: null
-      state:
-        delta_indices:
-        - 0
-        modality_keys:
-        - end_effector_position_relative
-        - end_effector_rotation_relative
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-save_steps: 5000

rkd/Raw_Mu/experiment_cfg/config.yaml

@@ -1,232 +0,0 @@
-load_config_path: null
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rkd/Raw_Mu/experiment_cfg/dataset_statistics.json

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-{
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rkd/Raw_Mu/experiment_cfg/final_model_config.json

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-{
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rkd/Raw_Mu/processor/embodiment_id.json

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-{
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-  "oxe_fractal": 18,
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-  "oxe_bridge": 20,
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-  "sim_behavior_r1_pro": 23,
-  "xdof": 24,
-  "xdof_oss_data": 25,
-  "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
-  "real_r1_pro_sharpa": 27,
-  "real_r1_pro_sharpa_add_view": 27,
-  "real_r1_pro_sharpa_relative_arm_joint": 26,
-  "real_r1_pro_sharpa_delta_eef": 26,
-  "real_r1_pro_sharpa_absolute_eef": 26,
-  "real_r1_pro_sharpa_meanstd": 26,
-  "real_r1_pro_sharpa_relative_eef": 26,
-  "real_r1_pro_sharpa_relative_eef_add_view": 26,
-  "real_r1_pro_sharpa_relative_eef_relative_hand": 26,
-  "real_r1_pro_sharpa_relative_eef_human": 26,
-  "real_r1_pro_sharpa_relative_eef_human_add_view": 26,
-  "real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
-  "real_r1_pro_sharpa_relative_eef_egodex": 26,
-  "real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
-  "real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
-  "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
-  "real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
-  "real_r1_pro_sharpa_relative_eef_mecka": 26,
-  "real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
-  "real_g1_relative_eef_absolute_joints": 25,
-  "real_g1_relative_eef_absolute_joints_wrist_cam": 25,
-  "real_g1_relative_eef_relative_joints": 25,
-  "real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
-  "real_r1_pro_sharpa_relative_joint": 29,
-  "oxe_droid_relative_eef_relative_joint": 24,
-  "oxe_droid_relative_eef_relative_joint_swapped": 24,
-  "oxe_droid_relative_eef_relative_joint_upweight_z": 24,
-  "oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
-  "oxe_droid_relative_eef_relative_joint_3view": 24,
-  "oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
-  "oxe_droid_relative_eef": 24,
-  "oxe_droid_joint_position_relative": 24,
-  "xdof_relative_eef_relative_joint": 27,
-  "xdof_relative_eef_relative_joint_subtask": 27,
-  "xdof_relative_eef": 27,
-  "xdof_relative_joint": 28,
-  "simpler_env_google": 0,
-  "simpler_env_widowx": 1,
-  "libero_sim": 2,
-  "droid_sim": 3,
-  "new_embodiment": 10,
-  "robocasa_gr1_tabletop": 10,
-  "unitree_g1_sonic": 11
-}

