Add files using upload-large-folder tool

checkpoint-10000/config.json

@@ -0,0 +1,70 @@
+{
+  "action_horizon": 50,
+  "add_pos_embed": true,
+  "apply_sincos_state_encoding": true,
+  "architectures": [
+    "Gr00tN1d6"
+  ],
+  "attn_dropout": 0.2,
+  "attn_implementation": null,
+  "backbone_embedding_dim": 2048,
+  "backbone_model_type": "eagle",
+  "backbone_trainable_params_fp32": true,
+  "collator_overwrite_image_inputs": false,
+  "color_jitter_params": {
+    "brightness": 0.1,
+    "contrast": 0.1,
+    "hue": 0.1,
+    "saturation": 0.1
+  },
+  "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
+  },
+  "eagle_collator": true,
+  "formalize_language": true,
+  "gemma_collator": false,
+  "hidden_size": 1024,
+  "image_crop_size": null,
+  "image_target_size": null,
+  "input_embedding_dim": 1536,
+  "load_bf16": true,
+  "max_action_dim": 128,
+  "max_num_embodiments": 32,
+  "max_seq_len": 1024,
+  "max_state_dim": 128,
+  "model_dtype": "bfloat16",
+  "model_name": "nvidia/Eagle-Block2A-2B-v2",
+  "model_type": "Gr00tN1d6",
+  "noise_beta_alpha": 1.5,
+  "noise_beta_beta": 1.0,
+  "noise_s": 0.999,
+  "num_inference_timesteps": 4,
+  "num_timestep_buckets": 1000,
+  "random_rotation_angle": null,
+  "reproject_vision": false,
+  "select_layer": 16,
+  "shortest_image_edge": 256,
+  "state_dropout_prob": 0.0,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3",
+  "tune_diffusion_model": true,
+  "tune_llm": false,
+  "tune_projector": true,
+  "tune_top_llm_layers": 4,
+  "tune_visual": true,
+  "tune_vlln": true,
+  "use_albumentations_transforms": true,
+  "use_alternate_vl_dit": true,
+  "use_flash_attention": true,
+  "use_relative_action": true,
+  "use_vlln": true
+}

checkpoint-10000/embodiment_id.json

@@ -0,0 +1,11 @@
+{
+  "robocasa_panda_omron": 13,
+  "gr1": 20,
+  "behavior_r1_pro": 24,
+  "unitree_g1": 8,
+  "oxe_google": 0,
+  "oxe_widowx": 1,
+  "libero_panda": 2,
+  "oxe_droid": 16,
+  "new_embodiment": 10
+}

checkpoint-10000/latest

@@ -0,0 +1 @@
+global_step10000

checkpoint-10000/processor_config.json

@@ -0,0 +1,526 @@
+{
+  "processor_class": "Gr00tN1d6Processor",
+  "processor_kwargs": {
+    "modality_configs": {
+      "behavior_r1_pro": {
+        "video": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "observation.images.rgb.head_256_256",
+            "observation.images.rgb.left_wrist_256_256",
+            "observation.images.rgb.right_wrist_256_256"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "state": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "robot_pos",
+            "robot_ori_cos",
+            "robot_ori_sin",
+            "robot_2d_ori",
+            "robot_2d_ori_cos",
+            "robot_2d_ori_sin",
+            "robot_lin_vel",
+            "robot_ang_vel",
+            "arm_left_qpos",
+            "arm_left_qpos_sin",
+            "arm_left_qpos_cos",
+            "eef_left_pos",
+            "eef_left_quat",
+            "gripper_left_qpos",
+            "arm_right_qpos",
+            "arm_right_qpos_sin",
+            "arm_right_qpos_cos",
+            "eef_right_pos",
+            "eef_right_quat",
+            "gripper_right_qpos",
+            "trunk_qpos"
+          ],
+          "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,
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+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31
+          ],
+          "modality_keys": [
+            "base",
+            "torso",
+            "left_arm",
+            "left_gripper",
+            "right_arm",
+            "right_gripper"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": [
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "trunk_qpos"
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "arm_left_qpos"
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "arm_right_qpos"
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            }
+          ]
+        },
+        "language": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "annotation.human.coarse_action"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        }
+      },
+      "gr1": {
+        "video": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "ego_view_bg_crop_pad_res256_freq20"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "state": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "left_arm",
+            "right_arm",
+            "left_hand",
+            "right_hand",
+            "waist"
+          ],
+          "sin_cos_embedding_keys": [
+            "left_arm",
+            "right_arm",
+            "left_hand",
+            "right_hand",
+            "waist"
+          ],
+          "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": [
+            "left_arm",
+            "right_arm",
+            "left_hand",
+            "right_hand",
+            "waist"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": [
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            }
+          ]
+        },
+        "language": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "task"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        }
+      },
+      "robocasa_panda_omron": {
+        "video": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "res256_image_side_0",
+            "res256_image_side_1",
+            "res256_image_wrist_0"
+          ],
+          "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": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "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
+        }
+      },
+      "new_embodiment": {
+        "video": {
+          "delta_indices": [
+            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_arm",
+            "right_arm",
+            "left_hand",
+            "right_hand",
+            "waist"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "action": {
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+            0,
+            1,
+            2,
+            3,
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+            5,
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+            12,
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+            14,
+            15,
+            16,
+            17,
+            18,
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+            21,
+            22,
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+            25,
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+            34,
+            35,
+            36,
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+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49
+          ],
+          "modality_keys": [
+            "left_arm",
+            "right_arm",
+            "left_hand",
+            "right_hand",
+            "waist",
+            "base_height_command",
+            "navigate_command"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": [
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "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.task_description"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        }
+      }
+    },
+    "image_crop_size": null,
+    "image_target_size": null,
+    "use_albumentations": true,
+    "random_rotation_angle": null,
+    "color_jitter_params": {
+      "brightness": 0.3,
+      "contrast": 0.4,
+      "saturation": 0.5,
+      "hue": 0.08
+    },
+    "shortest_image_edge": 256,
+    "crop_fraction": 0.95,
+    "model_name": "nvidia/Eagle-Block2A-2B-v2",
+    "model_type": "eagle",
+    "formalize_language": true,
+    "max_state_dim": 128,
+    "max_action_dim": 128,
+    "max_action_horizon": 50,
+    "use_percentiles": false,
+    "clip_outliers": true,
+    "apply_sincos_state_encoding": true,
+    "use_relative_action": true
+  }
+}

checkpoint-10000/wandb_config.json

@@ -0,0 +1 @@
+{"project": "finetune-gr00t-n1d6", "run_id": "locomanipulation_tutorial"}

