Hugging Face's logo

ZUO66
/
groot_dynamic_handover_cup

Safetensors
Model card Files
xet
 Community
ZUO66 commited on
Commit
cc673da
·
verified ·
1 Parent(s): b19d389

Upload folder using huggingface_hub

Browse files
Files changed (7) hide show
  1. config.json +92 -0
  2. model.safetensors +3 -0
  3. policy_postprocessor.json +20 -0
  4. policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors +3 -0
  5. policy_preprocessor.json +57 -0
  6. policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors +3 -0
  7. train_config.json +222 -0
config.json ADDED
@@ -0,0 +1,92 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "groot",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 26
9
+ ]
10
+ },
11
+ "observation.images.cam_head": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.mask_pick": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 26
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "use_amp": true,
38
+ "push_to_hub": false,
39
+ "repo_id": null,
40
+ "private": null,
41
+ "tags": null,
42
+ "license": null,
43
+ "pretrained_path": null,
44
+ "chunk_size": 50,
45
+ "n_action_steps": 50,
46
+ "max_state_dim": 64,
47
+ "max_action_dim": 32,
48
+ "normalization_mapping": {
49
+ "VISUAL": "IDENTITY",
50
+ "STATE": "MEAN_STD",
51
+ "ACTION": "MEAN_STD"
52
+ },
53
+ "image_size": [
54
+ 224,
55
+ 224
56
+ ],
57
+ "base_model_path": "nvidia/GR00T-N1.5-3B",
58
+ "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
59
+ "embodiment_tag": "new_embodiment",
60
+ "use_place_mask": false,
61
+ "dinov3_checkpoint_path": "checkpoints/dinov3/dinov3_vits16plus_pretrain_lvd1689m-4057cbaa.pth",
62
+ "dinov3_model_dir": "checkpoints/dinov3",
63
+ "dinov3_embed_dim": 384,
64
+ "tune_llm": false,
65
+ "tune_visual": true,
66
+ "tune_projector": true,
67
+ "tune_diffusion_model": true,
68
+ "lora_rank": 0,
69
+ "lora_alpha": 16,
70
+ "lora_dropout": 0.1,
71
+ "lora_full_model": false,
72
+ "optimizer_lr": 0.0001,
73
+ "optimizer_betas": [
74
+ 0.95,
75
+ 0.999
76
+ ],
77
+ "optimizer_eps": 1e-08,
78
+ "optimizer_weight_decay": 1e-05,
79
+ "warmup_ratio": 0.05,
80
+ "use_bf16": true,
81
+ "video_backend": "decord",
82
+ "balance_dataset_weights": true,
83
+ "balance_trajectory_weights": true,
84
+ "dataset_paths": null,
85
+ "output_dir": "./tmp/gr00t",
86
+ "save_steps": 1000,
87
+ "max_steps": 10000,
88
+ "batch_size": 32,
89
+ "dataloader_num_workers": 8,
90
+ "report_to": "wandb",
91
+ "resume": false
92
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:45a0b3edf05be8dec5896c5ab4ebdf75f3f401d0eee4d8265e8a91c24253a5f9
3
+ size 7437460248
policy_postprocessor.json ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "groot_action_unpack_unnormalize_v1",
6
+ "config": {
7
+ "env_action_dim": 26,
8
+ "normalize_min_max": true
9
+ },
10
+ "state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors"
11
+ },
12
+ {
13
+ "registry_name": "device_processor",
14
+ "config": {
15
+ "device": "cpu",
16
+ "float_dtype": null
17
+ }
18
+ }
19
+ ]
20
+ }
policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:17272d4632e4f2903cc518e6fd1acf6b5b9af96dadc96b71834e009651d7cba0
3
+ size 11392
policy_preprocessor.json ADDED
@@ -0,0 +1,57 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "groot_pack_inputs_v3",
16
+ "config": {
17
+ "state_horizon": 1,
18
+ "action_horizon": 16,
19
+ "max_state_dim": 64,
20
+ "max_action_dim": 32,
21
+ "language_key": "task",
22
+ "formalize_language": false,
23
+ "embodiment_tag": "new_embodiment",
24
+ "embodiment_mapping": {
25
+ "new_embodiment": 31,
26
+ "oxe_droid": 17,
27
+ "agibot_genie1": 26,
28
+ "gr1": 24,
29
+ "so100": 2,
30
+ "unitree_g1": 3
31
+ },
32
+ "normalize_min_max": true,
33
+ "pick_mask_key": "observation.mask_pick",
34
+ "place_mask_key": "observation.mask_place",
35
+ "pick_gaze_point_key": "observation.gaze_pick_point",
36
+ "crop_camera_index": 0,
37
+ "dinov3_crop_size": 224
38
+ },
39
+ "state_file": "policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors"
40
+ },
41
+ {
42
+ "registry_name": "groot_eagle_encode_v3",
43
+ "config": {}
44
+ },
45
+ {
46
+ "registry_name": "groot_eagle_collate_v3",
47
+ "config": {}
48
+ },