rkd/Raw_Mu/processor/processor_config.json

@@ -1,1148 +0,0 @@
-{
-  "processor_class": "Gr00tN1d7Processor",
-  "processor_kwargs": {
-    "modality_configs": {
-      "real_g1_relative_eef_relative_joints": {
-        "video": {
-          "delta_indices": [
-            -20,
-            0
-          ],
-          "modality_keys": [
-            "ego_view"
-          ],
-          "sin_cos_embedding_keys": null,
-          "mean_std_embedding_keys": null,
-          "action_configs": null
-        },
-        "state": {
-          "delta_indices": [
-            0
-          ],
-          "modality_keys": [
-            "left_wrist_eef_9d",
-            "right_wrist_eef_9d",
-            "left_hand",
-            "right_hand",
-            "left_arm",
-            "right_arm",
-            "waist"
-          ],
-          "sin_cos_embedding_keys": null,
-          "mean_std_embedding_keys": null,
-          "action_configs": null
-        },
-        "action": {
-          "delta_indices": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8,
-            9,
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-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17,
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29,
-            30,
-            31,
-            32,
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39
-          ],
-          "modality_keys": [
-            "left_wrist_eef_9d",
-            "right_wrist_eef_9d",
-            "left_hand",
-            "right_hand",
-            "left_arm",
-            "right_arm",
-            "waist",
-            "base_height_command",
-            "navigate_command"
-          ],
-          "sin_cos_embedding_keys": null,
-          "mean_std_embedding_keys": null,
-          "action_configs": [
-            {
-              "rep": "RELATIVE",
-              "type": "EEF",
-              "format": "XYZ_ROT6D",
-              "state_key": "left_wrist_eef_9d"
-            },
-            {
-              "rep": "RELATIVE",
-              "type": "EEF",
-              "format": "XYZ_ROT6D",
-              "state_key": "right_wrist_eef_9d"
-            },
-            {
-              "rep": "ABSOLUTE",
-              "type": "NON_EEF",
-              "format": "DEFAULT",
-              "state_key": "left_hand"
-            },
-            {
-              "rep": "ABSOLUTE",
-              "type": "NON_EEF",
-              "format": "DEFAULT",
-              "state_key": "right_hand"
-            },
-            {
-              "rep": "RELATIVE",
-              "type": "NON_EEF",
-              "format": "DEFAULT",
-              "state_key": "left_arm"
-            },
-            {
-              "rep": "RELATIVE",
-              "type": "NON_EEF",
-              "format": "DEFAULT",
-              "state_key": "right_arm"
-            },
-            {
-              "rep": "ABSOLUTE",
-              "type": "NON_EEF",
-              "format": "DEFAULT",
-              "state_key": "waist"
-            },
-            {
-              "rep": "ABSOLUTE",
-              "type": "NON_EEF",
-              "format": "DEFAULT",
-              "state_key": "base_height_command"
-            },
-            {
-              "rep": "ABSOLUTE",
-              "type": "NON_EEF",
-              "format": "DEFAULT",
-              "state_key": "navigate_command"
-            }
-          ]
-        },
-        "language": {
-          "delta_indices": [
-            0
-          ],
-          "modality_keys": [
-            "annotation.human.task_description"
-          ],
-          "sin_cos_embedding_keys": null,
-          "mean_std_embedding_keys": null,
-          "action_configs": null
-        }
-      },
-      "real_r1_pro_sharpa_relative_eef_mecka": {
-        "video": {
-          "delta_indices": [
-            -30,
-            0
-          ],
-          "modality_keys": [
-            "ego_view_cropratio_res320x240_freq30"
-          ],
-          "sin_cos_embedding_keys": null,
-          "mean_std_embedding_keys": null,
-          "action_configs": null
-        },
-        "state": {
-          "delta_indices": [
-            0
-          ],
-          "modality_keys": [
-            "left_wrist_eef",
-            "right_wrist_eef",
-            "left_hand_joints",
-            "right_hand_joints"
-          ],
-          "sin_cos_embedding_keys": null,
-          "mean_std_embedding_keys": null,
-          "action_configs": null
-        },
-        "action": {
-          "delta_indices": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
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-            32,
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39
-          ],
-          "modality_keys": [
-            "left_wrist_eef",
-            "right_wrist_eef",
-            "left_hand_joints",
-            "right_hand_joints"
-          ],
-          "sin_cos_embedding_keys": null,
-          "mean_std_embedding_keys": null,
-          "action_configs": [
-            {
-              "rep": "RELATIVE",
-              "type": "EEF",
-              "format": "XYZ_ROT6D",
-              "state_key": "left_wrist_eef"
-            },
-            {
-              "rep": "RELATIVE",
-              "type": "EEF",
-              "format": "XYZ_ROT6D",
-              "state_key": "right_wrist_eef"
-            },
-            {
-              "rep": "ABSOLUTE",
-              "type": "NON_EEF",
-              "format": "DEFAULT",
-              "state_key": "left_hand_joints"
-            },
-            {
-              "rep": "ABSOLUTE",
-              "type": "NON_EEF",
-              "format": "DEFAULT",
-              "state_key": "right_hand_joints"
-            }
-          ]
-        },
-        "language": {