checkpoint-10000/zero_to_fp32.py

@@ -0,0 +1,760 @@
+#!/usr/bin/env python
+
+# Copyright (c) Microsoft Corporation.
+# SPDX-License-Identifier: Apache-2.0
+
+# DeepSpeed Team
+
+# This script extracts fp32 consolidated weights from a zero 1, 2 and 3 DeepSpeed checkpoints. It gets
+# copied into the top level checkpoint dir, so the user can easily do the conversion at any point in
+# the future. Once extracted, the weights don't require DeepSpeed and can be used in any
+# application.
+#
+# example:
+#   python zero_to_fp32.py . output_dir/
+#   or
+#   python zero_to_fp32.py . output_dir/ --safe_serialization
+
+import argparse
+import torch
+import glob
+import math
+import os
+import re
+import gc
+import json
+import numpy as np
+from tqdm import tqdm
+from collections import OrderedDict
+from dataclasses import dataclass
+
+# while this script doesn't use deepspeed to recover data, since the checkpoints are pickled with
+# DeepSpeed data structures it has to be available in the current python environment.
+from deepspeed.utils import logger
+from deepspeed.checkpoint.constants import (DS_VERSION, OPTIMIZER_STATE_DICT, SINGLE_PARTITION_OF_FP32_GROUPS,
+                                            FP32_FLAT_GROUPS, ZERO_STAGE, PARTITION_COUNT, PARAM_SHAPES, BUFFER_NAMES,
+                                            FROZEN_PARAM_SHAPES, FROZEN_PARAM_FRAGMENTS)
+
+
+@dataclass
+class zero_model_state:
+    buffers: dict()
+    param_shapes: dict()
+    shared_params: list
+    ds_version: int
+    frozen_param_shapes: dict()
+    frozen_param_fragments: dict()
+
+
+debug = 0
+
+# load to cpu
+device = torch.device('cpu')
+
+
+def atoi(text):
+    return int(text) if text.isdigit() else text
+
+
+def natural_keys(text):
+    '''
+    alist.sort(key=natural_keys) sorts in human order
+    http://nedbatchelder.com/blog/200712/human_sorting.html
+    (See Toothy's implementation in the comments)
+    '''
+    return [atoi(c) for c in re.split(r'(\d+)', text)]
+
+
+def get_model_state_file(checkpoint_dir, zero_stage):
+    if not os.path.isdir(checkpoint_dir):
+        raise FileNotFoundError(f"Directory '{checkpoint_dir}' doesn't exist")
+
+    # there should be only one file
+    if zero_stage <= 2:
+        file = os.path.join(checkpoint_dir, "mp_rank_00_model_states.pt")
+    elif zero_stage == 3:
+        file = os.path.join(checkpoint_dir, "zero_pp_rank_0_mp_rank_00_model_states.pt")
+
+    if not os.path.exists(file):
+        raise FileNotFoundError(f"can't find model states file at '{file}'")
+
+    return file
+
+
+def get_checkpoint_files(checkpoint_dir, glob_pattern):
+    # XXX: need to test that this simple glob rule works for multi-node setup too
+    ckpt_files = sorted(glob.glob(os.path.join(checkpoint_dir, glob_pattern)), key=natural_keys)
+
+    if len(ckpt_files) == 0:
+        raise FileNotFoundError(f"can't find {glob_pattern} files in directory '{checkpoint_dir}'")
+
+    return ckpt_files
+
+
+def get_optim_files(checkpoint_dir):
+    return get_checkpoint_files(checkpoint_dir, "*_optim_states.pt")
+
+
+def get_model_state_files(checkpoint_dir):
+    return get_checkpoint_files(checkpoint_dir, "*_model_states.pt")
+
+
+def parse_model_states(files):
+    zero_model_states = []
+    for file in files:
+        state_dict = torch.load(file, map_location=device, weights_only=False)
+
+        if BUFFER_NAMES not in state_dict:
+            raise ValueError(f"{file} is not a model state checkpoint")
+        buffer_names = state_dict[BUFFER_NAMES]
+        if debug:
+            print("Found buffers:", buffer_names)
+
+        # recover just the buffers while restoring them to fp32 if they were saved in fp16
+        buffers = {k: v.float() for k, v in state_dict["module"].items() if k in buffer_names}
+        param_shapes = state_dict[PARAM_SHAPES]
+
+        # collect parameters that are included in param_shapes
+        param_names = []
+        for s in param_shapes:
+            for name in s.keys():
+                param_names.append(name)
+
+        # update with frozen parameters
+        frozen_param_shapes = state_dict.get(FROZEN_PARAM_SHAPES, None)
+        if frozen_param_shapes is not None:
+            if debug:
+                print(f"Found frozen_param_shapes: {frozen_param_shapes}")
+            param_names += list(frozen_param_shapes.keys())
+
+        # handle shared params
+        shared_params = [[k, v] for k, v in state_dict["shared_params"].items()]
+
+        ds_version = state_dict.get(DS_VERSION, None)
+
+        frozen_param_fragments = state_dict.get(FROZEN_PARAM_FRAGMENTS, None)
+
+        z_model_state = zero_model_state(buffers=buffers,
+                                         param_shapes=param_shapes,
+                                         shared_params=shared_params,
+                                         ds_version=ds_version,
+                                         frozen_param_shapes=frozen_param_shapes,
+                                         frozen_param_fragments=frozen_param_fragments)
+        zero_model_states.append(z_model_state)
+
+    return zero_model_states
+
+
+def parse_optim_states(files, ds_checkpoint_dir):
+    total_files = len(files)
+    state_dicts = []
+    for f in tqdm(files, desc='Loading checkpoint shards'):
+        state_dict = torch.load(f, map_location=device, mmap=True, weights_only=False)
+        # immediately discard the potentially huge 2 optimizer states as we only care for fp32 master weights
+        # and also handle the case where it was already removed by another helper script
+        state_dict["optimizer_state_dict"].pop("optimizer_state_dict", None)
+        state_dicts.append(state_dict)
+
+    if ZERO_STAGE not in state_dicts[0][OPTIMIZER_STATE_DICT]:
+        raise ValueError(f"{files[0]} is not a zero checkpoint")
+    zero_stage = state_dicts[0][OPTIMIZER_STATE_DICT][ZERO_STAGE]
+    world_size = state_dicts[0][OPTIMIZER_STATE_DICT][PARTITION_COUNT]
+
+    # For ZeRO-2 each param group can have different partition_count as data parallelism for expert
+    # parameters can be different from data parallelism for non-expert parameters. So we can just
+    # use the max of the partition_count to get the dp world_size.
+
+    if type(world_size) is list:
+        world_size = max(world_size)
+
+    if world_size != total_files:
+        raise ValueError(
+            f"Expected {world_size} of '*_optim_states.pt' under '{ds_checkpoint_dir}' but found {total_files} files. "
+            "Possibly due to an overwrite of an old checkpoint, or a checkpoint didn't get saved by one or more processes."
+        )
+
+    # the groups are named differently in each stage
+    if zero_stage <= 2:
+        fp32_groups_key = SINGLE_PARTITION_OF_FP32_GROUPS
+    elif zero_stage == 3:
+        fp32_groups_key = FP32_FLAT_GROUPS
+    else:
+        raise ValueError(f"unknown zero stage {zero_stage}")
+
+    fp32_flat_groups = [state_dicts[i][OPTIMIZER_STATE_DICT][fp32_groups_key] for i in range(len(state_dicts))]
+    return zero_stage, world_size, fp32_flat_groups
+
+
+def _get_fp32_state_dict_from_zero_checkpoint(ds_checkpoint_dir, exclude_frozen_parameters):
+    """
+    Returns fp32 state_dict reconstructed from ds checkpoint
+
+    Args:
+        - ``ds_checkpoint_dir``: path to the deepspeed checkpoint folder (where the optimizer files are)
+
+    """
+    print(f"Processing zero checkpoint '{ds_checkpoint_dir}'")
+
+    optim_files = get_optim_files(ds_checkpoint_dir)
+    zero_stage, world_size, fp32_flat_groups = parse_optim_states(optim_files, ds_checkpoint_dir)
+    print(f"Detected checkpoint of type zero stage {zero_stage}, world_size: {world_size}")
+
+    model_files = get_model_state_files(ds_checkpoint_dir)
+
+    zero_model_states = parse_model_states(model_files)
+    print(f'Parsing checkpoint created by deepspeed=={zero_model_states[0].ds_version}')
+
+    if zero_stage <= 2:
+        return _get_fp32_state_dict_from_zero2_checkpoint(world_size, fp32_flat_groups, zero_model_states,
+                                                          exclude_frozen_parameters)
+    elif zero_stage == 3:
+        return _get_fp32_state_dict_from_zero3_checkpoint(world_size, fp32_flat_groups, zero_model_states,
+                                                          exclude_frozen_parameters)
+
+
+def _zero2_merge_frozen_params(state_dict, zero_model_states):
+    if zero_model_states[0].frozen_param_shapes is None or len(zero_model_states[0].frozen_param_shapes) == 0:
+        return
+
+    frozen_param_shapes = zero_model_states[0].frozen_param_shapes
+    frozen_param_fragments = zero_model_states[0].frozen_param_fragments
+
+    if debug:
+        num_elem = sum(s.numel() for s in frozen_param_shapes.values())
+        print(f'rank 0: {FROZEN_PARAM_SHAPES}.numel = {num_elem}')
+
+        wanted_params = len(frozen_param_shapes)
+        wanted_numel = sum(s.numel() for s in frozen_param_shapes.values())
+        avail_numel = sum([p.numel() for p in frozen_param_fragments.values()])
+        print(f'Frozen params: Have {avail_numel} numels to process.')
+        print(f'Frozen params: Need {wanted_numel} numels in {wanted_params} params')
+
+    total_params = 0
+    total_numel = 0
+    for name, shape in frozen_param_shapes.items():
+        total_params += 1
+        unpartitioned_numel = shape.numel()
+        total_numel += unpartitioned_numel
+
+        state_dict[name] = frozen_param_fragments[name]
+
+        if debug:
+            print(f"{name} full shape: {shape} unpartitioned numel {unpartitioned_numel} ")
+
+    print(f"Reconstructed Frozen fp32 state dict with {total_params} params {total_numel} elements")
+
+
+def _has_callable(obj, fn):
+    attr = getattr(obj, fn, None)
+    return callable(attr)
+
+
+def _zero2_merge_trainable_params(state_dict, world_size, fp32_flat_groups, zero_model_states):
+    param_shapes = zero_model_states[0].param_shapes
+
+    # Reconstruction protocol:
+    #
+    # XXX: document this
+
+    if debug:
+        for i in range(world_size):
+            for j in range(len(fp32_flat_groups[0])):
+                print(f"{FP32_FLAT_GROUPS}[{i}][{j}].shape={fp32_flat_groups[i][j].shape}")
+
+    # XXX: memory usage doubles here (zero2)
+    num_param_groups = len(fp32_flat_groups[0])
+    merged_single_partition_of_fp32_groups = []
+    for i in range(num_param_groups):
+        merged_partitions = [sd[i] for sd in fp32_flat_groups]
+        full_single_fp32_vector = torch.cat(merged_partitions, 0)
+        merged_single_partition_of_fp32_groups.append(full_single_fp32_vector)
+    avail_numel = sum(
+        [full_single_fp32_vector.numel() for full_single_fp32_vector in merged_single_partition_of_fp32_groups])
+
+    if debug:
+        wanted_params = sum([len(shapes) for shapes in param_shapes])
+        wanted_numel = sum([sum(shape.numel() for shape in shapes.values()) for shapes in param_shapes])
+        # not asserting if there is a mismatch due to possible padding
+        print(f"Have {avail_numel} numels to process.")
+        print(f"Need {wanted_numel} numels in {wanted_params} params.")
+
+    # params
+    # XXX: for huge models that can't fit into the host's RAM we will have to recode this to support
+    # out-of-core computing solution
+    total_numel = 0
+    total_params = 0
+    for shapes, full_single_fp32_vector in zip(param_shapes, merged_single_partition_of_fp32_groups):
+        offset = 0
+        avail_numel = full_single_fp32_vector.numel()
+        for name, shape in shapes.items():
+
+            unpartitioned_numel = shape.numel() if _has_callable(shape, 'numel') else math.prod(shape)
+            total_numel += unpartitioned_numel
+            total_params += 1
+
+            if debug:
+                print(f"{name} full shape: {shape} unpartitioned numel {unpartitioned_numel} ")
+            state_dict[name] = full_single_fp32_vector.narrow(0, offset, unpartitioned_numel).view(shape)
+            offset += unpartitioned_numel
+
+        # Z2 started to align to 2*world_size to improve nccl performance. Therefore both offset and
+        # avail_numel can differ by anywhere between 0..2*world_size. Due to two unrelated complex
+        # paddings performed in the code it's almost impossible to predict the exact numbers w/o the
+        # live optimizer object, so we are checking that the numbers are within the right range
+        align_to = 2 * world_size
+
+        def zero2_align(x):
+            return align_to * math.ceil(x / align_to)
+
+        if debug:
+            print(f"original offset={offset}, avail_numel={avail_numel}")
+
+        offset = zero2_align(offset)
+        avail_numel = zero2_align(avail_numel)
+
+        if debug:
+            print(f"aligned  offset={offset}, avail_numel={avail_numel}")
+
+        # Sanity check
+        if offset != avail_numel:
+            raise ValueError(f"consumed {offset} numels out of {avail_numel} - something is wrong")
+
+    print(f"Reconstructed fp32 state dict with {total_params} params {total_numel} elements")
+
+
+def _get_fp32_state_dict_from_zero2_checkpoint(world_size, fp32_flat_groups, zero_model_states,
+                                               exclude_frozen_parameters):
+    state_dict = OrderedDict()
+
+    # buffers
+    buffers = zero_model_states[0].buffers
+    state_dict.update(buffers)
+    if debug:
+        print(f"added {len(buffers)} buffers")
+
+    if not exclude_frozen_parameters:
+        _zero2_merge_frozen_params(state_dict, zero_model_states)
+
+    _zero2_merge_trainable_params(state_dict, world_size, fp32_flat_groups, zero_model_states)
+
+    # recover shared parameters
+    for pair in zero_model_states[0].shared_params:
+        if pair[1] in state_dict:
+            state_dict[pair[0]] = state_dict[pair[1]]
+
+    return state_dict
+
+
+def zero3_partitioned_param_info(unpartitioned_numel, world_size):
+    remainder = unpartitioned_numel % world_size
+    padding_numel = (world_size - remainder) if remainder else 0
+    partitioned_numel = math.ceil(unpartitioned_numel / world_size)
+    return partitioned_numel, padding_numel
+
+
+def _zero3_merge_frozen_params(state_dict, world_size, zero_model_states):
+    if zero_model_states[0].frozen_param_shapes is None or len(zero_model_states[0].frozen_param_shapes) == 0:
+        return
+
+    if debug:
+        for i in range(world_size):
+            num_elem = sum(s.numel() for s in zero_model_states[i].frozen_param_fragments.values())
+            print(f'rank {i}: {FROZEN_PARAM_SHAPES}.numel = {num_elem}')
+
+        frozen_param_shapes = zero_model_states[0].frozen_param_shapes
+        wanted_params = len(frozen_param_shapes)
+        wanted_numel = sum(s.numel() for s in frozen_param_shapes.values())
+        avail_numel = sum([p.numel() for p in zero_model_states[0].frozen_param_fragments.values()]) * world_size
+        print(f'Frozen params: Have {avail_numel} numels to process.')
+        print(f'Frozen params: Need {wanted_numel} numels in {wanted_params} params')
+
+    total_params = 0
+    total_numel = 0
+    for name, shape in zero_model_states[0].frozen_param_shapes.items():
+        total_params += 1
+        unpartitioned_numel = shape.numel()
+        total_numel += unpartitioned_numel
+
+        param_frags = tuple(model_state.frozen_param_fragments[name] for model_state in zero_model_states)
+        state_dict[name] = torch.cat(param_frags, 0).narrow(0, 0, unpartitioned_numel).view(shape)
+
+        partitioned_numel, partitioned_padding_numel = zero3_partitioned_param_info(unpartitioned_numel, world_size)
+
+        if debug:
+            print(
+                f"Frozen params: {total_params} {name} full shape: {shape} partition0 numel={partitioned_numel} partitioned_padding_numel={partitioned_padding_numel}"
+            )
+
+    print(f"Reconstructed Frozen fp32 state dict with {total_params} params {total_numel} elements")
+
+
+class GatheredTensor:
+    """
+    A pseudo tensor that collects partitioned weights.
+    It is more memory efficient when there are multiple groups.
+    """
+
+    def __init__(self, flat_groups, flat_groups_offset, offset, partitioned_numel, shape):
+        self.flat_groups = flat_groups
+        self.flat_groups_offset = flat_groups_offset
+        self.offset = offset
+        self.partitioned_numel = partitioned_numel
+        self.shape = shape
+        self.dtype = self.flat_groups[0][0].dtype
+
+    def contiguous(self):
+        """
+        Merge partitioned weights from flat_groups into a single tensor.
+        """
+        end_idx = self.offset + self.partitioned_numel
+        world_size = len(self.flat_groups)
+        pad_flat_param_chunks = []
+
+        for rank_i in range(world_size):
+            # for each rank, we need to collect weights from related group/groups
+            flat_groups_at_rank_i = self.flat_groups[rank_i]
+            start_group_id = None
+            end_group_id = None
+            for group_id in range(len(self.flat_groups_offset)):
+                if self.flat_groups_offset[group_id] <= self.offset < self.flat_groups_offset[group_id + 1]:
+                    start_group_id = group_id
+                if self.flat_groups_offset[group_id] < end_idx <= self.flat_groups_offset[group_id + 1]:
+                    end_group_id = group_id
+                    break
+            # collect weights from related group/groups
+            for group_id in range(start_group_id, end_group_id + 1):
+                flat_tensor = flat_groups_at_rank_i[group_id]
+                start_offset = self.offset - self.flat_groups_offset[group_id]
+                end_offset = min(end_idx, self.flat_groups_offset[group_id + 1]) - self.flat_groups_offset[group_id]
+                pad_flat_param_chunks.append(flat_tensor[start_offset:end_offset])
+
+        # collect weights from all ranks
+        pad_flat_param = torch.cat(pad_flat_param_chunks, dim=0)
+        param = pad_flat_param[:self.shape.numel()].view(self.shape).contiguous()
+        return param
+
+
+def _zero3_merge_trainable_params(state_dict, world_size, fp32_flat_groups, zero_model_states):
+    param_shapes = zero_model_states[0].param_shapes
+    avail_numel = sum([flat_group.numel() for flat_group in fp32_flat_groups[0]]) * world_size
+
+    # Reconstruction protocol: For zero3 we need to zip the partitions together at boundary of each
+    # param, re-consolidating each param, while dealing with padding if any
+
+    # merge list of dicts, preserving order
+    param_shapes = {k: v for d in param_shapes for k, v in d.items()}
+
+    if debug:
+        for i in range(world_size):
+            print(f"{FP32_FLAT_GROUPS}[{i}].shape={fp32_flat_groups[i].shape}")
+
+        wanted_params = len(param_shapes)
+        wanted_numel = sum(shape.numel() for shape in param_shapes.values())
+        # not asserting if there is a mismatch due to possible padding
+        avail_numel = fp32_flat_groups[0].numel() * world_size
+        print(f"Trainable params: Have {avail_numel} numels to process.")
+        print(f"Trainable params: Need {wanted_numel} numels in {wanted_params} params.")
+
+    # params
+    # XXX: for huge models that can't fit into the host's RAM we will have to recode this to support
+    # out-of-core computing solution
+    offset = 0
+    total_numel = 0
+    total_params = 0
+    flat_groups_offset = [0] + list(np.cumsum([flat_tensor.numel() for flat_tensor in fp32_flat_groups[0]]))
+    for name, shape in tqdm(param_shapes.items(), desc='Gathering sharded weights'):
+        unpartitioned_numel = shape.numel()
+        total_numel += unpartitioned_numel
+        total_params += 1
+        partitioned_numel, partitioned_padding_numel = zero3_partitioned_param_info(unpartitioned_numel, world_size)
+
+        if debug:
+            print(
+                f"Trainable params: {total_params} {name} full shape: {shape} partition0 numel={partitioned_numel} partitioned_padding_numel={partitioned_padding_numel}"
+            )
+
+        # memory efficient tensor
+        tensor = GatheredTensor(fp32_flat_groups, flat_groups_offset, offset, partitioned_numel, shape)
+        state_dict[name] = tensor
+        offset += partitioned_numel
+
+    offset *= world_size
+
+    # Sanity check
+    if offset != avail_numel:
+        raise ValueError(f"consumed {offset} numels out of {avail_numel} - something is wrong")
+
+    print(f"Reconstructed Trainable fp32 state dict with {total_params} params {total_numel} elements")
+
+
+def _get_fp32_state_dict_from_zero3_checkpoint(world_size, fp32_flat_groups, zero_model_states,
+                                               exclude_frozen_parameters):
+    state_dict = OrderedDict()
+
+    # buffers
+    buffers = zero_model_states[0].buffers
+    state_dict.update(buffers)
+    if debug:
+        print(f"added {len(buffers)} buffers")
+
+    if not exclude_frozen_parameters:
+        _zero3_merge_frozen_params(state_dict, world_size, zero_model_states)
+
+    _zero3_merge_trainable_params(state_dict, world_size, fp32_flat_groups, zero_model_states)
+
+    # recover shared parameters
+    for pair in zero_model_states[0].shared_params:
+        if pair[1] in state_dict:
+            state_dict[pair[0]] = state_dict[pair[1]]
+
+    return state_dict
+
+
+def to_torch_tensor(state_dict, return_empty_tensor=False):
+    """
+    Convert state_dict of GatheredTensor to torch tensor
+    """
+    torch_state_dict = {}
+    converted_tensors = {}
+    for name, tensor in state_dict.items():
+        tensor_id = id(tensor)
+        if tensor_id in converted_tensors:  # shared tensors
+            shared_tensor = torch_state_dict[converted_tensors[tensor_id]]
+            torch_state_dict[name] = shared_tensor
+        else:
+            converted_tensors[tensor_id] = name
+            if return_empty_tensor:
+                torch_state_dict[name] = torch.empty(tensor.shape, dtype=tensor.dtype)
+            else:
+                torch_state_dict[name] = tensor.contiguous()
+    return torch_state_dict
+
+
+def get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir,
+                                             tag=None,
+                                             exclude_frozen_parameters=False,
+                                             lazy_mode=False):
+    """
+    Convert ZeRO 2 or 3 checkpoint into a single fp32 consolidated state_dict that can be loaded with
+    ``load_state_dict()`` and used for training without DeepSpeed or shared with others, for example
+    via a model hub.
+
+    Args:
+        - ``checkpoint_dir``: path to the desired checkpoint folder
+        - ``tag``: checkpoint tag used as a unique identifier for checkpoint. If not provided will attempt to load tag in 'latest' file. e.g., ``global_step14``
+        - ``exclude_frozen_parameters``: exclude frozen parameters
+        - ``lazy_mode``: get state_dict in lazy mode. It returns a dict of pesduo tensor instead of torch tensor, which is more memory efficient.
+          Convert the pesduo tensor to torch tensor by ``.contiguous()``
+
+    Returns:
+        - pytorch ``state_dict``
+
+    A typical usage might be ::
+
+        from deepspeed.utils.zero_to_fp32 import get_fp32_state_dict_from_zero_checkpoint
+        # do the training and checkpoint saving
+        state_dict = get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir) # already on cpu
+        model = model.cpu() # move to cpu
+        model.load_state_dict(state_dict)
+        # submit to model hub or save the model to share with others
+
+    In this example the ``model`` will no longer be usable in the deepspeed context of the same
+    application. i.e. you will need to re-initialize the deepspeed engine, since
+    ``model.load_state_dict(state_dict)`` will remove all the deepspeed magic from it.
+
+    If you want it all done for you, use ``load_state_dict_from_zero_checkpoint`` instead.
+
+    Note: the above usage may not work if your application doesn't have sufficient free CPU memory.
+    You may need to use the offline approach using the ``zero_to_fp32.py`` script that is saved with
+    the checkpoint. Or you can load state_dict in lazy mode ::
+
+        from deepspeed.utils.zero_to_fp32 import get_fp32_state_dict_from_zero_checkpoint
+        state_dict = get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir, lazy_mode=True) # not on cpu
+        for name, lazy_tensor in state_dict.item():
+            tensor = lazy_tensor.contiguous()  # to cpu
+            print(name, tensor)
+            # del tensor to release memory if it no longer in use
+    """
+    if tag is None:
+        latest_path = os.path.join(checkpoint_dir, 'latest')
+        if os.path.isfile(latest_path):
+            with open(latest_path, 'r') as fd:
+                tag = fd.read().strip()
+        else:
+            raise ValueError(f"Unable to find 'latest' file at {latest_path}")
+
+    ds_checkpoint_dir = os.path.join(checkpoint_dir, tag)
+
+    if not os.path.isdir(ds_checkpoint_dir):
+        raise FileNotFoundError(f"Directory '{ds_checkpoint_dir}' doesn't exist")
+
+    state_dict = _get_fp32_state_dict_from_zero_checkpoint(ds_checkpoint_dir, exclude_frozen_parameters)
+    if lazy_mode:
+        return state_dict
+    else:
+        return to_torch_tensor(state_dict)
+
+
+def convert_zero_checkpoint_to_fp32_state_dict(checkpoint_dir,
+                                               output_dir,
+                                               max_shard_size="5GB",
+                                               safe_serialization=False,
+                                               tag=None,
+                                               exclude_frozen_parameters=False):
+    """
+    Convert ZeRO 2 or 3 checkpoint into a single fp32 consolidated ``state_dict`` file that can be
+    loaded with ``torch.load(file)`` + ``load_state_dict()`` and used for training without DeepSpeed.
+
+    Args:
+        - ``checkpoint_dir``: path to the desired checkpoint folder. (one that contains the tag-folder, like ``global_step14``)
+        - ``output_dir``: directory to the pytorch fp32 state_dict output files
+        - ``max_shard_size``: the maximum size for a checkpoint before being sharded, default value is 5GB
+        - ``safe_serialization``:  whether to save the model using `safetensors` or the traditional PyTorch way (that uses `pickle`).
+        - ``tag``: checkpoint tag used as a unique identifier for checkpoint. If not provided will attempt to load tag in the file named ``latest`` in the checkpoint folder, e.g., ``global_step14``
+        - ``exclude_frozen_parameters``: exclude frozen parameters
+    """
+
+    # Dependency pre-check
+    if safe_serialization:
+        try:
+            from safetensors.torch import save_file
+        except ImportError:
+            print('If you want to use `safe_serialization`, please `pip install safetensors`')
+            raise
+    if max_shard_size is not None:
+        try:
+            from huggingface_hub import split_torch_state_dict_into_shards
+        except ImportError:
+            print('If you want to use `max_shard_size`, please `pip install huggingface_hub`')
+            raise
+
+    # Convert zero checkpoint to state_dict
+    state_dict = get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir,
+                                                          tag,
+                                                          exclude_frozen_parameters,
+                                                          lazy_mode=True)
+
+    # Shard the model if it is too big.
+    weights_name = "model.safetensors" if safe_serialization else "pytorch_model.bin"
+    if max_shard_size is not None:
+        filename_pattern = weights_name.replace(".bin", "{suffix}.bin").replace(".safetensors", "{suffix}.safetensors")
+        # an memory-efficient approach for sharding
+        empty_state_dict = to_torch_tensor(state_dict, return_empty_tensor=True)
+        state_dict_split = split_torch_state_dict_into_shards(empty_state_dict,
+                                                              filename_pattern=filename_pattern,
+                                                              max_shard_size=max_shard_size)
+    else:
+        from collections import namedtuple
+        StateDictSplit = namedtuple("StateDictSplit", ["is_sharded", "filename_to_tensors"])
+        state_dict_split = StateDictSplit(is_sharded=False,
+                                          filename_to_tensors={weights_name: list(state_dict.keys())})
+
+    # Save the model by shard
+    os.makedirs(output_dir, exist_ok=True)
+    filename_to_tensors = state_dict_split.filename_to_tensors.items()
+    for shard_file, tensors in tqdm(filename_to_tensors, desc="Saving checkpoint shards"):
+        shard_state_dict = {tensor_name: state_dict[tensor_name] for tensor_name in tensors}
+        shard_state_dict = to_torch_tensor(shard_state_dict)
+        output_path = os.path.join(output_dir, shard_file)
+        if safe_serialization:
+            save_file(shard_state_dict, output_path, metadata={"format": "pt"})
+        else:
+            torch.save(shard_state_dict, output_path)
+        # release the memory of current shard
+        for tensor_name in list(shard_state_dict.keys()):
+            del state_dict[tensor_name]
+            del shard_state_dict[tensor_name]
+        del shard_state_dict
+        gc.collect()
+
+    # Save index if sharded
+    if state_dict_split.is_sharded:
+        index = {
+            "metadata": state_dict_split.metadata,
+            "weight_map": state_dict_split.tensor_to_filename,
+        }
+        save_index_file = "model.safetensors.index.json" if safe_serialization else "pytorch_model.bin.index.json"
+        save_index_file = os.path.join(output_dir, save_index_file)
+        with open(save_index_file, "w", encoding="utf-8") as f:
+            content = json.dumps(index, indent=2, sort_keys=True) + "\n"
+            f.write(content)
+
+
+def load_state_dict_from_zero_checkpoint(model, checkpoint_dir, tag=None):
+    """
+    1. Put the provided model to cpu
+    2. Convert ZeRO 2 or 3 checkpoint into a single fp32 consolidated ``state_dict``
+    3. Load it into the provided model
+
+    Args:
+        - ``model``: the model object to update
+        - ``checkpoint_dir``: path to the desired checkpoint folder. (one that contains the tag-folder, like ``global_step14``)
+        - ``tag``: checkpoint tag used as a unique identifier for checkpoint. If not provided will attempt to load tag in the file named ``latest`` in the checkpoint folder, e.g., ``global_step14``
+
+    Returns:
+        - ``model`: modified model
+
+    Make sure you have plenty of CPU memory available before you call this function. If you don't
+    have enough use the ``zero_to_fp32.py`` utility to do the conversion. You will find it
+    conveniently placed for you in the checkpoint folder.
+
+    A typical usage might be ::
+
+        from deepspeed.utils.zero_to_fp32 import load_state_dict_from_zero_checkpoint
+        model = load_state_dict_from_zero_checkpoint(trainer.model, checkpoint_dir)
+        # submit to model hub or save the model to share with others
+
+    Note, that once this was run, the ``model`` will no longer be usable in the deepspeed context
+    of the same application. i.e. you will need to re-initialize the deepspeed engine, since
+    ``model.load_state_dict(state_dict)`` will remove all the deepspeed magic from it.
+
+    """
+    logger.info("Extracting fp32 weights")
+    state_dict = get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir, tag)
+
+    logger.info("Overwriting model with fp32 weights")
+    model = model.cpu()
+    model.load_state_dict(state_dict, strict=False)
+
+    return model
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("checkpoint_dir",
+                        type=str,
+                        help="path to the desired checkpoint folder, e.g., path/checkpoint-12")
+    parser.add_argument("output_dir",
+                        type=str,
+                        help="directory to the pytorch fp32 state_dict output files"
+                        "(e.g. path/checkpoint-12-output/)")
+    parser.add_argument(
+        "--max_shard_size",
+        type=str,
+        default="5GB",
+        help="The maximum size for a checkpoint before being sharded. Checkpoints shard will then be each of size"
+        "lower than this size. If expressed as a string, needs to be digits followed by a unit (like `5MB`"
+        "We default it to 5GB in order for models to be able to run easily on free-tier google colab instances"
+        "without CPU OOM issues.")
+    parser.add_argument(
+        "--safe_serialization",
+        default=False,
+        action='store_true',
+        help="Whether to save the model using `safetensors` or the traditional PyTorch way (that uses `pickle`).")
+    parser.add_argument("-t",
+                        "--tag",
+                        type=str,
+                        default=None,
+                        help="checkpoint tag used as a unique identifier for checkpoint. e.g., global_step1")
+    parser.add_argument("--exclude_frozen_parameters", action='store_true', help="exclude frozen parameters")
+    parser.add_argument("-d", "--debug", action='store_true', help="enable debug")
+    args = parser.parse_args()
+
+    debug = args.debug
+
+    convert_zero_checkpoint_to_fp32_state_dict(args.checkpoint_dir,
+                                               args.output_dir,
+                                               max_shard_size=args.max_shard_size,
+                                               safe_serialization=args.safe_serialization,
+                                               tag=args.tag,
+                                               exclude_frozen_parameters=args.exclude_frozen_parameters)

