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config.json

@@ -1,96 +1,96 @@
 {
-    "type": "groot",
-    "n_obs_steps": 1,
-    "input_features": {
-        "observation.state": {
-            "type": "STATE",
-            "shape": [
-                12
-            ]
-        },
-        "observation.images.top": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                480,
-                640
-            ]
-        },
-        "observation.images.left_gripper": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                480,
-                640
-            ]
-        },
-        "observation.images.right_gripper": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                480,
-                640
-            ]
-        }
+  "type": "groot",
+  "n_obs_steps": 1,
+  "input_features": {
+    "observation.state": {
+      "type": "STATE",
+      "shape": [
+        12
+      ]
     },
-    "output_features": {
-        "action": {
-            "type": "ACTION",
-            "shape": [
-                12
-            ]
-        }
+    "observation.images.top": {
+      "type": "VISUAL",
+      "shape": [
+        3,
+        480,
+        640
+      ]
     },
-    "device": "cuda",
-    "use_amp": false,
-    "push_to_hub": true,
-    "repo_id": "aditybhaskara/gr00t-n15-clear-table-clutter-policy",
-    "private": null,
-    "tags": null,
-    "license": null,
-    "pretrained_path": "outputs/gr00t_n15_clear_table_clutter/checkpoints/018000/pretrained_model",
-    "chunk_size": 16,
-    "n_action_steps": 8,
-    "max_state_dim": 64,
-    "max_action_dim": 32,
-    "normalization_mapping": {
-        "VISUAL": "IDENTITY",
-        "STATE": "MEAN_STD",
-        "ACTION": "MEAN_STD"
+    "observation.images.left_gripper": {
+      "type": "VISUAL",
+      "shape": [
+        3,
+        480,
+        640
+      ]
     },
-    "image_size": [
-        224,
-        224
-    ],
-    "base_model_path": "nvidia/GR00T-N1.5-3B",
-    "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
-    "embodiment_tag": "new_embodiment",
-    "tune_llm": false,
-    "tune_visual": false,
-    "tune_projector": true,
-    "tune_diffusion_model": true,
-    "lora_rank": 0,
-    "lora_alpha": 16,
-    "lora_dropout": 0.1,
-    "lora_full_model": false,
-    "optimizer_lr": 0.0001,
-    "optimizer_betas": [
-        0.95,
-        0.999
-    ],
-    "optimizer_eps": 1e-08,
-    "optimizer_weight_decay": 1e-05,
-    "warmup_ratio": 0.05,
-    "use_bf16": true,
-    "video_backend": "decord",
-    "balance_dataset_weights": true,
-    "balance_trajectory_weights": true,
-    "dataset_paths": null,
-    "output_dir": "./tmp/gr00t",
-    "save_steps": 1000,
-    "max_steps": 30000,
-    "batch_size": 32,
-    "dataloader_num_workers": 8,
-    "report_to": "wandb",
-    "resume": false
+    "observation.images.right_gripper": {
+      "type": "VISUAL",
+      "shape": [
+        3,
+        480,
+        640
+      ]
+    }
+  },
+  "output_features": {
+    "action": {
+      "type": "ACTION",
+      "shape": [
+        12
+      ]
+    }
+  },
+  "device": "cuda",
+  "use_amp": false,
+  "push_to_hub": true,
+  "repo_id": "aditybhaskara/gr00t-n15-clear-table-clutter-policy",
+  "private": null,
+  "tags": null,
+  "license": null,
+  "pretrained_path": "outputs/gr00t_n15_clear_table_clutter/checkpoints/018000/pretrained_model",
+  "chunk_size": 50,
+  "n_action_steps": 50,
+  "max_state_dim": 64,
+  "max_action_dim": 32,
+  "normalization_mapping": {
+    "VISUAL": "IDENTITY",
+    "STATE": "MEAN_STD",
+    "ACTION": "MEAN_STD"
+  },
+  "image_size": [
+    224,
+    224
+  ],
+  "base_model_path": "nvidia/GR00T-N1.5-3B",
+  "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
+  "embodiment_tag": "new_embodiment",
+  "tune_llm": false,
+  "tune_visual": false,
+  "tune_projector": true,
+  "tune_diffusion_model": true,
+  "lora_rank": 0,
+  "lora_alpha": 16,
+  "lora_dropout": 0.1,
+  "lora_full_model": false,
+  "optimizer_lr": 0.0001,
+  "optimizer_betas": [
+    0.95,
+    0.999
+  ],
+  "optimizer_eps": 1e-08,
+  "optimizer_weight_decay": 1e-05,
+  "warmup_ratio": 0.05,
+  "use_bf16": true,
+  "video_backend": "decord",
+  "balance_dataset_weights": true,
+  "balance_trajectory_weights": true,
+  "dataset_paths": null,
+  "output_dir": "./tmp/gr00t",
+  "save_steps": 1000,
+  "max_steps": 30000,
+  "batch_size": 32,
+  "dataloader_num_workers": 8,
+  "report_to": "wandb",
+  "resume": false
 }