-          "delta_indices": [
-            0
-          ],
-          "modality_keys": [
-            "annotation.human.coarse_action"
-          ],
-          "sin_cos_embedding_keys": null,
-          "mean_std_embedding_keys": null,
-          "action_configs": null
-        }
-      },
-      "real_r1_pro_sharpa_relative_eef_human": {
-        "video": {
-          "delta_indices": [
-            -20,
-            0
-          ],
-          "modality_keys": [
-            "ego_view_res320x240_freq20",
-            "left_wrist_view_res320x240_freq20",
-            "right_wrist_view_res320x240_freq20"
-          ],
-          "sin_cos_embedding_keys": null,
-          "mean_std_embedding_keys": null,
-          "action_configs": null
-        },
-        "state": {
-          "delta_indices": [
-            0
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-          "modality_keys": [
-            "left_wrist_eef",
-            "right_wrist_eef",
-            "left_hand_joints",
-            "right_hand_joints"
-          ],
-          "sin_cos_embedding_keys": null,
-          "mean_std_embedding_keys": null,
-          "action_configs": null
-        },
-        "action": {
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-            0,
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-            36,
-            37,
-            38,
-            39
-          ],
-          "modality_keys": [
-            "left_wrist_eef",
-            "right_wrist_eef",
-            "left_hand_joints",
-            "right_hand_joints"
-          ],
-          "sin_cos_embedding_keys": null,
-          "mean_std_embedding_keys": null,
-          "action_configs": [
-            {
-              "rep": "RELATIVE",
-              "type": "EEF",
-              "format": "XYZ_ROT6D",
-              "state_key": "left_wrist_eef"
-            },
-            {
-              "rep": "RELATIVE",
-              "type": "EEF",
-              "format": "XYZ_ROT6D",
-              "state_key": "right_wrist_eef"
-            },
-            {
-              "rep": "ABSOLUTE",
-              "type": "NON_EEF",
-              "format": "DEFAULT",
-              "state_key": "left_hand_joints"
-            },
-            {
-              "rep": "ABSOLUTE",
-              "type": "NON_EEF",
-              "format": "DEFAULT",
-              "state_key": "right_hand_joints"
-            }
-          ]
-        },
-        "language": {
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-          "modality_keys": [
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-          ],
-          "sin_cos_embedding_keys": null,
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-      },
-      "real_r1_pro_sharpa_relative_eef": {
-        "video": {
-          "delta_indices": [
-            -20,
-            0
-          ],
-          "modality_keys": [
-            "ego_view_res320x240_freq20",
-            "left_wrist_view_res320x240_freq20",
-            "right_wrist_view_res320x240_freq20"
-          ],
-          "sin_cos_embedding_keys": null,
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-        },
-        "state": {
-          "delta_indices": [
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-          "modality_keys": [
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-          ],
-          "modality_keys": [
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-              "type": "EEF",
-              "format": "XYZ_ROT6D",
-              "state_key": "left_wrist_eef"
-            },
-            {
-              "rep": "RELATIVE",
-              "type": "EEF",
-              "format": "XYZ_ROT6D",
-              "state_key": "right_wrist_eef"
-            },
-            {
-              "rep": "ABSOLUTE",
-              "type": "NON_EEF",
-              "format": "DEFAULT",
-              "state_key": "left_hand_joints"
-            },
-            {
-              "rep": "ABSOLUTE",
-              "type": "NON_EEF",
-              "format": "DEFAULT",
-              "state_key": "right_hand_joints"
-            }
-          ]
-        },
-        "language": {
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-      },
-      "xdof_relative_eef_relative_joint": {
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-            0
-          ],
-          "modality_keys": [
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-            "right_joint_pos"
-          ],
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-          "modality_keys": [
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-            "right_wrist_eef",
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-            "right_gripper_pos",
-            "left_joint_pos",
-            "right_joint_pos"
-          ],
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-              "state_key": "left_wrist_eef"
-            },
-            {
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-              "type": "EEF",
-              "format": "XYZ_ROT6D",
-              "state_key": "right_wrist_eef"
-            },
-            {
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-              "type": "NON_EEF",
-              "format": "DEFAULT",
-              "state_key": "left_gripper_pos"
-            },
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-              "type": "NON_EEF",
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-              "state_key": "right_gripper_pos"
-            },
-            {
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-              "state_key": "left_joint_pos"
-            },
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-            },
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rkd/Raw_Mu/training_args.bin

