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groot_finetune/experiment_cfg/conf.yaml

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+load_config_path: null
+model:
+  model_type: Gr00tN1d6
+  model_dtype: bfloat16
+  model_name: nvidia/Eagle-Block2A-2B-v2
+  backbone_model_type: eagle
+  model_revision: null
+  tune_top_llm_layers: 4
+  backbone_embedding_dim: 2048
+  tune_llm: false
+  tune_visual: false
+  select_layer: 16
+  reproject_vision: false
+  use_flash_attention: true
+  load_bf16: false
+  collator_overwrite_image_inputs: false
+  eagle_collator: true
+  backbone_trainable_params_fp32: true
+  image_crop_size: null
+  image_target_size: null
+  shortest_image_edge: 256
+  crop_fraction: 0.95
+  random_rotation_angle: null
+  color_jitter_params: null
+  use_albumentations_transforms: true
+  extra_augmentation_config: null
+  formalize_language: true
+  apply_sincos_state_encoding: false
+  use_relative_action: true
+  max_state_dim: 29
+  max_action_dim: 29
+  action_horizon: 50
+  hidden_size: 1024
+  input_embedding_dim: 1536
+  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: 32
+    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
+  state_dropout_prob_per_embodiment: null
+  state_additive_noise_scale: 0.0
+  max_num_embodiments: 32
+data:
+  datasets:
+  - dataset_paths:
+    - /hkfs/work/workspace/scratch/uenyr-thesis/data/peg_transfer_lerobot
+    embodiment_tag: jhu_imerse_dvrk_mono
+    mix_ratio: 1.0
+    dataset_type: physical_embodiment
+    val_dataset_path: null
+    exclude_splits: null
+    include_splits: null
+  modality_configs:
+    jhu_imerse_dvrk_mono:
+      video:
+        delta_indices:
+        - 0
+        modality_keys:
+        - endoscope_left
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        min_max_embedding_keys: null
+        pass_through_keys: null
+        action_configs: null
+      state:
+        delta_indices:
+        - 0
+        modality_keys:
+        - psm1_pose
+        - psm1_gripper
+        - psm2_pose
+        - psm2_gripper
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys:
+        - psm1_pose
+        - psm1_gripper
+        - psm2_pose
+        - psm2_gripper
+        min_max_embedding_keys: null
+        pass_through_keys: null
+        action_configs: null
+      action:
+        delta_indices:
+        - 0
+        - 1
+        - 2
+        - 3
+        - 4
+        - 5
+        - 6
+        - 7
+        - 8
+        - 9
+        - 10
+        - 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
+        - 40
+        - 41
+        - 42
+        - 43
+        - 44
+        - 45
+        - 46
+        - 47
+        - 48
+        - 49
+        modality_keys:
+        - psm1_pose
+        - psm1_gripper
+        - psm2_pose
+        - psm2_gripper
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        min_max_embedding_keys: null
+        pass_through_keys: null
+        action_configs:
+        - rep: REL_XYZ_ROT6D
+          type: EEF
+          format: XYZ_ROT6D
+          state_key: psm1_pose
+          input_rotation_format: quat
+          input_quat_order: xyzw
+          reference_rotation_format: quat
+          reference_quat_order: xyzw
+          translation_scaling_key: null
+          rotation_scaling_key: null
+          hold_through_clutch: false
+          normalization_type: temporal_meanstd
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+          input_rotation_format: quat
+          input_quat_order: xyzw
+          reference_rotation_format: rot6d
+          reference_quat_order: xyzw
+          translation_scaling_key: null
+          rotation_scaling_key: null
+          hold_through_clutch: false
+          normalization_type: temporal_meanstd
+        - rep: REL_XYZ_ROT6D
+          type: EEF
+          format: XYZ_ROT6D
+          state_key: psm2_pose
+          input_rotation_format: quat
+          input_quat_order: xyzw