checkpoint-15000/config.json

@@ -0,0 +1,70 @@
+{
+  "action_horizon": 50,
+  "add_pos_embed": true,
+  "apply_sincos_state_encoding": true,
+  "architectures": [
+    "Gr00tN1d6"
+  ],
+  "attn_dropout": 0.2,
+  "attn_implementation": null,
+  "backbone_embedding_dim": 2048,
+  "backbone_model_type": "eagle",
+  "backbone_trainable_params_fp32": true,
+  "collator_overwrite_image_inputs": false,
+  "color_jitter_params": {
+    "brightness": 0.1,
+    "contrast": 0.1,
+    "hue": 0.1,
+    "saturation": 0.1
+  },
+  "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
+  },
+  "eagle_collator": true,
+  "formalize_language": true,
+  "gemma_collator": false,
+  "hidden_size": 1024,
+  "image_crop_size": null,
+  "image_target_size": null,
+  "input_embedding_dim": 1536,
+  "load_bf16": true,
+  "max_action_dim": 128,
+  "max_num_embodiments": 32,
+  "max_seq_len": 1024,
+  "max_state_dim": 128,
+  "model_dtype": "bfloat16",
+  "model_name": "nvidia/Eagle-Block2A-2B-v2",
+  "model_type": "Gr00tN1d6",
+  "noise_beta_alpha": 1.5,
+  "noise_beta_beta": 1.0,
+  "noise_s": 0.999,
+  "num_inference_timesteps": 4,
+  "num_timestep_buckets": 1000,
+  "random_rotation_angle": null,
+  "reproject_vision": false,
+  "select_layer": 16,
+  "shortest_image_edge": 256,
+  "state_dropout_prob": 0.0,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3",
+  "tune_diffusion_model": true,
+  "tune_llm": false,
+  "tune_projector": true,
+  "tune_top_llm_layers": 4,
+  "tune_visual": true,
+  "tune_vlln": true,
+  "use_albumentations_transforms": true,
+  "use_alternate_vl_dit": true,
+  "use_flash_attention": true,
+  "use_relative_action": true,
+  "use_vlln": true
+}

checkpoint-15000/embodiment_id.json

@@ -0,0 +1,11 @@
+{
+  "robocasa_panda_omron": 13,
+  "gr1": 20,
+  "behavior_r1_pro": 24,
+  "unitree_g1": 8,
+  "oxe_google": 0,
+  "oxe_widowx": 1,
+  "libero_panda": 2,
+  "oxe_droid": 16,
+  "new_embodiment": 10
+}

checkpoint-15000/experiment_cfg/conf.yaml

@@ -0,0 +1,270 @@
+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: true
+  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:
+    brightness: 0.3
+    contrast: 0.4
+    saturation: 0.5
+    hue: 0.08
+  use_albumentations_transforms: true
+  formalize_language: true
+  apply_sincos_state_encoding: false
+  use_relative_action: true
+  max_state_dim: 29
+  max_action_dim: 29
+  action_horizon: 16
+  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_additive_noise_scale: 0.0
+  max_num_embodiments: 32
+data:
+  datasets:
+  - dataset_paths:
+    - /datasets/isaaclab_arena/locomanipulation_tutorial/arena_g1_loco_manipulation_dataset_generated/lerobot
+    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:
+        - ego_view
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+      state:
+        delta_indices:
+        - 0
+        modality_keys:
+        - left_arm
+        - right_arm
+        - left_hand
+        - right_hand
+        - 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
+        - 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:
+        - left_arm
+        - right_arm
+        - left_hand
+        - right_hand
+        - waist
+        - base_height_command
+        - navigate_command
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs:
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          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.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
+  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: /models/isaaclab_arena/locomanipulation_tutorial
+  experiment_name: null
+  max_steps: 20000
+  global_batch_size: 192
+  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-N1.6-3B
+  tf32: true
+  fp16: false
+  bf16: true
+  eval_bf16: true
+  logging_steps: 10
+  save_steps: 5000
+  save_total_limit: 5
+  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: 8
+  dataloader_num_workers: 16
+  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: 20000
+save_steps: 5000

checkpoint-15000/experiment_cfg/config.yaml

@@ -0,0 +1,308 @@
+!!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:
+    - /datasets/isaaclab_arena/locomanipulation_tutorial/arena_g1_loco_manipulation_dataset_generated/lerobot
+    dataset_type: physical_embodiment
+    embodiment_tag: new_embodiment
+    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:
+    new_embodiment:
+      action: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs:
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
+          - default
+          rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation
+          - absolute
+          state_key: null
+          type: &id003 !!python/object/apply:gr00t.data.types.ActionType
+          - non_eef
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        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
+        modality_keys:
+        - left_arm
+        - right_arm
+        - left_hand
+        - right_hand
+        - waist
+        - base_height_command
+        - navigate_command
+        sin_cos_embedding_keys: null
+      language: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - annotation.human.task_description
+        sin_cos_embedding_keys: null
+      state: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - left_arm
+        - right_arm
+        - left_hand
+        - right_hand
+        - waist
+        sin_cos_embedding_keys: null
+      video: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - ego_view
+        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:
+    brightness: 0.3
+    contrast: 0.4
+    hue: 0.08
+    saturation: 0.5
+  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
+  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
+  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: true
+  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: 16
+  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: 192
+  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: 20000
+  num_gpus: 8
+  open_loop_eval_plot_indices: null
+  open_loop_eval_steps_per_traj: 100
+  open_loop_eval_traj_ids:
+  - 0
+  optim: adamw_torch
+  output_dir: /models/isaaclab_arena/locomanipulation_tutorial
+  remove_unused_columns: false
+  save_best_eval_metric_greater_is_better: true
+  save_best_eval_metric_name: ''
+  save_steps: 5000
+  save_total_limit: 5
+  save_vl_model: false
+  start_from_checkpoint: nvidia/GR00T-N1.6-3B
+  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

checkpoint-15000/experiment_cfg/dataset_statistics.json

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checkpoint-15000/experiment_cfg/final_model_config.json

@@ -0,0 +1,53 @@
+{
+  "model_type": "Gr00tN1d6",
+  "model_dtype": "bfloat16",
+  "model_name": "nvidia/Eagle-Block2A-2B-v2",
+  "backbone_model_type": "eagle",
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+  "max_num_embodiments": 32
+}

checkpoint-15000/latest

@@ -0,0 +1 @@
+global_step15000

checkpoint-15000/processor_config.json

@@ -0,0 +1,526 @@
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+              "type": "NON_EEF",
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+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "trunk_qpos"
+            },
+            {
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+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "arm_left_qpos"
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+              "state_key": null
+            },
+            {
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+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "arm_right_qpos"
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
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+            }
+          ]
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+            "left_hand",
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+          "action_configs": null
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+            13,
+            14,
+            15
+          ],
+          "modality_keys": [
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+            "left_hand",
+            "right_hand",
+            "waist"
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+          "mean_std_embedding_keys": null,
+          "action_configs": [
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+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
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+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
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+            }
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+          "action_configs": null
+        }
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+          ],
+          "modality_keys": [
+            "res256_image_side_0",
+            "res256_image_side_1",
+            "res256_image_wrist_0"
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+          "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
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+            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": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "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
+        }
+      },
+      "new_embodiment": {
+        "video": {
+          "delta_indices": [
+            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_arm",
+            "right_arm",
+            "left_hand",
+            "right_hand",
+            "waist"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "action": {
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+            1,
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+            14,
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+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49
+          ],
+          "modality_keys": [
+            "left_arm",
+            "right_arm",
+            "left_hand",
+            "right_hand",
+            "waist",
+            "base_height_command",
+            "navigate_command"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": [
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "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.task_description"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        }
+      }
+    },
+    "image_crop_size": null,
+    "image_target_size": null,
+    "use_albumentations": true,
+    "random_rotation_angle": null,
+    "color_jitter_params": {
+      "brightness": 0.3,
+      "contrast": 0.4,
+      "saturation": 0.5,
+      "hue": 0.08
+    },
+    "shortest_image_edge": 256,
+    "crop_fraction": 0.95,
+    "model_name": "nvidia/Eagle-Block2A-2B-v2",
+    "model_type": "eagle",
+    "formalize_language": true,
+    "max_state_dim": 128,
+    "max_action_dim": 128,
+    "max_action_horizon": 50,
+    "use_percentiles": false,
+    "clip_outliers": true,
+    "apply_sincos_state_encoding": true,
+    "use_relative_action": true
+  }
+}

checkpoint-15000/wandb_config.json

@@ -0,0 +1 @@
+{"project": "finetune-gr00t-n1d6", "run_id": "locomanipulation_tutorial"}

checkpoint-20000/config.json

@@ -0,0 +1,70 @@
+{
+  "action_horizon": 50,
+  "add_pos_embed": true,
+  "apply_sincos_state_encoding": true,
+  "architectures": [
+    "Gr00tN1d6"
+  ],
+  "attn_dropout": 0.2,
+  "attn_implementation": null,
+  "backbone_embedding_dim": 2048,
+  "backbone_model_type": "eagle",
+  "backbone_trainable_params_fp32": true,
+  "collator_overwrite_image_inputs": false,
+  "color_jitter_params": {
+    "brightness": 0.1,
+    "contrast": 0.1,
+    "hue": 0.1,
+    "saturation": 0.1
+  },
+  "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
+  },
+  "eagle_collator": true,
+  "formalize_language": true,
+  "gemma_collator": false,
+  "hidden_size": 1024,
+  "image_crop_size": null,
+  "image_target_size": null,
+  "input_embedding_dim": 1536,
+  "load_bf16": true,
+  "max_action_dim": 128,
+  "max_num_embodiments": 32,
+  "max_seq_len": 1024,
+  "max_state_dim": 128,
+  "model_dtype": "bfloat16",
+  "model_name": "nvidia/Eagle-Block2A-2B-v2",
+  "model_type": "Gr00tN1d6",
+  "noise_beta_alpha": 1.5,
+  "noise_beta_beta": 1.0,
+  "noise_s": 0.999,
+  "num_inference_timesteps": 4,
+  "num_timestep_buckets": 1000,
+  "random_rotation_angle": null,
+  "reproject_vision": false,
+  "select_layer": 16,
+  "shortest_image_edge": 256,
+  "state_dropout_prob": 0.0,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3",
+  "tune_diffusion_model": true,
+  "tune_llm": false,
+  "tune_projector": true,
+  "tune_top_llm_layers": 4,
+  "tune_visual": true,
+  "tune_vlln": true,
+  "use_albumentations_transforms": true,
+  "use_alternate_vl_dit": true,
+  "use_flash_attention": true,
+  "use_relative_action": true,
+  "use_vlln": true
+}

