Upload GR00T_N1_5 checkpoint 20000 for OpenWBC bottle task

experiment_cfg/conf.yaml

@@ -65,7 +65,7 @@ model:
 data:
   datasets:
   - dataset_paths:
-    - /home/opuser/wtx/vla/data/new/onlybottom_gr00t
+    - /home/opuser/wtx/vla/data/gr00t/new/onlybottom_gr00t
     embodiment_tag: new_embodiment
     mix_ratio: 1.0
     dataset_type: physical_embodiment
@@ -187,9 +187,9 @@ data:
   - 224
   video_backend: torchcodec
 training:
-  output_dir: ./save/test1
+  output_dir: ./save/test6000
   experiment_name: null
-  max_steps: 20000
+  max_steps: 60000
   global_batch_size: 96
   batch_size: null
   gradient_accumulation_steps: 1
@@ -200,13 +200,13 @@ training:
   warmup_steps: 0
   max_grad_norm: 1.0
   optim: adamw_torch
-  start_from_checkpoint: ../models/GR00T-N1.6-G1-PnPAppleToPlate/
+  start_from_checkpoint: /home/opuser/wtx/vla/models/GR00T-N1.6-G1-PnPAppleToPlate
   tf32: true
   fp16: false
   bf16: true
   eval_bf16: true
   logging_steps: 10
-  save_steps: 1000
+  save_steps: 5000
   save_total_limit: 5
   save_vl_model: false
   upload_checkpoints: false
@@ -241,5 +241,5 @@ training:
   - 0
   open_loop_eval_steps_per_traj: 100
   open_loop_eval_plot_indices: null
-max_steps: 20000
-save_steps: 1000
+max_steps: 60000
+save_steps: 5000

experiment_cfg/config.yaml

@@ -4,7 +4,7 @@ data: !!python/object:gr00t.configs.data.data_config.DataConfig
   datasets:
   - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
     dataset_paths:
-    - /home/opuser/wtx/vla/data/new/onlybottom_gr00t
+    - /home/opuser/wtx/vla/data/gr00t/new/onlybottom_gr00t
     dataset_type: physical_embodiment
     embodiment_tag: new_embodiment
     mix_ratio: 1.0
@@ -253,21 +253,21 @@ training: !!python/object:gr00t.configs.training.training_config.TrainingConfig
   max_concurrent_uploads: 2
   max_grad_norm: 1.0
   max_retries: 3
-  max_steps: 20000
+  max_steps: 60000
   num_gpus: 2
   open_loop_eval_plot_indices: null
   open_loop_eval_steps_per_traj: 100
   open_loop_eval_traj_ids:
   - 0
   optim: adamw_torch
-  output_dir: ./save/test1
+  output_dir: ./save/test6000
   remove_unused_columns: false
   save_best_eval_metric_greater_is_better: true
   save_best_eval_metric_name: ''
-  save_steps: 1000
+  save_steps: 5000
   save_total_limit: 5
   save_vl_model: false
-  start_from_checkpoint: ../models/GR00T-N1.6-G1-PnPAppleToPlate/
+  start_from_checkpoint: /home/opuser/wtx/vla/models/GR00T-N1.6-G1-PnPAppleToPlate
   tf32: true
   transformers_access_token: null
   transformers_cache_dir: null

global_step60000/bf16_zero_pp_rank_0_mp_rank_00_optim_states.pt

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global_step60000/mp_rank_00_model_states.pt

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scheduler.pt

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wandb_config.json

@@ -1 +1 @@
-{"project": "finetune-gr00t-n1d6", "run_id": "test1"}
+{"project": "finetune-gr00t-n1d6", "run_id": "test6000"}