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rkd/Raw_Mu/wandb_config.json

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-{"project": "finetune-gr00t-n1d7", "run_id": "RKD_RawMu"}

rkd/Unit_Mu/checkpoint-60000/config.json

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-{
-  "action_horizon": 40,
-  "add_pos_embed": true,
-  "apply_sincos_state_encoding": false,
-  "architectures": [
-    "Gr00tN1d7"
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-  "attn_implementation": null,
-  "backbone_embedding_dim": 2048,
-  "backbone_trainable_params_fp32": true,
-  "color_jitter_params": {
-    "brightness": 0.3,
-    "contrast": 0.4,
-    "hue": 0.08,
-    "saturation": 0.5
-  },
-  "crop_fraction": 0.95,
-  "diffusion_model_cfg": {
-    "attention_head_dim": 48,
-    "dropout": 0.2,
-    "final_dropout": true,
-    "interleave_self_attention": true,
-    "norm_type": "ada_norm",
-    "num_attention_heads": 32,
-    "num_layers": 32,
-    "output_dim": 1024,
-    "positional_embeddings": null
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-  "dtype": "float32",
-  "exclude_state": false,
-  "formalize_language": true,
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-  "image_crop_size": [
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-    256,
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-  "max_action_dim": 132,
-  "max_num_embodiments": 32,
-  "max_seq_len": 1024,
-  "max_state_dim": 132,
-  "model_dtype": "bfloat16",
-  "model_name": "nvidia/Cosmos-Reason2-2B",
-  "model_type": "Gr00tN1d7",
-  "noise_beta_alpha": 1.5,
-  "noise_beta_beta": 1.0,
-  "noise_s": 0.999,
-  "num_inference_timesteps": 4,
-  "num_timestep_buckets": 1000,
-  "random_history_crop": true,
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-  "reproject_vision": false,
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rkd/Unit_Mu/checkpoint-60000/dataset_state.json

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rkd/Unit_Mu/checkpoint-60000/embodiment_id.json

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-{
-  "robocasa_panda_omron": 13,
-  "oxe_droid": 17,
-  "oxe_fractal": 18,
-  "oxe_language_table": 19,
-  "oxe_bridge": 20,
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-  "xdof": 24,
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-  "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
-  "real_r1_pro_sharpa": 27,
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-  "real_r1_pro_sharpa_relative_eef": 26,
-  "real_r1_pro_sharpa_relative_eef_add_view": 26,
-  "real_r1_pro_sharpa_relative_eef_relative_hand": 26,
-  "real_r1_pro_sharpa_relative_eef_human": 26,
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-  "real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
-  "real_r1_pro_sharpa_relative_eef_egodex": 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_relative_hand": 26,
-  "real_r1_pro_sharpa_relative_eef_mecka": 26,
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-  "real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
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-  "oxe_droid_relative_eef_relative_joint": 24,
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-  "oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
-  "oxe_droid_relative_eef_relative_joint_3view": 24,
-  "oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
-  "oxe_droid_relative_eef": 24,
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-  "xdof_relative_eef_relative_joint": 27,
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-  "simpler_env_google": 0,
-  "simpler_env_widowx": 1,
-  "libero_sim": 2,
-  "droid_sim": 3,
-  "new_embodiment": 10,
-  "robocasa_gr1_tabletop": 10,
-  "unitree_g1_sonic": 11
-}