checkpoint-20000/experiment_cfg/conf.yaml

@@ -0,0 +1,270 @@
+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: true
+  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:
+    brightness: 0.3
+    contrast: 0.4
+    saturation: 0.5
+    hue: 0.08
+  use_albumentations_transforms: true
+  formalize_language: true
+  apply_sincos_state_encoding: false
+  use_relative_action: true
+  max_state_dim: 29
+  max_action_dim: 29
+  action_horizon: 16
+  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_additive_noise_scale: 0.0
+  max_num_embodiments: 32
+data:
+  datasets:
+  - dataset_paths:
+    - /datasets/isaaclab_arena/locomanipulation_tutorial/arena_g1_loco_manipulation_dataset_generated/lerobot
+    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:
+        - ego_view
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+      state:
+        delta_indices:
+        - 0
+        modality_keys:
+        - left_arm
+        - right_arm
+        - left_hand
+        - right_hand
+        - 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
+        - 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:
+        - left_arm
+        - right_arm
+        - left_hand
+        - right_hand
+        - waist
+        - base_height_command
+        - navigate_command
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs:
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          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.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
+  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: /models/isaaclab_arena/locomanipulation_tutorial
+  experiment_name: null
+  max_steps: 20000
+  global_batch_size: 192
+  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-N1.6-3B
+  tf32: true
+  fp16: false
+  bf16: true
+  eval_bf16: true
+  logging_steps: 10
+  save_steps: 5000
+  save_total_limit: 5
+  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: 8
+  dataloader_num_workers: 16
+  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: 20000
+save_steps: 5000

checkpoint-20000/experiment_cfg/config.yaml

@@ -0,0 +1,308 @@
+!!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:
+    - /datasets/isaaclab_arena/locomanipulation_tutorial/arena_g1_loco_manipulation_dataset_generated/lerobot
+    dataset_type: physical_embodiment
+    embodiment_tag: new_embodiment
+    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:
+    new_embodiment:
+      action: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs:
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
+          - default
+          rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation
+          - absolute
+          state_key: null
+          type: &id003 !!python/object/apply:gr00t.data.types.ActionType
+          - non_eef
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        - !!python/object:gr00t.data.types.ActionConfig
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+          0.0,
+          0.0,
+          0.0,
+          0.0,
+          0.0,
+          0.0,
+          0.0
+        ],
+        "q01": [
+          0.0,
+          0.0,
+          0.0,
+          0.0,
+          0.0,
+          0.0,
+          0.0
+        ],
+        "q99": [
+          -0.0,
+          -0.0,
+          -0.0,
+          -0.0,
+          -0.0,
+          -0.0,
+          -0.0
+        ]
+      },
+      "waist": {
+        "min": [
+          -0.03817012533545494,
+          -0.14767035841941833,
+          -0.09924878180027008
+        ],
+        "max": [
+          0.05044477432966232,
+          0.13773855566978455,
+          0.10575182735919952
+        ],
+        "mean": [
+          0.0021713885944336653,
+          -0.006043997593224049,
+          -0.0009960572933778167
+        ],
+        "std": [
+          0.01315564289689064,
+          0.04625461995601654,
+          0.0275924950838089
+        ],
+        "q01": [
+          -0.02857382604852319,
+          -0.1123543307185173,
+          -0.09090777784585953
+        ],
+        "q99": [
+          0.04313158672302961,
+          0.1042894288897514,
+          0.06339201703667638
+        ]
+      },
+      "base_height_command": {
+        "min": [
+          0.6000000238418579
+        ],
+        "max": [
+          0.75
+        ],
+        "mean": [
+          0.7374278903007507
+        ],
+        "std": [
+          0.039233911782502955
+        ],
+        "q01": [
+          0.6000000238418579
+        ],
+        "q99": [
+          0.75
+        ]
+      },
+      "navigate_command": {
+        "min": [
+          0.0,
+          -0.12772086262702942,
+          -0.4000000059604645
+        ],
+        "max": [
+          0.4000000059604645,
+          0.15753206610679626,
+          0.10000000149011612
+        ],
+        "mean": [
+          0.10862857103347778,
+          0.006709238979965448,
+          -0.08270397037267685
+        ],
+        "std": [
+          0.17079046368598938,
+          0.035745956003665924,
+          0.1377689093351364
+        ],
+        "q01": [
+          0.0,
+          -0.06209215875715017,
+          -0.4000000059604645
+        ],
+        "q99": [
+          0.4000000059604645,
+          0.10000000149011612,
+          0.004937881324440136
+        ]
+      }
+    },
+    "relative_action": {}
+  }
+}

checkpoint-20000/experiment_cfg/final_model_config.json

@@ -0,0 +1,53 @@
+{
+  "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": true,
+  "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,
+  "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_additive_noise_scale": 0.0,
+  "max_num_embodiments": 32
+}