+          reference_rotation_format: quat
+          reference_quat_order: xyzw
+          translation_scaling_key: null
+          rotation_scaling_key: null
+          hold_through_clutch: false
+          normalization_type: temporal_meanstd
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+          input_rotation_format: quat
+          input_quat_order: xyzw
+          reference_rotation_format: rot6d
+          reference_quat_order: xyzw
+          translation_scaling_key: null
+          rotation_scaling_key: null
+          hold_through_clutch: false
+          normalization_type: temporal_meanstd
+      language:
+        delta_indices:
+        - 0
+        modality_keys:
+        - annotation.human.task_description
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        min_max_embedding_keys: null
+        pass_through_keys: null
+        action_configs: null
+  download_cache: false
+  shard_size: 1024
+  episode_sampling_rate: 0.1
+  num_shards_per_epoch: 100000
+  override_pretraining_statistics: false
+  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
+  video_backend: torchcodec
+training:
+  output_dir: /hkfs/work/workspace/scratch/uenyr-thesis/outputs/groot_finetune
+  experiment_name: null
+  max_steps: 10000
+  global_batch_size: 32
+  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: /hkfs/work/workspace/scratch/uenyr-thesis/pretrained/GR00T-H
+  tf32: true
+  fp16: false
+  bf16: true
+  eval_bf16: true
+  logging_steps: 10
+  save_steps: 2000
+  save_total_limit: 3
+  save_vl_model: false
+  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: 4
+  remove_unused_columns: false
+  use_wandb: false
+  wandb_project: finetune-gr00t-n1d6
+  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: 10000
+save_steps: 2000

groot_finetune/experiment_cfg/config.yaml

@@ -0,0 +1,336 @@
+!!python/object:gr00t.configs.base_config.Config
+data: !!python/object:gr00t.configs.data.data_config.DataConfig
+  allow_padding: false
+  datasets:
+  - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
+    dataset_paths:
+    - /hkfs/work/workspace/scratch/uenyr-thesis/data/peg_transfer_lerobot
+    dataset_type: physical_embodiment
+    embodiment_tag: jhu_imerse_dvrk_mono
+    exclude_splits: null
+    include_splits: null
+    mix_ratio: 1.0
+    val_dataset_path: null
+  download_cache: false
+  episode_sampling_rate: 0.1
+  image_crop_size:
+  - 244
+  - 244
+  image_target_size:
+  - 224
+  - 224
+  mock_dataset_mode: false
+  modality_configs:
+    jhu_imerse_dvrk_mono:
+      action: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs:
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
+          - xyz+rot6d
+          hold_through_clutch: false
+          input_quat_order: xyzw
+          input_rotation_format: quat
+          normalization_type: temporal_meanstd
+          reference_quat_order: xyzw
+          reference_rotation_format: quat
+          rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation
+          - rel_xyz_rot6d
+          rotation_scaling_key: null
+          state_key: psm1_pose
+          translation_scaling_key: null
+          type: &id003 !!python/object/apply:gr00t.data.types.ActionType
+          - eef
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: &id004 !!python/object/apply:gr00t.data.types.ActionFormat
+          - default
+          hold_through_clutch: false
+          input_quat_order: xyzw
+          input_rotation_format: quat
+          normalization_type: temporal_meanstd
+          reference_quat_order: xyzw
+          reference_rotation_format: rot6d
+          rep: &id005 !!python/object/apply:gr00t.data.types.ActionRepresentation
+          - absolute
+          rotation_scaling_key: null
+          state_key: null
+          translation_scaling_key: null
+          type: &id006 !!python/object/apply:gr00t.data.types.ActionType
+          - non_eef