rkd/Unit_Mu/checkpoint-60000/experiment_cfg/conf.yaml

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-load_config_path: null
-model:
-  model_type: Gr00tN1d7
-  model_dtype: bfloat16
-  model_name: nvidia/Cosmos-Reason2-2B
-  backbone_model_type: qwen
-  model_revision: null
-  tune_top_llm_layers: 0
-  backbone_embedding_dim: 2048
-  tune_llm: false
-  tune_visual: false
-  select_layer: 12
-  reproject_vision: false
-  use_flash_attention: true
-  load_bf16: false
-  backbone_trainable_params_fp32: true
-  image_crop_size:
-  - 230
-  - 230
-  image_target_size:
-  - 256
-  - 256
-  shortest_image_edge: null
-  crop_fraction: null
-  random_rotation_angle: null
-  color_jitter_params: null
-  use_albumentations_transforms: true
-  letter_box_transform: false
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-  formalize_language: true
-  apply_sincos_state_encoding: false
-  use_percentiles: true
-  use_relative_action: true
-  max_state_dim: 132
-  max_action_dim: 132
-  action_horizon: 40
-  hidden_size: 1024
-  input_embedding_dim: 1536
-  state_history_length: 1
-  add_pos_embed: true
-  attn_dropout: 0.2
-  use_vlln: true
-  max_seq_len: 1024
-  use_alternate_vl_dit: true
-  attend_text_every_n_blocks: 2
-  diffusion_model_cfg:
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-    num_layers: 16
-    num_attention_heads: 32
-    attention_head_dim: 48
-    norm_type: ada_norm
-    dropout: 0.2
-    final_dropout: true
-    output_dim: 1024
-    interleave_self_attention: true
-  num_inference_timesteps: 4
-  noise_beta_alpha: 1.5
-  noise_beta_beta: 1.0
-  noise_s: 0.999
-  num_timestep_buckets: 1000
-  tune_projector: true
-  tune_diffusion_model: true
-  tune_vlln: true
-  state_dropout_prob: 0.0
-  exclude_state: false
-  use_mean_std: false
-  max_num_embodiments: 32
-data:
-  datasets:
-  - dataset_paths:
-    - /home/junhyeong/robocasa_mg_gr00t_300
-    embodiment_tag: new_embodiment
-    mix_ratio: 1.0
-    dataset_type: physical_embodiment
-    val_dataset_path: null
-  modality_configs:
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-        modality_keys:
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-        - right_view
-        - wrist_view
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-      state:
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-        modality_keys:
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-        - gripper_qpos
-        - base_position
-        - base_rotation
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-        - gripper_close
-        - base_motion
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-        action_configs:
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-        - rep: DELTA
-          type: EEF
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-          state_key: null
-        - rep: ABSOLUTE
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-          type: NON_EEF
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-      language:
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-  download_cache: false
-  shard_size: 1024
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-  seed: 42
-  multiprocessing_context: fork
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-  subsample_ratio: 1.0
-  image_crop_size:
-  - 244
-  - 244
-  image_target_size:
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-training:
-  output_dir: /home/junhyeong/groot_robocasa-kitchen/train_ckpt/RKD_UnitMu
-  experiment_name: RKD_UnitMu
-  max_steps: 60000
-  global_batch_size: 64
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-  gradient_accumulation_steps: 1
-  learning_rate: 0.0001
-  lr_scheduler_type: cosine
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-  max_grad_norm: 1.0
-  optim: adamw_torch
-  start_from_checkpoint: nvidia/GR00T-N1.7-3B
-  skip_weight_loading: false
-  tf32: true
-  fp16: false
-  bf16: true
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-  logging_steps: 10
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-  save_total_limit: 2
-  save_vl_model: false
-  save_only_model: false
-  resume_from_checkpoint: true
-  upload_checkpoints: false
-  upload_every: 1000
-  upload_last_n_checkpoints: 5
-  max_concurrent_uploads: 2
-  eval_strategy: 'no'
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-  save_best_eval_metric_greater_is_better: true
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-max_steps: 60000
-save_steps: 5000

rkd/Unit_Mu/checkpoint-60000/experiment_cfg/config.yaml

@@ -1,232 +0,0 @@
-load_config_path: null
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-  use_relative_action: true
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-  max_num_embodiments: 32
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-    embodiment_tag: new_embodiment
-    mix_ratio: 1.0
-    dataset_type: physical_embodiment
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-  output_dir: /home/junhyeong/groot_robocasa-kitchen/train_ckpt/RKD_UnitMu
-  experiment_name: RKD_UnitMu
-  max_steps: 60000
-  global_batch_size: 64
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-  optim: adamw_torch
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rkd/Unit_Mu/checkpoint-60000/experiment_cfg/dataset_statistics.json

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-{
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rkd/Unit_Mu/checkpoint-60000/experiment_cfg/final_model_config.json

@@ -1,56 +0,0 @@
-{
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rkd/Unit_Mu/checkpoint-60000/processor_config.json

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-{
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rkd/Unit_Mu/checkpoint-60000/rng_state.pth

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