checkpoint-20000/latest

@@ -0,0 +1 @@
+global_step20000

checkpoint-20000/zero_to_fp32.py

@@ -0,0 +1,760 @@
+#!/usr/bin/env python
+
+# Copyright (c) Microsoft Corporation.
+# SPDX-License-Identifier: Apache-2.0
+
+# DeepSpeed Team
+
+# This script extracts fp32 consolidated weights from a zero 1, 2 and 3 DeepSpeed checkpoints. It gets
+# copied into the top level checkpoint dir, so the user can easily do the conversion at any point in
+# the future. Once extracted, the weights don't require DeepSpeed and can be used in any
+# application.
+#
+# example:
+#   python zero_to_fp32.py . output_dir/
+#   or
+#   python zero_to_fp32.py . output_dir/ --safe_serialization
+
+import argparse
+import torch
+import glob
+import math
+import os
+import re
+import gc
+import json
+import numpy as np
+from tqdm import tqdm
+from collections import OrderedDict
+from dataclasses import dataclass
+
+# while this script doesn't use deepspeed to recover data, since the checkpoints are pickled with
+# DeepSpeed data structures it has to be available in the current python environment.
+from deepspeed.utils import logger
+from deepspeed.checkpoint.constants import (DS_VERSION, OPTIMIZER_STATE_DICT, SINGLE_PARTITION_OF_FP32_GROUPS,
+                                            FP32_FLAT_GROUPS, ZERO_STAGE, PARTITION_COUNT, PARAM_SHAPES, BUFFER_NAMES,
+                                            FROZEN_PARAM_SHAPES, FROZEN_PARAM_FRAGMENTS)
+
+
+@dataclass
+class zero_model_state:
+    buffers: dict()
+    param_shapes: dict()
+    shared_params: list
+    ds_version: int
+    frozen_param_shapes: dict()
+    frozen_param_fragments: dict()
+
+
+debug = 0
+
+# load to cpu
+device = torch.device('cpu')
+
+
+def atoi(text):
+    return int(text) if text.isdigit() else text
+
+
+def natural_keys(text):
+    '''
+    alist.sort(key=natural_keys) sorts in human order
+    http://nedbatchelder.com/blog/200712/human_sorting.html
+    (See Toothy's implementation in the comments)
+    '''
+    return [atoi(c) for c in re.split(r'(\d+)', text)]
+
+
+def get_model_state_file(checkpoint_dir, zero_stage):
+    if not os.path.isdir(checkpoint_dir):
+        raise FileNotFoundError(f"Directory '{checkpoint_dir}' doesn't exist")
+
+    # there should be only one file
+    if zero_stage <= 2:
+        file = os.path.join(checkpoint_dir, "mp_rank_00_model_states.pt")
+    elif zero_stage == 3:
+        file = os.path.join(checkpoint_dir, "zero_pp_rank_0_mp_rank_00_model_states.pt")
+
+    if not os.path.exists(file):
+        raise FileNotFoundError(f"can't find model states file at '{file}'")
+
+    return file
+
+
+def get_checkpoint_files(checkpoint_dir, glob_pattern):
+    # XXX: need to test that this simple glob rule works for multi-node setup too
+    ckpt_files = sorted(glob.glob(os.path.join(checkpoint_dir, glob_pattern)), key=natural_keys)
+
+    if len(ckpt_files) == 0:
+        raise FileNotFoundError(f"can't find {glob_pattern} files in directory '{checkpoint_dir}'")
+
+    return ckpt_files
+
+
+def get_optim_files(checkpoint_dir):
+    return get_checkpoint_files(checkpoint_dir, "*_optim_states.pt")
+
+
+def get_model_state_files(checkpoint_dir):
+    return get_checkpoint_files(checkpoint_dir, "*_model_states.pt")
+
+
+def parse_model_states(files):
+    zero_model_states = []
+    for file in files:
+        state_dict = torch.load(file, map_location=device, weights_only=False)
+
+        if BUFFER_NAMES not in state_dict:
+            raise ValueError(f"{file} is not a model state checkpoint")
+        buffer_names = state_dict[BUFFER_NAMES]
+        if debug:
+            print("Found buffers:", buffer_names)
+
+        # recover just the buffers while restoring them to fp32 if they were saved in fp16
+        buffers = {k: v.float() for k, v in state_dict["module"].items() if k in buffer_names}
+        param_shapes = state_dict[PARAM_SHAPES]
+
+        # collect parameters that are included in param_shapes
+        param_names = []
+        for s in param_shapes:
+            for name in s.keys():
+                param_names.append(name)
+
+        # update with frozen parameters
+        frozen_param_shapes = state_dict.get(FROZEN_PARAM_SHAPES, None)
+        if frozen_param_shapes is not None:
+            if debug:
+                print(f"Found frozen_param_shapes: {frozen_param_shapes}")
+            param_names += list(frozen_param_shapes.keys())
+
+        # handle shared params
+        shared_params = [[k, v] for k, v in state_dict["shared_params"].items()]
+
+        ds_version = state_dict.get(DS_VERSION, None)
+
+        frozen_param_fragments = state_dict.get(FROZEN_PARAM_FRAGMENTS, None)
+
+        z_model_state = zero_model_state(buffers=buffers,
+                                         param_shapes=param_shapes,
+                                         shared_params=shared_params,
+                                         ds_version=ds_version,
+                                         frozen_param_shapes=frozen_param_shapes,
+                                         frozen_param_fragments=frozen_param_fragments)
+        zero_model_states.append(z_model_state)
+
+    return zero_model_states
+
+
+def parse_optim_states(files, ds_checkpoint_dir):
+    total_files = len(files)
+    state_dicts = []
+    for f in tqdm(files, desc='Loading checkpoint shards'):
+        state_dict = torch.load(f, map_location=device, mmap=True, weights_only=False)
+        # immediately discard the potentially huge 2 optimizer states as we only care for fp32 master weights
+        # and also handle the case where it was already removed by another helper script
+        state_dict["optimizer_state_dict"].pop("optimizer_state_dict", None)
+        state_dicts.append(state_dict)
+
+    if ZERO_STAGE not in state_dicts[0][OPTIMIZER_STATE_DICT]:
+        raise ValueError(f"{files[0]} is not a zero checkpoint")
+    zero_stage = state_dicts[0][OPTIMIZER_STATE_DICT][ZERO_STAGE]
+    world_size = state_dicts[0][OPTIMIZER_STATE_DICT][PARTITION_COUNT]
+
+    # For ZeRO-2 each param group can have different partition_count as data parallelism for expert
+    # parameters can be different from data parallelism for non-expert parameters. So we can just
+    # use the max of the partition_count to get the dp world_size.
+
+    if type(world_size) is list:
+        world_size = max(world_size)
+
+    if world_size != total_files:
+        raise ValueError(
+            f"Expected {world_size} of '*_optim_states.pt' under '{ds_checkpoint_dir}' but found {total_files} files. "
+            "Possibly due to an overwrite of an old checkpoint, or a checkpoint didn't get saved by one or more processes."
+        )
+
+    # the groups are named differently in each stage
+    if zero_stage <= 2:
+        fp32_groups_key = SINGLE_PARTITION_OF_FP32_GROUPS
+    elif zero_stage == 3:
+        fp32_groups_key = FP32_FLAT_GROUPS
+    else:
+        raise ValueError(f"unknown zero stage {zero_stage}")
+
+    fp32_flat_groups = [state_dicts[i][OPTIMIZER_STATE_DICT][fp32_groups_key] for i in range(len(state_dicts))]
+    return zero_stage, world_size, fp32_flat_groups
+
+
+def _get_fp32_state_dict_from_zero_checkpoint(ds_checkpoint_dir, exclude_frozen_parameters):
+    """
+    Returns fp32 state_dict reconstructed from ds checkpoint
+
+    Args:
+        - ``ds_checkpoint_dir``: path to the deepspeed checkpoint folder (where the optimizer files are)
+
+    """
+    print(f"Processing zero checkpoint '{ds_checkpoint_dir}'")
+
+    optim_files = get_optim_files(ds_checkpoint_dir)
+    zero_stage, world_size, fp32_flat_groups = parse_optim_states(optim_files, ds_checkpoint_dir)
+    print(f"Detected checkpoint of type zero stage {zero_stage}, world_size: {world_size}")
+
+    model_files = get_model_state_files(ds_checkpoint_dir)
+
+    zero_model_states = parse_model_states(model_files)
+    print(f'Parsing checkpoint created by deepspeed=={zero_model_states[0].ds_version}')
+
+    if zero_stage <= 2:
+        return _get_fp32_state_dict_from_zero2_checkpoint(world_size, fp32_flat_groups, zero_model_states,
+                                                          exclude_frozen_parameters)
+    elif zero_stage == 3:
+        return _get_fp32_state_dict_from_zero3_checkpoint(world_size, fp32_flat_groups, zero_model_states,
+                                                          exclude_frozen_parameters)
+
+
+def _zero2_merge_frozen_params(state_dict, zero_model_states):
+    if zero_model_states[0].frozen_param_shapes is None or len(zero_model_states[0].frozen_param_shapes) == 0:
+        return
+
+    frozen_param_shapes = zero_model_states[0].frozen_param_shapes
+    frozen_param_fragments = zero_model_states[0].frozen_param_fragments
+
+    if debug:
+        num_elem = sum(s.numel() for s in frozen_param_shapes.values())
+        print(f'rank 0: {FROZEN_PARAM_SHAPES}.numel = {num_elem}')
+
+        wanted_params = len(frozen_param_shapes)
+        wanted_numel = sum(s.numel() for s in frozen_param_shapes.values())
+        avail_numel = sum([p.numel() for p in frozen_param_fragments.values()])
+        print(f'Frozen params: Have {avail_numel} numels to process.')
+        print(f'Frozen params: Need {wanted_numel} numels in {wanted_params} params')
+
+    total_params = 0
+    total_numel = 0
+    for name, shape in frozen_param_shapes.items():
+        total_params += 1
+        unpartitioned_numel = shape.numel()
+        total_numel += unpartitioned_numel
+
+        state_dict[name] = frozen_param_fragments[name]
+
+        if debug:
+            print(f"{name} full shape: {shape} unpartitioned numel {unpartitioned_numel} ")
+
+    print(f"Reconstructed Frozen fp32 state dict with {total_params} params {total_numel} elements")
+
+
+def _has_callable(obj, fn):
+    attr = getattr(obj, fn, None)
+    return callable(attr)
+
+
+def _zero2_merge_trainable_params(state_dict, world_size, fp32_flat_groups, zero_model_states):
+    param_shapes = zero_model_states[0].param_shapes
+
+    # Reconstruction protocol:
+    #
+    # XXX: document this
+
+    if debug:
+        for i in range(world_size):
+            for j in range(len(fp32_flat_groups[0])):
+                print(f"{FP32_FLAT_GROUPS}[{i}][{j}].shape={fp32_flat_groups[i][j].shape}")
+
+    # XXX: memory usage doubles here (zero2)
+    num_param_groups = len(fp32_flat_groups[0])
+    merged_single_partition_of_fp32_groups = []
+    for i in range(num_param_groups):
+        merged_partitions = [sd[i] for sd in fp32_flat_groups]
+        full_single_fp32_vector = torch.cat(merged_partitions, 0)
+        merged_single_partition_of_fp32_groups.append(full_single_fp32_vector)
+    avail_numel = sum(
+        [full_single_fp32_vector.numel() for full_single_fp32_vector in merged_single_partition_of_fp32_groups])
+
+    if debug:
+        wanted_params = sum([len(shapes) for shapes in param_shapes])
+        wanted_numel = sum([sum(shape.numel() for shape in shapes.values()) for shapes in param_shapes])
+        # not asserting if there is a mismatch due to possible padding
+        print(f"Have {avail_numel} numels to process.")
+        print(f"Need {wanted_numel} numels in {wanted_params} params.")
+
+    # params
+    # XXX: for huge models that can't fit into the host's RAM we will have to recode this to support
+    # out-of-core computing solution
+    total_numel = 0
+    total_params = 0
+    for shapes, full_single_fp32_vector in zip(param_shapes, merged_single_partition_of_fp32_groups):
+        offset = 0
+        avail_numel = full_single_fp32_vector.numel()
+        for name, shape in shapes.items():
+
+            unpartitioned_numel = shape.numel() if _has_callable(shape, 'numel') else math.prod(shape)
+            total_numel += unpartitioned_numel
+            total_params += 1
+
+            if debug:
+                print(f"{name} full shape: {shape} unpartitioned numel {unpartitioned_numel} ")
+            state_dict[name] = full_single_fp32_vector.narrow(0, offset, unpartitioned_numel).view(shape)
+            offset += unpartitioned_numel
+
+        # Z2 started to align to 2*world_size to improve nccl performance. Therefore both offset and
+        # avail_numel can differ by anywhere between 0..2*world_size. Due to two unrelated complex
+        # paddings performed in the code it's almost impossible to predict the exact numbers w/o the
+        # live optimizer object, so we are checking that the numbers are within the right range
+        align_to = 2 * world_size
+
+        def zero2_align(x):
+            return align_to * math.ceil(x / align_to)
+
+        if debug:
+            print(f"original offset={offset}, avail_numel={avail_numel}")
+
+        offset = zero2_align(offset)
+        avail_numel = zero2_align(avail_numel)
+
+        if debug:
+            print(f"aligned  offset={offset}, avail_numel={avail_numel}")
+
+        # Sanity check
+        if offset != avail_numel:
+            raise ValueError(f"consumed {offset} numels out of {avail_numel} - something is wrong")
+
+    print(f"Reconstructed fp32 state dict with {total_params} params {total_numel} elements")
+
+
+def _get_fp32_state_dict_from_zero2_checkpoint(world_size, fp32_flat_groups, zero_model_states,
+                                               exclude_frozen_parameters):
+    state_dict = OrderedDict()
+
+    # buffers
+    buffers = zero_model_states[0].buffers
+    state_dict.update(buffers)
+    if debug:
+        print(f"added {len(buffers)} buffers")
+
+    if not exclude_frozen_parameters:
+        _zero2_merge_frozen_params(state_dict, zero_model_states)
+
+    _zero2_merge_trainable_params(state_dict, world_size, fp32_flat_groups, zero_model_states)
+
+    # recover shared parameters
+    for pair in zero_model_states[0].shared_params:
+        if pair[1] in state_dict:
+            state_dict[pair[0]] = state_dict[pair[1]]
+
+    return state_dict
+
+
+def zero3_partitioned_param_info(unpartitioned_numel, world_size):
+    remainder = unpartitioned_numel % world_size
+    padding_numel = (world_size - remainder) if remainder else 0
+    partitioned_numel = math.ceil(unpartitioned_numel / world_size)
+    return partitioned_numel, padding_numel
+
+
+def _zero3_merge_frozen_params(state_dict, world_size, zero_model_states):
+    if zero_model_states[0].frozen_param_shapes is None or len(zero_model_states[0].frozen_param_shapes) == 0:
+        return
+
+    if debug:
+        for i in range(world_size):
+            num_elem = sum(s.numel() for s in zero_model_states[i].frozen_param_fragments.values())
+            print(f'rank {i}: {FROZEN_PARAM_SHAPES}.numel = {num_elem}')
+
+        frozen_param_shapes = zero_model_states[0].frozen_param_shapes
+        wanted_params = len(frozen_param_shapes)
+        wanted_numel = sum(s.numel() for s in frozen_param_shapes.values())
+        avail_numel = sum([p.numel() for p in zero_model_states[0].frozen_param_fragments.values()]) * world_size
+        print(f'Frozen params: Have {avail_numel} numels to process.')
+        print(f'Frozen params: Need {wanted_numel} numels in {wanted_params} params')
+
+    total_params = 0
+    total_numel = 0
+    for name, shape in zero_model_states[0].frozen_param_shapes.items():
+        total_params += 1
+        unpartitioned_numel = shape.numel()
+        total_numel += unpartitioned_numel
+
+        param_frags = tuple(model_state.frozen_param_fragments[name] for model_state in zero_model_states)
+        state_dict[name] = torch.cat(param_frags, 0).narrow(0, 0, unpartitioned_numel).view(shape)
+
+        partitioned_numel, partitioned_padding_numel = zero3_partitioned_param_info(unpartitioned_numel, world_size)
+
+        if debug:
+            print(
+                f"Frozen params: {total_params} {name} full shape: {shape} partition0 numel={partitioned_numel} partitioned_padding_numel={partitioned_padding_numel}"
+            )
+
+    print(f"Reconstructed Frozen fp32 state dict with {total_params} params {total_numel} elements")
+
+
+class GatheredTensor:
+    """
+    A pseudo tensor that collects partitioned weights.
+    It is more memory efficient when there are multiple groups.
+    """
+
+    def __init__(self, flat_groups, flat_groups_offset, offset, partitioned_numel, shape):
+        self.flat_groups = flat_groups
+        self.flat_groups_offset = flat_groups_offset
+        self.offset = offset
+        self.partitioned_numel = partitioned_numel
+        self.shape = shape
+        self.dtype = self.flat_groups[0][0].dtype
+
+    def contiguous(self):
+        """
+        Merge partitioned weights from flat_groups into a single tensor.
+        """
+        end_idx = self.offset + self.partitioned_numel
+        world_size = len(self.flat_groups)
+        pad_flat_param_chunks = []
+
+        for rank_i in range(world_size):
+            # for each rank, we need to collect weights from related group/groups
+            flat_groups_at_rank_i = self.flat_groups[rank_i]
+            start_group_id = None
+            end_group_id = None
+            for group_id in range(len(self.flat_groups_offset)):
+                if self.flat_groups_offset[group_id] <= self.offset < self.flat_groups_offset[group_id + 1]:
+                    start_group_id = group_id
+                if self.flat_groups_offset[group_id] < end_idx <= self.flat_groups_offset[group_id + 1]:
+                    end_group_id = group_id
+                    break
+            # collect weights from related group/groups
+            for group_id in range(start_group_id, end_group_id + 1):
+                flat_tensor = flat_groups_at_rank_i[group_id]
+                start_offset = self.offset - self.flat_groups_offset[group_id]
+                end_offset = min(end_idx, self.flat_groups_offset[group_id + 1]) - self.flat_groups_offset[group_id]
+                pad_flat_param_chunks.append(flat_tensor[start_offset:end_offset])
+
+        # collect weights from all ranks
+        pad_flat_param = torch.cat(pad_flat_param_chunks, dim=0)
+        param = pad_flat_param[:self.shape.numel()].view(self.shape).contiguous()
+        return param
+
+
+def _zero3_merge_trainable_params(state_dict, world_size, fp32_flat_groups, zero_model_states):
+    param_shapes = zero_model_states[0].param_shapes
+    avail_numel = sum([flat_group.numel() for flat_group in fp32_flat_groups[0]]) * world_size
+
+    # Reconstruction protocol: For zero3 we need to zip the partitions together at boundary of each
+    # param, re-consolidating each param, while dealing with padding if any
+
+    # merge list of dicts, preserving order
+    param_shapes = {k: v for d in param_shapes for k, v in d.items()}
+
+    if debug:
+        for i in range(world_size):
+            print(f"{FP32_FLAT_GROUPS}[{i}].shape={fp32_flat_groups[i].shape}")
+
+        wanted_params = len(param_shapes)
+        wanted_numel = sum(shape.numel() for shape in param_shapes.values())
+        # not asserting if there is a mismatch due to possible padding
+        avail_numel = fp32_flat_groups[0].numel() * world_size
+        print(f"Trainable params: Have {avail_numel} numels to process.")
+        print(f"Trainable params: Need {wanted_numel} numels in {wanted_params} params.")
+
+    # params
+    # XXX: for huge models that can't fit into the host's RAM we will have to recode this to support
+    # out-of-core computing solution
+    offset = 0
+    total_numel = 0
+    total_params = 0
+    flat_groups_offset = [0] + list(np.cumsum([flat_tensor.numel() for flat_tensor in fp32_flat_groups[0]]))
+    for name, shape in tqdm(param_shapes.items(), desc='Gathering sharded weights'):
+        unpartitioned_numel = shape.numel()
+        total_numel += unpartitioned_numel
+        total_params += 1
+        partitioned_numel, partitioned_padding_numel = zero3_partitioned_param_info(unpartitioned_numel, world_size)
+
+        if debug:
+            print(
+                f"Trainable params: {total_params} {name} full shape: {shape} partition0 numel={partitioned_numel} partitioned_padding_numel={partitioned_padding_numel}"
+            )
+
+        # memory efficient tensor
+        tensor = GatheredTensor(fp32_flat_groups, flat_groups_offset, offset, partitioned_numel, shape)
+        state_dict[name] = tensor
+        offset += partitioned_numel
+
+    offset *= world_size
+
+    # Sanity check
+    if offset != avail_numel:
+        raise ValueError(f"consumed {offset} numels out of {avail_numel} - something is wrong")
+
+    print(f"Reconstructed Trainable fp32 state dict with {total_params} params {total_numel} elements")
+
+
+def _get_fp32_state_dict_from_zero3_checkpoint(world_size, fp32_flat_groups, zero_model_states,
+                                               exclude_frozen_parameters):
+    state_dict = OrderedDict()
+
+    # buffers
+    buffers = zero_model_states[0].buffers
+    state_dict.update(buffers)
+    if debug:
+        print(f"added {len(buffers)} buffers")
+
+    if not exclude_frozen_parameters:
+        _zero3_merge_frozen_params(state_dict, world_size, zero_model_states)
+
+    _zero3_merge_trainable_params(state_dict, world_size, fp32_flat_groups, zero_model_states)
+
+    # recover shared parameters
+    for pair in zero_model_states[0].shared_params:
+        if pair[1] in state_dict:
+            state_dict[pair[0]] = state_dict[pair[1]]
+
+    return state_dict
+
+
+def to_torch_tensor(state_dict, return_empty_tensor=False):
+    """
+    Convert state_dict of GatheredTensor to torch tensor
+    """
+    torch_state_dict = {}
+    converted_tensors = {}
+    for name, tensor in state_dict.items():
+        tensor_id = id(tensor)
+        if tensor_id in converted_tensors:  # shared tensors
+            shared_tensor = torch_state_dict[converted_tensors[tensor_id]]
+            torch_state_dict[name] = shared_tensor
+        else:
+            converted_tensors[tensor_id] = name
+            if return_empty_tensor:
+                torch_state_dict[name] = torch.empty(tensor.shape, dtype=tensor.dtype)
+            else:
+                torch_state_dict[name] = tensor.contiguous()
+    return torch_state_dict
+
+
+def get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir,
+                                             tag=None,
+                                             exclude_frozen_parameters=False,
+                                             lazy_mode=False):
+    """
+    Convert ZeRO 2 or 3 checkpoint into a single fp32 consolidated state_dict that can be loaded with
+    ``load_state_dict()`` and used for training without DeepSpeed or shared with others, for example
+    via a model hub.
+
+    Args:
+        - ``checkpoint_dir``: path to the desired checkpoint folder
+        - ``tag``: checkpoint tag used as a unique identifier for checkpoint. If not provided will attempt to load tag in 'latest' file. e.g., ``global_step14``
+        - ``exclude_frozen_parameters``: exclude frozen parameters
+        - ``lazy_mode``: get state_dict in lazy mode. It returns a dict of pesduo tensor instead of torch tensor, which is more memory efficient.
+          Convert the pesduo tensor to torch tensor by ``.contiguous()``
+
+    Returns:
+        - pytorch ``state_dict``
+
+    A typical usage might be ::
+
+        from deepspeed.utils.zero_to_fp32 import get_fp32_state_dict_from_zero_checkpoint
+        # do the training and checkpoint saving
+        state_dict = get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir) # already on cpu
+        model = model.cpu() # move to cpu
+        model.load_state_dict(state_dict)
+        # submit to model hub or save the model to share with others
+
+    In this example the ``model`` will no longer be usable in the deepspeed context of the same
+    application. i.e. you will need to re-initialize the deepspeed engine, since
+    ``model.load_state_dict(state_dict)`` will remove all the deepspeed magic from it.
+
+    If you want it all done for you, use ``load_state_dict_from_zero_checkpoint`` instead.
+
+    Note: the above usage may not work if your application doesn't have sufficient free CPU memory.
+    You may need to use the offline approach using the ``zero_to_fp32.py`` script that is saved with
+    the checkpoint. Or you can load state_dict in lazy mode ::
+
+        from deepspeed.utils.zero_to_fp32 import get_fp32_state_dict_from_zero_checkpoint
+        state_dict = get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir, lazy_mode=True) # not on cpu
+        for name, lazy_tensor in state_dict.item():
+            tensor = lazy_tensor.contiguous()  # to cpu
+            print(name, tensor)
+            # del tensor to release memory if it no longer in use
+    """
+    if tag is None:
+        latest_path = os.path.join(checkpoint_dir, 'latest')
+        if os.path.isfile(latest_path):
+            with open(latest_path, 'r') as fd:
+                tag = fd.read().strip()
+        else:
+            raise ValueError(f"Unable to find 'latest' file at {latest_path}")
+
+    ds_checkpoint_dir = os.path.join(checkpoint_dir, tag)
+
+    if not os.path.isdir(ds_checkpoint_dir):
+        raise FileNotFoundError(f"Directory '{ds_checkpoint_dir}' doesn't exist")
+
+    state_dict = _get_fp32_state_dict_from_zero_checkpoint(ds_checkpoint_dir, exclude_frozen_parameters)
+    if lazy_mode:
+        return state_dict
+    else:
+        return to_torch_tensor(state_dict)
+
+
+def convert_zero_checkpoint_to_fp32_state_dict(checkpoint_dir,
+                                               output_dir,
+                                               max_shard_size="5GB",
+                                               safe_serialization=False,
+                                               tag=None,
+                                               exclude_frozen_parameters=False):
+    """
+    Convert ZeRO 2 or 3 checkpoint into a single fp32 consolidated ``state_dict`` file that can be
+    loaded with ``torch.load(file)`` + ``load_state_dict()`` and used for training without DeepSpeed.
+
+    Args:
+        - ``checkpoint_dir``: path to the desired checkpoint folder. (one that contains the tag-folder, like ``global_step14``)
+        - ``output_dir``: directory to the pytorch fp32 state_dict output files
+        - ``max_shard_size``: the maximum size for a checkpoint before being sharded, default value is 5GB
+        - ``safe_serialization``:  whether to save the model using `safetensors` or the traditional PyTorch way (that uses `pickle`).
+        - ``tag``: checkpoint tag used as a unique identifier for checkpoint. If not provided will attempt to load tag in the file named ``latest`` in the checkpoint folder, e.g., ``global_step14``
+        - ``exclude_frozen_parameters``: exclude frozen parameters
+    """
+
+    # Dependency pre-check
+    if safe_serialization:
+        try:
+            from safetensors.torch import save_file
+        except ImportError:
+            print('If you want to use `safe_serialization`, please `pip install safetensors`')
+            raise
+    if max_shard_size is not None:
+        try:
+            from huggingface_hub import split_torch_state_dict_into_shards
+        except ImportError:
+            print('If you want to use `max_shard_size`, please `pip install huggingface_hub`')
+            raise
+
+    # Convert zero checkpoint to state_dict
+    state_dict = get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir,
+                                                          tag,
+                                                          exclude_frozen_parameters,
+                                                          lazy_mode=True)
+
+    # Shard the model if it is too big.
+    weights_name = "model.safetensors" if safe_serialization else "pytorch_model.bin"
+    if max_shard_size is not None:
+        filename_pattern = weights_name.replace(".bin", "{suffix}.bin").replace(".safetensors", "{suffix}.safetensors")
+        # an memory-efficient approach for sharding
+        empty_state_dict = to_torch_tensor(state_dict, return_empty_tensor=True)
+        state_dict_split = split_torch_state_dict_into_shards(empty_state_dict,
+                                                              filename_pattern=filename_pattern,
+                                                              max_shard_size=max_shard_size)
+    else:
+        from collections import namedtuple
+        StateDictSplit = namedtuple("StateDictSplit", ["is_sharded", "filename_to_tensors"])
+        state_dict_split = StateDictSplit(is_sharded=False,
+                                          filename_to_tensors={weights_name: list(state_dict.keys())})
+
+    # Save the model by shard
+    os.makedirs(output_dir, exist_ok=True)
+    filename_to_tensors = state_dict_split.filename_to_tensors.items()
+    for shard_file, tensors in tqdm(filename_to_tensors, desc="Saving checkpoint shards"):
+        shard_state_dict = {tensor_name: state_dict[tensor_name] for tensor_name in tensors}
+        shard_state_dict = to_torch_tensor(shard_state_dict)
+        output_path = os.path.join(output_dir, shard_file)
+        if safe_serialization:
+            save_file(shard_state_dict, output_path, metadata={"format": "pt"})
+        else:
+            torch.save(shard_state_dict, output_path)
+        # release the memory of current shard
+        for tensor_name in list(shard_state_dict.keys()):
+            del state_dict[tensor_name]
+            del shard_state_dict[tensor_name]
+        del shard_state_dict
+        gc.collect()
+
+    # Save index if sharded
+    if state_dict_split.is_sharded:
+        index = {
+            "metadata": state_dict_split.metadata,
+            "weight_map": state_dict_split.tensor_to_filename,
+        }
+        save_index_file = "model.safetensors.index.json" if safe_serialization else "pytorch_model.bin.index.json"
+        save_index_file = os.path.join(output_dir, save_index_file)
+        with open(save_index_file, "w", encoding="utf-8") as f:
+            content = json.dumps(index, indent=2, sort_keys=True) + "\n"
+            f.write(content)
+
+
+def load_state_dict_from_zero_checkpoint(model, checkpoint_dir, tag=None):
+    """
+    1. Put the provided model to cpu
+    2. Convert ZeRO 2 or 3 checkpoint into a single fp32 consolidated ``state_dict``
+    3. Load it into the provided model
+
+    Args:
+        - ``model``: the model object to update
+        - ``checkpoint_dir``: path to the desired checkpoint folder. (one that contains the tag-folder, like ``global_step14``)
+        - ``tag``: checkpoint tag used as a unique identifier for checkpoint. If not provided will attempt to load tag in the file named ``latest`` in the checkpoint folder, e.g., ``global_step14``
+
+    Returns:
+        - ``model`: modified model
+
+    Make sure you have plenty of CPU memory available before you call this function. If you don't
+    have enough use the ``zero_to_fp32.py`` utility to do the conversion. You will find it
+    conveniently placed for you in the checkpoint folder.
+
+    A typical usage might be ::
+
+        from deepspeed.utils.zero_to_fp32 import load_state_dict_from_zero_checkpoint
+        model = load_state_dict_from_zero_checkpoint(trainer.model, checkpoint_dir)
+        # submit to model hub or save the model to share with others
+
+    Note, that once this was run, the ``model`` will no longer be usable in the deepspeed context
+    of the same application. i.e. you will need to re-initialize the deepspeed engine, since
+    ``model.load_state_dict(state_dict)`` will remove all the deepspeed magic from it.
+
+    """
+    logger.info("Extracting fp32 weights")
+    state_dict = get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir, tag)
+
+    logger.info("Overwriting model with fp32 weights")
+    model = model.cpu()
+    model.load_state_dict(state_dict, strict=False)
+
+    return model
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("checkpoint_dir",
+                        type=str,
+                        help="path to the desired checkpoint folder, e.g., path/checkpoint-12")
+    parser.add_argument("output_dir",
+                        type=str,
+                        help="directory to the pytorch fp32 state_dict output files"
+                        "(e.g. path/checkpoint-12-output/)")
+    parser.add_argument(
+        "--max_shard_size",
+        type=str,
+        default="5GB",
+        help="The maximum size for a checkpoint before being sharded. Checkpoints shard will then be each of size"
+        "lower than this size. If expressed as a string, needs to be digits followed by a unit (like `5MB`"
+        "We default it to 5GB in order for models to be able to run easily on free-tier google colab instances"
+        "without CPU OOM issues.")
+    parser.add_argument(
+        "--safe_serialization",
+        default=False,
+        action='store_true',
+        help="Whether to save the model using `safetensors` or the traditional PyTorch way (that uses `pickle`).")
+    parser.add_argument("-t",
+                        "--tag",
+                        type=str,
+                        default=None,
+                        help="checkpoint tag used as a unique identifier for checkpoint. e.g., global_step1")
+    parser.add_argument("--exclude_frozen_parameters", action='store_true', help="exclude frozen parameters")
+    parser.add_argument("-d", "--debug", action='store_true', help="enable debug")
+    args = parser.parse_args()
+
+    debug = args.debug
+
+    convert_zero_checkpoint_to_fp32_state_dict(args.checkpoint_dir,
+                                               args.output_dir,
+                                               max_shard_size=args.max_shard_size,
+                                               safe_serialization=args.safe_serialization,
+                                               tag=args.tag,
+                                               exclude_frozen_parameters=args.exclude_frozen_parameters)