49
+ {
50
+ "registry_name": "device_processor",
51
+ "config": {
52
+ "device": "cuda",
53
+ "float_dtype": null
54
+ }
55
+ }
56
+ ]
57
+ }
policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:17272d4632e4f2903cc518e6fd1acf6b5b9af96dadc96b71834e009651d7cba0
3
+ size 11392
train_config.json ADDED
@@ -0,0 +1,222 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "ZUO66/dynamic_handover_cup",
4
+ "root": null,
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ },
61
+ "affine": {
62
+ "weight": 1.0,
63
+ "type": "RandomAffine",
64
+ "kwargs": {
65
+ "degrees": [
66
+ -5.0,
67
+ 5.0
68
+ ],
69
+ "translate": [
70
+ 0.05,
71
+ 0.05
72
+ ]
73
+ }
74
+ }
75
+ }
76
+ },
77
+ "revision": "main",
78
+ "use_imagenet_stats": true,
79
+ "video_backend": "pyav",
80
+ "streaming": false
81
+ },
82
+ "env": null,
83
+ "policy": {
84
+ "type": "groot",
85
+ "n_obs_steps": 1,
86
+ "input_features": {
87
+ "observation.state": {
88
+ "type": "STATE",
89
+ "shape": [
90
+ 26
91
+ ]
92
+ },
93
+ "observation.images.cam_head": {
94
+ "type": "VISUAL",
95
+ "shape": [
96
+ 3,
97
+ 480,
98
+ 640
99
+ ]
100
+ },
101
+ "observation.mask_pick": {
102
+ "type": "VISUAL",
103
+ "shape": [
104
+ 3,
105
+ 480,
106
+ 640
107
+ ]
108
+ }
109
+ },
110
+ "output_features": {
111
+ "action": {
112
+ "type": "ACTION",
113
+ "shape": [
114
+ 26
115
+ ]
116
+ }
117
+ },
118
+ "device": "cuda",
119
+ "use_amp": true,
120
+ "push_to_hub": false,
121
+ "repo_id": null,
122
+ "private": null,
123
+ "tags": null,
124
+ "license": null,
125
+ "pretrained_path": null,
126
+ "chunk_size": 50,
127
+ "n_action_steps": 50,
128
+ "max_state_dim": 64,
129
+ "max_action_dim": 32,
130
+ "normalization_mapping": {
131
+ "VISUAL": "IDENTITY",
132
+ "STATE": "MEAN_STD",
133
+ "ACTION": "MEAN_STD"
134
+ },
135
+ "image_size": [
136
+ 224,
137
+ 224
138
+ ],
139
+ "base_model_path": "nvidia/GR00T-N1.5-3B",
140
+ "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
141
+ "embodiment_tag": "new_embodiment",
142
+ "use_place_mask": false,
143
+ "dinov3_checkpoint_path": "checkpoints/dinov3/dinov3_vits16plus_pretrain_lvd1689m-4057cbaa.pth",
144
+ "dinov3_model_dir": "checkpoints/dinov3",
145
+ "dinov3_embed_dim": 384,
146
+ "tune_llm": false,
147
+ "tune_visual": true,
148
+ "tune_projector": true,
149
+ "tune_diffusion_model": true,
150
+ "lora_rank": 0,
151
+ "lora_alpha": 16,
152
+ "lora_dropout": 0.1,
153
+ "lora_full_model": false,
154
+ "optimizer_lr": 0.0001,
155
+ "optimizer_betas": [
156
+ 0.95,
157
+ 0.999
158
+ ],
159
+ "optimizer_eps": 1e-08,
160
+ "optimizer_weight_decay": 1e-05,
161
+ "warmup_ratio": 0.05,
162
+ "use_bf16": true,
163
+ "video_backend": "decord",
164
+ "balance_dataset_weights": true,
165
+ "balance_trajectory_weights": true,
166
+ "dataset_paths": null,
167
+ "output_dir": "./tmp/gr00t",
168
+ "save_steps": 1000,
169
+ "max_steps": 10000,
170
+ "batch_size": 32,
171
+ "dataloader_num_workers": 8,
172
+ "report_to": "wandb",
173
+ "resume": false
174
+ },
175
+ "output_dir": "/root/autodl-tmp/outputs/train/groot_dynamic_handover_cup",
176
+ "job_name": "groot_dynamic_handover_cup",
177
+ "resume": false,
178
+ "seed": 1000,
179
+ "num_workers": 10,
180
+ "batch_size": 80,
181
+ "steps": 25000,
182
+ "eval_freq": 20000,
183
+ "log_freq": 200,
184
+ "save_checkpoint": true,
185
+ "save_freq": 2500,
186
+ "save_after_step": 10000,
187
+ "use_policy_training_preset": true,
188
+ "optimizer": {
189
+ "type": "adamw",
190
+ "lr": 0.0001,
191
+ "weight_decay": 1e-05,
192
+ "grad_clip_norm": 10.0,
193
+ "betas": [
194
+ 0.95,
195
+ 0.999
196
+ ],
197
+ "eps": 1e-08
198
+ },
199
+ "scheduler": {
200
+ "type": "cosine_decay_with_warmup",
201
+ "num_warmup_steps": 500,
202
+ "num_decay_steps": 10000,
203
+ "peak_lr": 0.0001,
204
+ "decay_lr": 1e-05
205
+ },
206
+ "eval": {
207
+ "n_episodes": 50,
208
+ "batch_size": 50,
209
+ "use_async_envs": false
210
+ },
211
+ "wandb": {
212
+ "enable": true,
213
+ "disable_artifact": true,
214
+ "project": "groot_control_new",
215
+ "entity": null,
216
+ "notes": null,
217
+ "run_id": "rxj1cl5t",
218
+ "mode": null
219
+ },
220
+ "checkpoint_path": null,
221
+ "rename_map": {}
222
+ }