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          hold_through_clutch: false
+          input_quat_order: xyzw
+          input_rotation_format: quat
+          normalization_type: temporal_meanstd
+          reference_quat_order: xyzw
+          reference_rotation_format: quat
+          rep: *id002
+          rotation_scaling_key: null
+          state_key: psm2_pose
+          translation_scaling_key: null
+          type: *id003
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id004
+          hold_through_clutch: false
+          input_quat_order: xyzw
+          input_rotation_format: quat
+          normalization_type: temporal_meanstd
+          reference_quat_order: xyzw
+          reference_rotation_format: rot6d
+          rep: *id005
+          rotation_scaling_key: null
+          state_key: null
+          translation_scaling_key: null
+          type: *id006
+        delta_indices:
+        - 0
+        - 1
+        - 2
+        - 3
+        - 4
+        - 5
+        - 6
+        - 7
+        - 8
+        - 9
+        - 10
+        - 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
+        - 40
+        - 41
+        - 42
+        - 43
+        - 44
+        - 45
+        - 46
+        - 47
+        - 48
+        - 49
+        mean_std_embedding_keys: null
+        min_max_embedding_keys: null
+        modality_keys:
+        - psm1_pose
+        - psm1_gripper
+        - psm2_pose
+        - psm2_gripper
+        pass_through_keys: null
+        sin_cos_embedding_keys: null
+      language: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        min_max_embedding_keys: null
+        modality_keys:
+        - annotation.human.task_description
+        pass_through_keys: null
+        sin_cos_embedding_keys: null
+      state: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys:
+        - psm1_pose
+        - psm1_gripper
+        - psm2_pose
+        - psm2_gripper
+        min_max_embedding_keys: null
+        modality_keys:
+        - psm1_pose
+        - psm1_gripper
+        - psm2_pose
+        - psm2_gripper
+        pass_through_keys: null
+        sin_cos_embedding_keys: null
+      video: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        min_max_embedding_keys: null
+        modality_keys:
+        - endoscope_left
+        pass_through_keys: null
+        sin_cos_embedding_keys: null
+  mode: single_turn
+  multiprocessing_context: fork
+  num_shards_per_epoch: 100000
+  override_pretraining_statistics: false
+  random_chop: 0.0
+  seed: 42
+  shard_size: 1024
+  shuffle: true
+  subsample_ratio: 1.0
+  video_backend: torchcodec
+load_config_path: null
+model: !!python/object:gr00t.configs.model.gr00t_n1d6.Gr00tN1d6Config
+  _attn_implementation_autoset: false
+  _attn_implementation_internal: null
+  _commit_hash: null
+  _name_or_path: ''
+  add_cross_attention: false
+  architectures: null
+  backbone_model_type: eagle
+  backbone_trainable_params_fp32: true
+  bad_words_ids: null
+  begin_suppress_tokens: null
+  bos_token_id: null
+  chunk_size_feed_forward: 0
+  color_jitter_params: null
+  cross_attention_hidden_size: null
+  decoder_start_token_id: null
+  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
+  diversity_penalty: 0.0
+  do_sample: false
+  eagle_collator: true
+  early_stopping: false
+  encoder_no_repeat_ngram_size: 0
+  eos_token_id: null
+  exponential_decay_length_penalty: null
+  extra_augmentation_config: null
+  finetuning_task: null
+  forced_bos_token_id: null
+  forced_eos_token_id: null
+  id2label:
+    0: LABEL_0
+    1: LABEL_1
+  is_decoder: false
+  is_encoder_decoder: false
+  label2id:
+    LABEL_0: 0
+    LABEL_1: 1
+  length_penalty: 1.0
+  load_bf16: false
+  max_length: 20
+  min_length: 0
+  model_name: nvidia/Eagle-Block2A-2B-v2
+  no_repeat_ngram_size: 0
+  num_beam_groups: 1
+  num_beams: 1
+  num_return_sequences: 1
+  output_attentions: false
+  output_hidden_states: false