checkpoint-5000/config.json

@@ -0,0 +1,70 @@
+{
+  "action_horizon": 50,
+  "add_pos_embed": true,
+  "apply_sincos_state_encoding": true,
+  "architectures": [
+    "Gr00tN1d6"
+  ],
+  "attn_dropout": 0.2,
+  "attn_implementation": null,
+  "backbone_embedding_dim": 2048,
+  "backbone_model_type": "eagle",
+  "backbone_trainable_params_fp32": true,
+  "collator_overwrite_image_inputs": false,
+  "color_jitter_params": {
+    "brightness": 0.1,
+    "contrast": 0.1,
+    "hue": 0.1,
+    "saturation": 0.1
+  },
+  "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
+  },
+  "eagle_collator": true,
+  "formalize_language": true,
+  "gemma_collator": false,
+  "hidden_size": 1024,
+  "image_crop_size": null,
+  "image_target_size": null,
+  "input_embedding_dim": 1536,
+  "load_bf16": true,
+  "max_action_dim": 128,
+  "max_num_embodiments": 32,
+  "max_seq_len": 1024,
+  "max_state_dim": 128,
+  "model_dtype": "bfloat16",
+  "model_name": "nvidia/Eagle-Block2A-2B-v2",
+  "model_type": "Gr00tN1d6",
+  "noise_beta_alpha": 1.5,
+  "noise_beta_beta": 1.0,
+  "noise_s": 0.999,
+  "num_inference_timesteps": 4,
+  "num_timestep_buckets": 1000,
+  "random_rotation_angle": null,
+  "reproject_vision": false,
+  "select_layer": 16,
+  "shortest_image_edge": 256,
+  "state_dropout_prob": 0.0,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3",
+  "tune_diffusion_model": true,
+  "tune_llm": false,
+  "tune_projector": true,
+  "tune_top_llm_layers": 4,
+  "tune_visual": true,
+  "tune_vlln": true,
+  "use_albumentations_transforms": true,
+  "use_alternate_vl_dit": true,
+  "use_flash_attention": true,
+  "use_relative_action": true,
+  "use_vlln": true
+}

checkpoint-5000/embodiment_id.json

@@ -0,0 +1,11 @@
+{
+  "robocasa_panda_omron": 13,
+  "gr1": 20,
+  "behavior_r1_pro": 24,
+  "unitree_g1": 8,
+  "oxe_google": 0,
+  "oxe_widowx": 1,
+  "libero_panda": 2,
+  "oxe_droid": 16,
+  "new_embodiment": 10
+}

checkpoint-5000/latest

@@ -0,0 +1 @@
+global_step5000

checkpoint-5000/processor_config.json

@@ -0,0 +1,526 @@
+{
+  "processor_class": "Gr00tN1d6Processor",
+  "processor_kwargs": {
+    "modality_configs": {
+      "behavior_r1_pro": {
+        "video": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "observation.images.rgb.head_256_256",
+            "observation.images.rgb.left_wrist_256_256",
+            "observation.images.rgb.right_wrist_256_256"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "state": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "robot_pos",
+            "robot_ori_cos",
+            "robot_ori_sin",
+            "robot_2d_ori",
+            "robot_2d_ori_cos",
+            "robot_2d_ori_sin",
+            "robot_lin_vel",
+            "robot_ang_vel",
+            "arm_left_qpos",
+            "arm_left_qpos_sin",
+            "arm_left_qpos_cos",
+            "eef_left_pos",
+            "eef_left_quat",
+            "gripper_left_qpos",
+            "arm_right_qpos",
+            "arm_right_qpos_sin",
+            "arm_right_qpos_cos",
+            "eef_right_pos",
+            "eef_right_quat",
+            "gripper_right_qpos",
+            "trunk_qpos"
+          ],
+          "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,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31
+          ],
+          "modality_keys": [
+            "base",
+            "torso",
+            "left_arm",
+            "left_gripper",
+            "right_arm",
+            "right_gripper"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": [
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "trunk_qpos"
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "arm_left_qpos"
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "arm_right_qpos"
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            }
+          ]
+        },
+        "language": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "annotation.human.coarse_action"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        }
+      },
+      "gr1": {
+        "video": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "ego_view_bg_crop_pad_res256_freq20"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "state": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "left_arm",
+            "right_arm",
+            "left_hand",
+            "right_hand",
+            "waist"
+          ],
+          "sin_cos_embedding_keys": [
+            "left_arm",
+            "right_arm",
+            "left_hand",
+            "right_hand",
+            "waist"
+          ],
+          "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
+          ],
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checkpoint-5000/wandb_config.json

@@ -0,0 +1 @@
+{"project": "finetune-gr00t-n1d6", "run_id": "locomanipulation_tutorial"}

checkpoint-5000/zero_to_fp32.py

@@ -0,0 +1,760 @@
+#!/usr/bin/env python
+
+# Copyright (c) Microsoft Corporation.
+# SPDX-License-Identifier: Apache-2.0
+
+# DeepSpeed Team
+
+# This script extracts fp32 consolidated weights from a zero 1, 2 and 3 DeepSpeed checkpoints. It gets
+# copied into the top level checkpoint dir, so the user can easily do the conversion at any point in
+# the future. Once extracted, the weights don't require DeepSpeed and can be used in any
+# application.
+#
+# example:
+#   python zero_to_fp32.py . output_dir/
+#   or
+#   python zero_to_fp32.py . output_dir/ --safe_serialization
+
+import argparse
+import torch
+import glob
+import math
+import os
+import re
+import gc
+import json
+import numpy as np
+from tqdm import tqdm
+from collections import OrderedDict
+from dataclasses import dataclass
+
+# while this script doesn't use deepspeed to recover data, since the checkpoints are pickled with
+# DeepSpeed data structures it has to be available in the current python environment.
+from deepspeed.utils import logger
+from deepspeed.checkpoint.constants import (DS_VERSION, OPTIMIZER_STATE_DICT, SINGLE_PARTITION_OF_FP32_GROUPS,
+                                            FP32_FLAT_GROUPS, ZERO_STAGE, PARTITION_COUNT, PARAM_SHAPES, BUFFER_NAMES,
+                                            FROZEN_PARAM_SHAPES, FROZEN_PARAM_FRAGMENTS)
+
+
+@dataclass
+class zero_model_state:
+    buffers: dict()
+    param_shapes: dict()
+    shared_params: list
+    ds_version: int
+    frozen_param_shapes: dict()
+    frozen_param_fragments: dict()
+
+
+debug = 0
+
+# load to cpu
+device = torch.device('cpu')
+
+
+def atoi(text):
+    return int(text) if text.isdigit() else text
+
+
+def natural_keys(text):
+    '''
+    alist.sort(key=natural_keys) sorts in human order
+    http://nedbatchelder.com/blog/200712/human_sorting.html
+    (See Toothy's implementation in the comments)
+    '''
+    return [atoi(c) for c in re.split(r'(\d+)', text)]
+
+
+def get_model_state_file(checkpoint_dir, zero_stage):
+    if not os.path.isdir(checkpoint_dir):
+        raise FileNotFoundError(f"Directory '{checkpoint_dir}' doesn't exist")
+
+    # there should be only one file
+    if zero_stage <= 2:
+        file = os.path.join(checkpoint_dir, "mp_rank_00_model_states.pt")
+    elif zero_stage == 3:
+        file = os.path.join(checkpoint_dir, "zero_pp_rank_0_mp_rank_00_model_states.pt")
+
+    if not os.path.exists(file):
+        raise FileNotFoundError(f"can't find model states file at '{file}'")
+
+    return file
+
+
+def get_checkpoint_files(checkpoint_dir, glob_pattern):
+    # XXX: need to test that this simple glob rule works for multi-node setup too
+    ckpt_files = sorted(glob.glob(os.path.join(checkpoint_dir, glob_pattern)), key=natural_keys)
+
+    if len(ckpt_files) == 0:
+        raise FileNotFoundError(f"can't find {glob_pattern} files in directory '{checkpoint_dir}'")
+
+    return ckpt_files
+
+
+def get_optim_files(checkpoint_dir):
+    return get_checkpoint_files(checkpoint_dir, "*_optim_states.pt")
+
+
+def get_model_state_files(checkpoint_dir):
+    return get_checkpoint_files(checkpoint_dir, "*_model_states.pt")
+
+
+def parse_model_states(files):
+    zero_model_states = []
+    for file in files:
+        state_dict = torch.load(file, map_location=device, weights_only=False)
+
+        if BUFFER_NAMES not in state_dict:
+            raise ValueError(f"{file} is not a model state checkpoint")
+        buffer_names = state_dict[BUFFER_NAMES]
+        if debug:
+            print("Found buffers:", buffer_names)
+
+        # recover just the buffers while restoring them to fp32 if they were saved in fp16
+        buffers = {k: v.float() for k, v in state_dict["module"].items() if k in buffer_names}
+        param_shapes = state_dict[PARAM_SHAPES]
+
+        # collect parameters that are included in param_shapes
+        param_names = []
+        for s in param_shapes:
+            for name in s.keys():
+                param_names.append(name)
+
+        # update with frozen parameters
+        frozen_param_shapes = state_dict.get(FROZEN_PARAM_SHAPES, None)
+        if frozen_param_shapes is not None:
+            if debug:
+                print(f"Found frozen_param_shapes: {frozen_param_shapes}")
+            param_names += list(frozen_param_shapes.keys())
+
+        # handle shared params
+        shared_params = [[k, v] for k, v in state_dict["shared_params"].items()]
+
+        ds_version = state_dict.get(DS_VERSION, None)
+
+        frozen_param_fragments = state_dict.get(FROZEN_PARAM_FRAGMENTS, None)
+
+        z_model_state = zero_model_state(buffers=buffers,
+                                         param_shapes=param_shapes,
+                                         shared_params=shared_params,
+                                         ds_version=ds_version,
+                                         frozen_param_shapes=frozen_param_shapes,
+                                         frozen_param_fragments=frozen_param_fragments)
+        zero_model_states.append(z_model_state)
+
+    return zero_model_states
+
+
+def parse_optim_states(files, ds_checkpoint_dir):
+    total_files = len(files)
+    state_dicts = []
+    for f in tqdm(files, desc='Loading checkpoint shards'):
+        state_dict = torch.load(f, map_location=device, mmap=True, weights_only=False)
+        # immediately discard the potentially huge 2 optimizer states as we only care for fp32 master weights
+        # and also handle the case where it was already removed by another helper script
+        state_dict["optimizer_state_dict"].pop("optimizer_state_dict", None)
+        state_dicts.append(state_dict)
+
+    if ZERO_STAGE not in state_dicts[0][OPTIMIZER_STATE_DICT]:
+        raise ValueError(f"{files[0]} is not a zero checkpoint")
+    zero_stage = state_dicts[0][OPTIMIZER_STATE_DICT][ZERO_STAGE]
+    world_size = state_dicts[0][OPTIMIZER_STATE_DICT][PARTITION_COUNT]
+
+    # For ZeRO-2 each param group can have different partition_count as data parallelism for expert
+    # parameters can be different from data parallelism for non-expert parameters. So we can just
+    # use the max of the partition_count to get the dp world_size.
+
+    if type(world_size) is list:
+        world_size = max(world_size)
+
+    if world_size != total_files:
+        raise ValueError(
+            f"Expected {world_size} of '*_optim_states.pt' under '{ds_checkpoint_dir}' but found {total_files} files. "
+            "Possibly due to an overwrite of an old checkpoint, or a checkpoint didn't get saved by one or more processes."
+        )
+
+    # the groups are named differently in each stage
+    if zero_stage <= 2:
+        fp32_groups_key = SINGLE_PARTITION_OF_FP32_GROUPS
+    elif zero_stage == 3:
+        fp32_groups_key = FP32_FLAT_GROUPS
+    else:
+        raise ValueError(f"unknown zero stage {zero_stage}")
+
+    fp32_flat_groups = [state_dicts[i][OPTIMIZER_STATE_DICT][fp32_groups_key] for i in range(len(state_dicts))]
+    return zero_stage, world_size, fp32_flat_groups
+
+
+def _get_fp32_state_dict_from_zero_checkpoint(ds_checkpoint_dir, exclude_frozen_parameters):
+    """
+    Returns fp32 state_dict reconstructed from ds checkpoint
+
+    Args:
+        - ``ds_checkpoint_dir``: path to the deepspeed checkpoint folder (where the optimizer files are)
+
+    """
+    print(f"Processing zero checkpoint '{ds_checkpoint_dir}'")
+
+    optim_files = get_optim_files(ds_checkpoint_dir)
+    zero_stage, world_size, fp32_flat_groups = parse_optim_states(optim_files, ds_checkpoint_dir)
+    print(f"Detected checkpoint of type zero stage {zero_stage}, world_size: {world_size}")
+
+    model_files = get_model_state_files(ds_checkpoint_dir)
+
+    zero_model_states = parse_model_states(model_files)
+    print(f'Parsing checkpoint created by deepspeed=={zero_model_states[0].ds_version}')
+
+    if zero_stage <= 2:
+        return _get_fp32_state_dict_from_zero2_checkpoint(world_size, fp32_flat_groups, zero_model_states,
+                                                          exclude_frozen_parameters)
+    elif zero_stage == 3:
+        return _get_fp32_state_dict_from_zero3_checkpoint(world_size, fp32_flat_groups, zero_model_states,
+                                                          exclude_frozen_parameters)
+
+
+def _zero2_merge_frozen_params(state_dict, zero_model_states):
+    if zero_model_states[0].frozen_param_shapes is None or len(zero_model_states[0].frozen_param_shapes) == 0:
+        return
+
+    frozen_param_shapes = zero_model_states[0].frozen_param_shapes
+    frozen_param_fragments = zero_model_states[0].frozen_param_fragments
+
+    if debug:
+        num_elem = sum(s.numel() for s in frozen_param_shapes.values())
+        print(f'rank 0: {FROZEN_PARAM_SHAPES}.numel = {num_elem}')
+
+        wanted_params = len(frozen_param_shapes)
+        wanted_numel = sum(s.numel() for s in frozen_param_shapes.values())
+        avail_numel = sum([p.numel() for p in frozen_param_fragments.values()])
+        print(f'Frozen params: Have {avail_numel} numels to process.')
+        print(f'Frozen params: Need {wanted_numel} numels in {wanted_params} params')
+
+    total_params = 0
+    total_numel = 0
+    for name, shape in frozen_param_shapes.items():
+        total_params += 1
+        unpartitioned_numel = shape.numel()
+        total_numel += unpartitioned_numel
+
+        state_dict[name] = frozen_param_fragments[name]
+
+        if debug:
+            print(f"{name} full shape: {shape} unpartitioned numel {unpartitioned_numel} ")
+
+    print(f"Reconstructed Frozen fp32 state dict with {total_params} params {total_numel} elements")
+
+
+def _has_callable(obj, fn):
+    attr = getattr(obj, fn, None)
+    return callable(attr)
+
+
+def _zero2_merge_trainable_params(state_dict, world_size, fp32_flat_groups, zero_model_states):
+    param_shapes = zero_model_states[0].param_shapes
+
+    # Reconstruction protocol:
+    #
+    # XXX: document this
+
+    if debug:
+        for i in range(world_size):
+            for j in range(len(fp32_flat_groups[0])):
+                print(f"{FP32_FLAT_GROUPS}[{i}][{j}].shape={fp32_flat_groups[i][j].shape}")
+
+    # XXX: memory usage doubles here (zero2)
+    num_param_groups = len(fp32_flat_groups[0])
+    merged_single_partition_of_fp32_groups = []
+    for i in range(num_param_groups):
+        merged_partitions = [sd[i] for sd in fp32_flat_groups]
+        full_single_fp32_vector = torch.cat(merged_partitions, 0)
+        merged_single_partition_of_fp32_groups.append(full_single_fp32_vector)
+    avail_numel = sum(
+        [full_single_fp32_vector.numel() for full_single_fp32_vector in merged_single_partition_of_fp32_groups])
+
+    if debug:
+        wanted_params = sum([len(shapes) for shapes in param_shapes])
+        wanted_numel = sum([sum(shape.numel() for shape in shapes.values()) for shapes in param_shapes])
+        # not asserting if there is a mismatch due to possible padding
+        print(f"Have {avail_numel} numels to process.")
+        print(f"Need {wanted_numel} numels in {wanted_params} params.")
+
+    # params
+    # XXX: for huge models that can't fit into the host's RAM we will have to recode this to support
+    # out-of-core computing solution
+    total_numel = 0
+    total_params = 0
+    for shapes, full_single_fp32_vector in zip(param_shapes, merged_single_partition_of_fp32_groups):
+        offset = 0
+        avail_numel = full_single_fp32_vector.numel()
+        for name, shape in shapes.items():
+
+            unpartitioned_numel = shape.numel() if _has_callable(shape, 'numel') else math.prod(shape)
+            total_numel += unpartitioned_numel
+            total_params += 1
+
+            if debug:
+                print(f"{name} full shape: {shape} unpartitioned numel {unpartitioned_numel} ")
+            state_dict[name] = full_single_fp32_vector.narrow(0, offset, unpartitioned_numel).view(shape)
+            offset += unpartitioned_numel
+
+        # Z2 started to align to 2*world_size to improve nccl performance. Therefore both offset and
+        # avail_numel can differ by anywhere between 0..2*world_size. Due to two unrelated complex
+        # paddings performed in the code it's almost impossible to predict the exact numbers w/o the
+        # live optimizer object, so we are checking that the numbers are within the right range
+        align_to = 2 * world_size
+
+        def zero2_align(x):
+            return align_to * math.ceil(x / align_to)
+
+        if debug:
+            print(f"original offset={offset}, avail_numel={avail_numel}")
+
+        offset = zero2_align(offset)
+        avail_numel = zero2_align(avail_numel)
+
+        if debug:
+            print(f"aligned  offset={offset}, avail_numel={avail_numel}")
+
+        # Sanity check
+        if offset != avail_numel:
+            raise ValueError(f"consumed {offset} numels out of {avail_numel} - something is wrong")
+
+    print(f"Reconstructed fp32 state dict with {total_params} params {total_numel} elements")
+
+
+def _get_fp32_state_dict_from_zero2_checkpoint(world_size, fp32_flat_groups, zero_model_states,
+                                               exclude_frozen_parameters):
+    state_dict = OrderedDict()
+
+    # buffers
+    buffers = zero_model_states[0].buffers
+    state_dict.update(buffers)
+    if debug:
+        print(f"added {len(buffers)} buffers")
+
+    if not exclude_frozen_parameters:
+        _zero2_merge_frozen_params(state_dict, zero_model_states)
+
+    _zero2_merge_trainable_params(state_dict, world_size, fp32_flat_groups, zero_model_states)
+
+    # recover shared parameters
+    for pair in zero_model_states[0].shared_params:
+        if pair[1] in state_dict:
+            state_dict[pair[0]] = state_dict[pair[1]]
+
+    return state_dict
+
+
+def zero3_partitioned_param_info(unpartitioned_numel, world_size):
+    remainder = unpartitioned_numel % world_size
+    padding_numel = (world_size - remainder) if remainder else 0
+    partitioned_numel = math.ceil(unpartitioned_numel / world_size)
+    return partitioned_numel, padding_numel
+
+
+def _zero3_merge_frozen_params(state_dict, world_size, zero_model_states):
+    if zero_model_states[0].frozen_param_shapes is None or len(zero_model_states[0].frozen_param_shapes) == 0:
+        return
+
+    if debug:
+        for i in range(world_size):
+            num_elem = sum(s.numel() for s in zero_model_states[i].frozen_param_fragments.values())
+            print(f'rank {i}: {FROZEN_PARAM_SHAPES}.numel = {num_elem}')
+
+        frozen_param_shapes = zero_model_states[0].frozen_param_shapes
+        wanted_params = len(frozen_param_shapes)
+        wanted_numel = sum(s.numel() for s in frozen_param_shapes.values())
+        avail_numel = sum([p.numel() for p in zero_model_states[0].frozen_param_fragments.values()]) * world_size
+        print(f'Frozen params: Have {avail_numel} numels to process.')
+        print(f'Frozen params: Need {wanted_numel} numels in {wanted_params} params')
+
+    total_params = 0
+    total_numel = 0
+    for name, shape in zero_model_states[0].frozen_param_shapes.items():
+        total_params += 1
+        unpartitioned_numel = shape.numel()
+        total_numel += unpartitioned_numel
+
+        param_frags = tuple(model_state.frozen_param_fragments[name] for model_state in zero_model_states)
+        state_dict[name] = torch.cat(param_frags, 0).narrow(0, 0, unpartitioned_numel).view(shape)
+
+        partitioned_numel, partitioned_padding_numel = zero3_partitioned_param_info(unpartitioned_numel, world_size)
+
+        if debug:
+            print(
+                f"Frozen params: {total_params} {name} full shape: {shape} partition0 numel={partitioned_numel} partitioned_padding_numel={partitioned_padding_numel}"
+            )
+
+    print(f"Reconstructed Frozen fp32 state dict with {total_params} params {total_numel} elements")
+
+
+class GatheredTensor:
+    """
+    A pseudo tensor that collects partitioned weights.
+    It is more memory efficient when there are multiple groups.
+    """
+
+    def __init__(self, flat_groups, flat_groups_offset, offset, partitioned_numel, shape):
+        self.flat_groups = flat_groups
+        self.flat_groups_offset = flat_groups_offset
+        self.offset = offset
+        self.partitioned_numel = partitioned_numel
+        self.shape = shape
+        self.dtype = self.flat_groups[0][0].dtype
+
+    def contiguous(self):
+        """
+        Merge partitioned weights from flat_groups into a single tensor.
+        """
+        end_idx = self.offset + self.partitioned_numel
+        world_size = len(self.flat_groups)
+        pad_flat_param_chunks = []
+
+        for rank_i in range(world_size):
+            # for each rank, we need to collect weights from related group/groups
+            flat_groups_at_rank_i = self.flat_groups[rank_i]
+            start_group_id = None
+            end_group_id = None
+            for group_id in range(len(self.flat_groups_offset)):
+                if self.flat_groups_offset[group_id] <= self.offset < self.flat_groups_offset[group_id + 1]:
+                    start_group_id = group_id
+                if self.flat_groups_offset[group_id] < end_idx <= self.flat_groups_offset[group_id + 1]:
+                    end_group_id = group_id
+                    break
+            # collect weights from related group/groups
+            for group_id in range(start_group_id, end_group_id + 1):
+                flat_tensor = flat_groups_at_rank_i[group_id]
+                start_offset = self.offset - self.flat_groups_offset[group_id]
+                end_offset = min(end_idx, self.flat_groups_offset[group_id + 1]) - self.flat_groups_offset[group_id]
+                pad_flat_param_chunks.append(flat_tensor[start_offset:end_offset])
+
+        # collect weights from all ranks
+        pad_flat_param = torch.cat(pad_flat_param_chunks, dim=0)
+        param = pad_flat_param[:self.shape.numel()].view(self.shape).contiguous()
+        return param
+
+
+def _zero3_merge_trainable_params(state_dict, world_size, fp32_flat_groups, zero_model_states):
+    param_shapes = zero_model_states[0].param_shapes
+    avail_numel = sum([flat_group.numel() for flat_group in fp32_flat_groups[0]]) * world_size
+
+    # Reconstruction protocol: For zero3 we need to zip the partitions together at boundary of each
+    # param, re-consolidating each param, while dealing with padding if any
+
+    # merge list of dicts, preserving order
+    param_shapes = {k: v for d in param_shapes for k, v in d.items()}
+
+    if debug:
+        for i in range(world_size):
+            print(f"{FP32_FLAT_GROUPS}[{i}].shape={fp32_flat_groups[i].shape}")
+
+        wanted_params = len(param_shapes)
+        wanted_numel = sum(shape.numel() for shape in param_shapes.values())
+        # not asserting if there is a mismatch due to possible padding
+        avail_numel = fp32_flat_groups[0].numel() * world_size
+        print(f"Trainable params: Have {avail_numel} numels to process.")
+        print(f"Trainable params: Need {wanted_numel} numels in {wanted_params} params.")
+
+    # params
+    # XXX: for huge models that can't fit into the host's RAM we will have to recode this to support
+    # out-of-core computing solution
+    offset = 0
+    total_numel = 0
+    total_params = 0
+    flat_groups_offset = [0] + list(np.cumsum([flat_tensor.numel() for flat_tensor in fp32_flat_groups[0]]))
+    for name, shape in tqdm(param_shapes.items(), desc='Gathering sharded weights'):
+        unpartitioned_numel = shape.numel()
+        total_numel += unpartitioned_numel
+        total_params += 1
+        partitioned_numel, partitioned_padding_numel = zero3_partitioned_param_info(unpartitioned_numel, world_size)
+
+        if debug:
+            print(
+                f"Trainable params: {total_params} {name} full shape: {shape} partition0 numel={partitioned_numel} partitioned_padding_numel={partitioned_padding_numel}"
+            )
+
+        # memory efficient tensor
+        tensor = GatheredTensor(fp32_flat_groups, flat_groups_offset, offset, partitioned_numel, shape)
+        state_dict[name] = tensor
+        offset += partitioned_numel
+
+    offset *= world_size
+
+    # Sanity check
+    if offset != avail_numel:
+        raise ValueError(f"consumed {offset} numels out of {avail_numel} - something is wrong")
+
+    print(f"Reconstructed Trainable fp32 state dict with {total_params} params {total_numel} elements")
+
+
+def _get_fp32_state_dict_from_zero3_checkpoint(world_size, fp32_flat_groups, zero_model_states,
+                                               exclude_frozen_parameters):
+    state_dict = OrderedDict()
+
+    # buffers
+    buffers = zero_model_states[0].buffers
+    state_dict.update(buffers)
+    if debug:
+        print(f"added {len(buffers)} buffers")
+
+    if not exclude_frozen_parameters:
+        _zero3_merge_frozen_params(state_dict, world_size, zero_model_states)
+
+    _zero3_merge_trainable_params(state_dict, world_size, fp32_flat_groups, zero_model_states)
+
+    # recover shared parameters
+    for pair in zero_model_states[0].shared_params:
+        if pair[1] in state_dict:
+            state_dict[pair[0]] = state_dict[pair[1]]
+
+    return state_dict
+
+
+def to_torch_tensor(state_dict, return_empty_tensor=False):
+    """
+    Convert state_dict of GatheredTensor to torch tensor
+    """
+    torch_state_dict = {}
+    converted_tensors = {}
+    for name, tensor in state_dict.items():
+        tensor_id = id(tensor)
+        if tensor_id in converted_tensors:  # shared tensors
+            shared_tensor = torch_state_dict[converted_tensors[tensor_id]]
+            torch_state_dict[name] = shared_tensor
+        else:
+            converted_tensors[tensor_id] = name
+            if return_empty_tensor:
+                torch_state_dict[name] = torch.empty(tensor.shape, dtype=tensor.dtype)
+            else:
+                torch_state_dict[name] = tensor.contiguous()
+    return torch_state_dict
+
+
+def get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir,
+                                             tag=None,
+                                             exclude_frozen_parameters=False,
+                                             lazy_mode=False):
+    """
+    Convert ZeRO 2 or 3 checkpoint into a single fp32 consolidated state_dict that can be loaded with
+    ``load_state_dict()`` and used for training without DeepSpeed or shared with others, for example
+    via a model hub.
+
+    Args:
+        - ``checkpoint_dir``: path to the desired checkpoint folder
+        - ``tag``: checkpoint tag used as a unique identifier for checkpoint. If not provided will attempt to load tag in 'latest' file. e.g., ``global_step14``
+        - ``exclude_frozen_parameters``: exclude frozen parameters
+        - ``lazy_mode``: get state_dict in lazy mode. It returns a dict of pesduo tensor instead of torch tensor, which is more memory efficient.
+          Convert the pesduo tensor to torch tensor by ``.contiguous()``
+
+    Returns:
+        - pytorch ``state_dict``
+
+    A typical usage might be ::
+
+        from deepspeed.utils.zero_to_fp32 import get_fp32_state_dict_from_zero_checkpoint
+        # do the training and checkpoint saving
+        state_dict = get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir) # already on cpu
+        model = model.cpu() # move to cpu
+        model.load_state_dict(state_dict)
+        # submit to model hub or save the model to share with others
+
+    In this example the ``model`` will no longer be usable in the deepspeed context of the same
+    application. i.e. you will need to re-initialize the deepspeed engine, since
+    ``model.load_state_dict(state_dict)`` will remove all the deepspeed magic from it.
+
+    If you want it all done for you, use ``load_state_dict_from_zero_checkpoint`` instead.
+
+    Note: the above usage may not work if your application doesn't have sufficient free CPU memory.
+    You may need to use the offline approach using the ``zero_to_fp32.py`` script that is saved with
+    the checkpoint. Or you can load state_dict in lazy mode ::
+
+        from deepspeed.utils.zero_to_fp32 import get_fp32_state_dict_from_zero_checkpoint
+        state_dict = get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir, lazy_mode=True) # not on cpu
+        for name, lazy_tensor in state_dict.item():
+            tensor = lazy_tensor.contiguous()  # to cpu
+            print(name, tensor)
+            # del tensor to release memory if it no longer in use
+    """
+    if tag is None:
+        latest_path = os.path.join(checkpoint_dir, 'latest')
+        if os.path.isfile(latest_path):
+            with open(latest_path, 'r') as fd:
+                tag = fd.read().strip()
+        else:
+            raise ValueError(f"Unable to find 'latest' file at {latest_path}")
+
+    ds_checkpoint_dir = os.path.join(checkpoint_dir, tag)
+
+    if not os.path.isdir(ds_checkpoint_dir):
+        raise FileNotFoundError(f"Directory '{ds_checkpoint_dir}' doesn't exist")
+
+    state_dict = _get_fp32_state_dict_from_zero_checkpoint(ds_checkpoint_dir, exclude_frozen_parameters)
+    if lazy_mode:
+        return state_dict
+    else:
+        return to_torch_tensor(state_dict)
+
+
+def convert_zero_checkpoint_to_fp32_state_dict(checkpoint_dir,
+                                               output_dir,
+                                               max_shard_size="5GB",
+                                               safe_serialization=False,
+                                               tag=None,
+                                               exclude_frozen_parameters=False):
+    """
+    Convert ZeRO 2 or 3 checkpoint into a single fp32 consolidated ``state_dict`` file that can be
+    loaded with ``torch.load(file)`` + ``load_state_dict()`` and used for training without DeepSpeed.
+
+    Args:
+        - ``checkpoint_dir``: path to the desired checkpoint folder. (one that contains the tag-folder, like ``global_step14``)
+        - ``output_dir``: directory to the pytorch fp32 state_dict output files
+        - ``max_shard_size``: the maximum size for a checkpoint before being sharded, default value is 5GB
+        - ``safe_serialization``:  whether to save the model using `safetensors` or the traditional PyTorch way (that uses `pickle`).
+        - ``tag``: checkpoint tag used as a unique identifier for checkpoint. If not provided will attempt to load tag in the file named ``latest`` in the checkpoint folder, e.g., ``global_step14``
+        - ``exclude_frozen_parameters``: exclude frozen parameters
+    """
+
+    # Dependency pre-check
+    if safe_serialization:
+        try:
+            from safetensors.torch import save_file
+        except ImportError:
+            print('If you want to use `safe_serialization`, please `pip install safetensors`')
+            raise
+    if max_shard_size is not None:
+        try:
+            from huggingface_hub import split_torch_state_dict_into_shards
+        except ImportError:
+            print('If you want to use `max_shard_size`, please `pip install huggingface_hub`')
+            raise
+
+    # Convert zero checkpoint to state_dict
+    state_dict = get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir,
+                                                          tag,
+                                                          exclude_frozen_parameters,
+                                                          lazy_mode=True)
+
+    # Shard the model if it is too big.
+    weights_name = "model.safetensors" if safe_serialization else "pytorch_model.bin"
+    if max_shard_size is not None:
+        filename_pattern = weights_name.replace(".bin", "{suffix}.bin").replace(".safetensors", "{suffix}.safetensors")
+        # an memory-efficient approach for sharding
+        empty_state_dict = to_torch_tensor(state_dict, return_empty_tensor=True)
+        state_dict_split = split_torch_state_dict_into_shards(empty_state_dict,
+                                                              filename_pattern=filename_pattern,
+                                                              max_shard_size=max_shard_size)
+    else:
+        from collections import namedtuple
+        StateDictSplit = namedtuple("StateDictSplit", ["is_sharded", "filename_to_tensors"])
+        state_dict_split = StateDictSplit(is_sharded=False,
+                                          filename_to_tensors={weights_name: list(state_dict.keys())})
+
+    # Save the model by shard
+    os.makedirs(output_dir, exist_ok=True)
+    filename_to_tensors = state_dict_split.filename_to_tensors.items()
+    for shard_file, tensors in tqdm(filename_to_tensors, desc="Saving checkpoint shards"):
+        shard_state_dict = {tensor_name: state_dict[tensor_name] for tensor_name in tensors}
+        shard_state_dict = to_torch_tensor(shard_state_dict)
+        output_path = os.path.join(output_dir, shard_file)
+        if safe_serialization:
+            save_file(shard_state_dict, output_path, metadata={"format": "pt"})
+        else:
+            torch.save(shard_state_dict, output_path)
+        # release the memory of current shard
+        for tensor_name in list(shard_state_dict.keys()):
+            del state_dict[tensor_name]
+            del shard_state_dict[tensor_name]
+        del shard_state_dict
+        gc.collect()
+
+    # Save index if sharded
+    if state_dict_split.is_sharded:
+        index = {
+            "metadata": state_dict_split.metadata,
+            "weight_map": state_dict_split.tensor_to_filename,
+        }
+        save_index_file = "model.safetensors.index.json" if safe_serialization else "pytorch_model.bin.index.json"
+        save_index_file = os.path.join(output_dir, save_index_file)
+        with open(save_index_file, "w", encoding="utf-8") as f:
+            content = json.dumps(index, indent=2, sort_keys=True) + "\n"
+            f.write(content)
+
+
+def load_state_dict_from_zero_checkpoint(model, checkpoint_dir, tag=None):
+    """
+    1. Put the provided model to cpu
+    2. Convert ZeRO 2 or 3 checkpoint into a single fp32 consolidated ``state_dict``
+    3. Load it into the provided model
+
+    Args:
+        - ``model``: the model object to update
+        - ``checkpoint_dir``: path to the desired checkpoint folder. (one that contains the tag-folder, like ``global_step14``)
+        - ``tag``: checkpoint tag used as a unique identifier for checkpoint. If not provided will attempt to load tag in the file named ``latest`` in the checkpoint folder, e.g., ``global_step14``
+
+    Returns:
+        - ``model`: modified model
+
+    Make sure you have plenty of CPU memory available before you call this function. If you don't
+    have enough use the ``zero_to_fp32.py`` utility to do the conversion. You will find it
+    conveniently placed for you in the checkpoint folder.
+
+    A typical usage might be ::
+
+        from deepspeed.utils.zero_to_fp32 import load_state_dict_from_zero_checkpoint
+        model = load_state_dict_from_zero_checkpoint(trainer.model, checkpoint_dir)
+        # submit to model hub or save the model to share with others
+
+    Note, that once this was run, the ``model`` will no longer be usable in the deepspeed context
+    of the same application. i.e. you will need to re-initialize the deepspeed engine, since
+    ``model.load_state_dict(state_dict)`` will remove all the deepspeed magic from it.
+
+    """
+    logger.info("Extracting fp32 weights")
+    state_dict = get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir, tag)
+
+    logger.info("Overwriting model with fp32 weights")
+    model = model.cpu()
+    model.load_state_dict(state_dict, strict=False)
+
+    return model
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("checkpoint_dir",
+                        type=str,
+                        help="path to the desired checkpoint folder, e.g., path/checkpoint-12")
+    parser.add_argument("output_dir",
+                        type=str,
+                        help="directory to the pytorch fp32 state_dict output files"
+                        "(e.g. path/checkpoint-12-output/)")
+    parser.add_argument(
+        "--max_shard_size",
+        type=str,
+        default="5GB",
+        help="The maximum size for a checkpoint before being sharded. Checkpoints shard will then be each of size"
+        "lower than this size. If expressed as a string, needs to be digits followed by a unit (like `5MB`"
+        "We default it to 5GB in order for models to be able to run easily on free-tier google colab instances"
+        "without CPU OOM issues.")
+    parser.add_argument(
+        "--safe_serialization",
+        default=False,
+        action='store_true',
+        help="Whether to save the model using `safetensors` or the traditional PyTorch way (that uses `pickle`).")
+    parser.add_argument("-t",
+                        "--tag",
+                        type=str,
+                        default=None,
+                        help="checkpoint tag used as a unique identifier for checkpoint. e.g., global_step1")
+    parser.add_argument("--exclude_frozen_parameters", action='store_true', help="exclude frozen parameters")
+    parser.add_argument("-d", "--debug", action='store_true', help="enable debug")
+    args = parser.parse_args()
+
+    debug = args.debug
+
+    convert_zero_checkpoint_to_fp32_state_dict(args.checkpoint_dir,
+                                               args.output_dir,
+                                               max_shard_size=args.max_shard_size,
+                                               safe_serialization=args.safe_serialization,
+                                               tag=args.tag,
+                                               exclude_frozen_parameters=args.exclude_frozen_parameters)