+  output_scores: false
+  pad_token_id: null
+  prefix: null
+  problem_type: null
+  pruned_heads: {}
+  random_rotation_angle: null
+  remove_invalid_values: false
+  repetition_penalty: 1.0
+  reproject_vision: false
+  return_dict: true
+  return_dict_in_generate: false
+  sep_token_id: null
+  state_dropout_prob: 0.0
+  state_dropout_prob_per_embodiment: null
+  suppress_tokens: null
+  task_specific_params: null
+  temperature: 1.0
+  tf_legacy_loss: false
+  tie_encoder_decoder: false
+  tie_word_embeddings: true
+  tokenizer_class: null
+  top_k: 50
+  top_p: 1.0
+  torch_dtype: null
+  torchscript: false
+  transformers_version: null
+  tune_diffusion_model: true
+  tune_llm: false
+  tune_projector: true
+  tune_visual: false
+  typical_p: 1.0
+  use_bfloat16: false
+  use_relative_action: true
+training: !!python/object:gr00t.configs.training.training_config.TrainingConfig
+  add_rl_callback: false
+  assert_loss_less_than: null
+  batch_size: null
+  bf16: true
+  dataloader_num_workers: 4
+  ddp_bucket_cap_mb: 100
+  deepspeed_stage: 2
+  enable_open_loop_eval: false
+  enable_profiling: false
+  eval_batch_size: 2
+  eval_bf16: true
+  eval_set_split_ratio: 0.1
+  eval_steps: 500
+  eval_strategy: 'no'
+  experiment_name: null
+  fp16: false
+  global_batch_size: 32
+  gradient_accumulation_steps: 1
+  gradient_checkpointing: false
+  learning_rate: 0.0001
+  logging_steps: 10
+  lr_scheduler_type: cosine
+  max_concurrent_uploads: 2
+  max_grad_norm: 1.0
+  max_retries: 3
+  max_steps: 10000
+  num_gpus: 1
+  open_loop_eval_plot_indices: null
+  open_loop_eval_steps_per_traj: 100
+  open_loop_eval_traj_ids:
+  - 0
+  optim: adamw_torch
+  output_dir: /hkfs/work/workspace/scratch/uenyr-thesis/outputs/groot_finetune
+  remove_unused_columns: false
+  save_best_eval_metric_greater_is_better: true
+  save_best_eval_metric_name: ''
+  save_steps: 2000
+  save_total_limit: 3
+  save_vl_model: false
+  start_from_checkpoint: /hkfs/work/workspace/scratch/uenyr-thesis/pretrained/GR00T-H
+  tf32: true
+  transformers_access_token: null
+  transformers_cache_dir: null
+  transformers_local_files_only: false
+  transformers_trust_remote_code: true
+  upload_checkpoints: false
+  upload_every: 1000
+  upload_last_n_checkpoints: 5
+  use_ddp: false
+  use_wandb: false
+  wandb_project: finetune-gr00t-n1d6
+  warmup_ratio: 0.05
+  warmup_steps: 0
+  weight_decay: 1.0e-05

groot_finetune/experiment_cfg/final_model_config.json

@@ -0,0 +1,70 @@
+{
+  "model_type": "Gr00tN1d6",
+  "model_dtype": "bfloat16",
+  "model_name": "nvidia/Eagle-Block2A-2B-v2",
+  "backbone_model_type": "eagle",
+  "model_revision": null,
+  "tune_top_llm_layers": 4,
+  "backbone_embedding_dim": 2048,
+  "tune_llm": false,
+  "tune_visual": false,
+  "select_layer": 16,
+  "reproject_vision": false,
+  "use_flash_attention": true,
+  "load_bf16": true,
+  "collator_overwrite_image_inputs": false,
+  "eagle_collator": true,
+  "backbone_trainable_params_fp32": true,
+  "extra_augmentation_config": null,
+  "apply_sincos_state_encoding": true,
+  "use_relative_action": true,
+  "max_state_dim": 128,
+  "max_action_dim": 128,
+  "action_horizon": 50,
+  "hidden_size": 1024,
+  "input_embedding_dim": 1536,
+  "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": {
+    "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
+  },
+  "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,
+  "state_dropout_prob_per_embodiment": {
+    "cmr_versius": 1.0,
+    "jhu_imerse_dvrk": 1.0,
+    "obuda_dvrk": 1.0,
+    "stanford_dvrk_real": 1.0,
+    "ucb_dvrk": 1.0,
+    "ucsd_dvrk": 1.0,
+    "hamlyn_dvrk_30hz": 1.0,
+    "jhu_imerse_dvrk_mono": 1.0,
+    "jhu_imerse_star_il": 1.0,
+    "jhu_lscr_dvrk_smarts": 1.0,
+    "rob_surgical_bitrack": 1.0,
+    "tud_tundra_ur5e": 1.0,
+    "turin_mitic_ex_vivo": 1.0,
+    "ustc_torin_tuodao": 1.0
+  },
+  "state_additive_noise_scale": 0.0,
+  "max_num_embodiments": 32
+}