config.json

@@ -0,0 +1,70 @@
+{
+  "action_horizon": 50,
+  "add_pos_embed": true,
+  "apply_sincos_state_encoding": true,
+  "architectures": [
+    "Gr00tN1d6"
+  ],
+  "attn_dropout": 0.2,
+  "attn_implementation": null,
+  "backbone_embedding_dim": 2048,
+  "backbone_model_type": "eagle",
+  "backbone_trainable_params_fp32": true,
+  "collator_overwrite_image_inputs": false,
+  "color_jitter_params": {
+    "brightness": 0.1,
+    "contrast": 0.1,
+    "hue": 0.1,
+    "saturation": 0.1
+  },
+  "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
+  },
+  "eagle_collator": true,
+  "formalize_language": true,
+  "gemma_collator": false,
+  "hidden_size": 1024,
+  "image_crop_size": null,
+  "image_target_size": null,
+  "input_embedding_dim": 1536,
+  "load_bf16": true,
+  "max_action_dim": 128,
+  "max_num_embodiments": 32,
+  "max_seq_len": 1024,
+  "max_state_dim": 128,
+  "model_dtype": "bfloat16",
+  "model_name": "nvidia/Eagle-Block2A-2B-v2",
+  "model_type": "Gr00tN1d6",
+  "noise_beta_alpha": 1.5,
+  "noise_beta_beta": 1.0,
+  "noise_s": 0.999,
+  "num_inference_timesteps": 4,
+  "num_timestep_buckets": 1000,
+  "random_rotation_angle": null,
+  "reproject_vision": false,
+  "select_layer": 16,
+  "shortest_image_edge": 256,
+  "state_dropout_prob": 0.0,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3",
+  "tune_diffusion_model": true,
+  "tune_llm": false,
+  "tune_projector": true,
+  "tune_top_llm_layers": 4,
+  "tune_visual": true,
+  "tune_vlln": true,
+  "use_albumentations_transforms": true,
+  "use_alternate_vl_dit": true,
+  "use_flash_attention": true,
+  "use_relative_action": true,
+  "use_vlln": true
+}

experiment_cfg/conf.yaml

@@ -0,0 +1,270 @@
+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: true
+  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:
+    brightness: 0.3
+    contrast: 0.4
+    saturation: 0.5
+    hue: 0.08
+  use_albumentations_transforms: true
+  formalize_language: true
+  apply_sincos_state_encoding: false
+  use_relative_action: true
+  max_state_dim: 29
+  max_action_dim: 29
+  action_horizon: 16
+  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_additive_noise_scale: 0.0
+  max_num_embodiments: 32
+data:
+  datasets:
+  - dataset_paths:
+    - /datasets/isaaclab_arena/locomanipulation_tutorial/arena_g1_loco_manipulation_dataset_generated/lerobot
+    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:
+        - ego_view
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+      state:
+        delta_indices:
+        - 0
+        modality_keys:
+        - left_arm
+        - right_arm
+        - left_hand
+        - right_hand
+        - 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
+        - 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:
+        - left_arm
+        - right_arm
+        - left_hand
+        - right_hand
+        - waist
+        - base_height_command
+        - navigate_command
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs:
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          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.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
+  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: /models/isaaclab_arena/locomanipulation_tutorial
+  experiment_name: null
+  max_steps: 20000
+  global_batch_size: 192
+  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-N1.6-3B
+  tf32: true
+  fp16: false
+  bf16: true
+  eval_bf16: true
+  logging_steps: 10
+  save_steps: 5000
+  save_total_limit: 5
+  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: 8
+  dataloader_num_workers: 16
+  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: 20000
+save_steps: 5000

experiment_cfg/config.yaml

@@ -0,0 +1,308 @@
+!!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:
+    - /datasets/isaaclab_arena/locomanipulation_tutorial/arena_g1_loco_manipulation_dataset_generated/lerobot
+    dataset_type: physical_embodiment
+    embodiment_tag: new_embodiment
+    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:
+    new_embodiment:
+      action: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs:
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
+          - default
+          rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation
+          - absolute
+          state_key: null
+          type: &id003 !!python/object/apply:gr00t.data.types.ActionType
+          - non_eef
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        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
+        modality_keys:
+        - left_arm
+        - right_arm
+        - left_hand
+        - right_hand
+        - waist
+        - base_height_command
+        - navigate_command
+        sin_cos_embedding_keys: null
+      language: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - annotation.human.task_description
+        sin_cos_embedding_keys: null
+      state: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - left_arm
+        - right_arm
+        - left_hand
+        - right_hand
+        - waist
+        sin_cos_embedding_keys: null
+      video: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - ego_view
+        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:
+    brightness: 0.3
+    contrast: 0.4
+    hue: 0.08
+    saturation: 0.5
+  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
+  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
+  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: true
+  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: 16
+  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: 192
+  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: 20000
+  num_gpus: 8
+  open_loop_eval_plot_indices: null
+  open_loop_eval_steps_per_traj: 100
+  open_loop_eval_traj_ids:
+  - 0
+  optim: adamw_torch
+  output_dir: /models/isaaclab_arena/locomanipulation_tutorial
+  remove_unused_columns: false
+  save_best_eval_metric_greater_is_better: true
+  save_best_eval_metric_name: ''
+  save_steps: 5000
+  save_total_limit: 5
+  save_vl_model: false
+  start_from_checkpoint: nvidia/GR00T-N1.6-3B
+  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

experiment_cfg/dataset_statistics.json

@@ -0,0 +1,573 @@
+{
+  "new_embodiment": {
+    "state": {
+      "left_arm": {
+        "min": [
+          -1.2616037130355835,
+          -0.29025015234947205,
+          -0.22703997790813446,
+          -0.3353549540042877,
+          -0.0829518586397171,
+          -0.8195276260375977,
+          -0.2688920795917511
+        ],
+        "max": [
+          0.15299034118652344,
+          0.4194548726081848,
+          0.304278701543808,
+          1.4247486591339111,
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experiment_cfg/final_model_config.json

@@ -0,0 +1,53 @@
+{
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+  "max_num_embodiments": 32
+}

processor/embodiment_id.json

@@ -0,0 +1,11 @@
+{
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+  "behavior_r1_pro": 24,
+  "unitree_g1": 8,
+  "oxe_google": 0,
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+  "libero_panda": 2,
+  "oxe_droid": 16,
+  "new_embodiment": 10
+}

processor/processor_config.json

@@ -0,0 +1,526 @@
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+}

wandb_config.json

@@ -0,0 +1 @@
+{"project": "finetune-gr00t-n1d6", "run_id": "locomanipulation_tutorial"}