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physical-ai
humanoid
reachy2
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ganatrask commited on
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Delete folder checkpoint-27000 with huggingface_hub

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Files changed (18) hide show
  1. checkpoint-27000/config.json +0 -70
  2. checkpoint-27000/embodiment_id.json +0 -12
  3. checkpoint-27000/experiment_cfg/conf.yaml +0 -203
  4. checkpoint-27000/experiment_cfg/config.yaml +0 -237
  5. checkpoint-27000/experiment_cfg/dataset_statistics.json +0 -1020
  6. checkpoint-27000/experiment_cfg/final_model_config.json +0 -53
  7. checkpoint-27000/experiment_cfg/final_processor_config.json +0 -0
  8. checkpoint-27000/model-00001-of-00002.safetensors +0 -3
  9. checkpoint-27000/model-00002-of-00002.safetensors +0 -3
  10. checkpoint-27000/model.safetensors.index.json +0 -0
  11. checkpoint-27000/optimizer.pt +0 -3
  12. checkpoint-27000/processor_config.json +0 -453
  13. checkpoint-27000/rng_state.pth +0 -3
  14. checkpoint-27000/scheduler.pt +0 -3
  15. checkpoint-27000/statistics.json +0 -0
  16. checkpoint-27000/trainer_state.json +0 -0
  17. checkpoint-27000/training_args.bin +0 -3
  18. checkpoint-27000/wandb_config.json +0 -1
checkpoint-27000/config.json DELETED
@@ -1,70 +0,0 @@
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- {
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- "action_horizon": 50,
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- "add_pos_embed": true,
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- "backbone_embedding_dim": 2048,
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- "backbone_model_type": "eagle",
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- "color_jitter_params": {
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- "crop_fraction": 0.95,
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- "diffusion_model_cfg": {
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- "attention_head_dim": 48,
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- "dropout": 0.2,
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- "final_dropout": true,
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- "interleave_self_attention": true,
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- "norm_type": "ada_norm",
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- "num_attention_heads": 32,
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- "num_layers": 32,
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- "output_dim": 1024,
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- "positional_embeddings": null
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- },
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- "eagle_collator": true,
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- "formalize_language": true,
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- "gemma_collator": false,
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- "hidden_size": 1024,
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- "image_crop_size": null,
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- "image_target_size": null,
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- "input_embedding_dim": 1536,
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- "load_bf16": true,
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- "max_action_dim": 128,
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- "max_num_embodiments": 32,
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- "max_seq_len": 1024,
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- "max_state_dim": 128,
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- "model_dtype": "bfloat16",
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- "model_name": "nvidia/Eagle-Block2A-2B-v2",
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- "model_type": "Gr00tN1d6",
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- "noise_beta_alpha": 1.5,
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- "noise_beta_beta": 1.0,
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- "noise_s": 0.999,
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- "num_inference_timesteps": 4,
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- "num_timestep_buckets": 1000,
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- "random_rotation_angle": null,
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- "reproject_vision": false,
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- "select_layer": 16,
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- "shortest_image_edge": 256,
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- "state_dropout_prob": 0.0,
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- "torch_dtype": "bfloat16",
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- "transformers_version": "4.51.3",
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- "tune_diffusion_model": true,
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- "tune_llm": false,
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- "tune_projector": true,
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- "tune_top_llm_layers": 4,
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- "tune_visual": false,
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- "tune_vlln": true,
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- "use_albumentations_transforms": true,
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- "use_alternate_vl_dit": true,
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- "use_flash_attention": true,
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- "use_relative_action": true,
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- "use_vlln": true
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- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
checkpoint-27000/embodiment_id.json DELETED
@@ -1,12 +0,0 @@
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- {
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- "oxe_widowx": 1,
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- "libero_panda": 2,
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- "oxe_droid": 16,
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- "new_embodiment": 10,
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- "reachy2": 11
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- }
 
 
 
 
 
 
 
 
 
 
 
 
 
checkpoint-27000/experiment_cfg/conf.yaml DELETED
@@ -1,203 +0,0 @@
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- load_config_path: null
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- model:
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- model_type: Gr00tN1d6
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- backbone_embedding_dim: 2048
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- hidden_size: 1024
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- input_embedding_dim: 1536
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- add_pos_embed: true
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- attn_dropout: 0.2
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- use_vlln: true
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- max_seq_len: 1024
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- use_alternate_vl_dit: true
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- num_layers: 32
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- num_attention_heads: 32
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- attention_head_dim: 48
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- norm_type: ada_norm
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- dropout: 0.2
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- final_dropout: true
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- output_dim: 1024
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- interleave_self_attention: true
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- num_inference_timesteps: 4
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- noise_beta_alpha: 1.5
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- noise_beta_beta: 1.0
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- noise_s: 0.999
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- num_timestep_buckets: 1000
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- tune_projector: true
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- tune_diffusion_model: true
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- tune_vlln: true
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- state_dropout_prob: 0.0
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- state_additive_noise_scale: 0.0
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- max_num_embodiments: 32
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- data:
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- datasets:
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- - dataset_paths:
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- - ./datasets/reachy2_100
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- embodiment_tag: reachy2
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- mix_ratio: 1.0
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- dataset_type: physical_embodiment
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- val_dataset_path: null
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- modality_configs:
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- reachy2:
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- action_configs: null
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- - 12
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- - 13
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- modality_keys:
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- - gripper
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- mean_std_embedding_keys: null
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- action_configs:
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- - rep: RELATIVE
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- type: NON_EEF
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- format: DEFAULT
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- state_key: arm_joints
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- subsample_ratio: 1.0
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- image_crop_size:
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- - 244
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- - 244
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- image_target_size:
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- - 224
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- - 224
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- video_backend: decord
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- training:
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- output_dir: /tmp/groot_output/reachy2
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- experiment_name: null
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- max_steps: 30000
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- global_batch_size: 64
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- batch_size: null
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- gradient_accumulation_steps: 1
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- learning_rate: 0.0001
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- lr_scheduler_type: cosine
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- weight_decay: 1.0e-05
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- warmup_ratio: 0.05
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- warmup_steps: 0
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- max_grad_norm: 1.0
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- optim: adamw_torch
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- start_from_checkpoint: nvidia/GR00T-N1.6-3B
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- tf32: true
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- fp16: false
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- bf16: true
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- eval_bf16: true
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- logging_steps: 10
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- save_steps: 3000
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- save_total_limit: 5
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- save_vl_model: false
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- upload_checkpoints: false
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- upload_every: 1000
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- upload_last_n_checkpoints: 5
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- max_concurrent_uploads: 2
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- eval_strategy: 'no'
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- eval_steps: 500
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- eval_set_split_ratio: 0.1
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- eval_batch_size: 2
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- save_best_eval_metric_name: ''
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- save_best_eval_metric_greater_is_better: true
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- deepspeed_stage: 2
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- gradient_checkpointing: false
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- transformers_trust_remote_code: true
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- transformers_local_files_only: false
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- transformers_cache_dir: null
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- transformers_access_token: null
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- use_ddp: false
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- ddp_bucket_cap_mb: 100
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- num_gpus: 1
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- dataloader_num_workers: 8
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- remove_unused_columns: false
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- use_wandb: false
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- wandb_project: finetune-gr00t-n1d6
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- enable_profiling: false
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- max_retries: 3
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- assert_loss_less_than: null
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- add_rl_callback: false
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- enable_open_loop_eval: false
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- open_loop_eval_traj_ids:
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- - 0
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- open_loop_eval_steps_per_traj: 100
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- open_loop_eval_plot_indices: null
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- max_steps: 30000
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- save_steps: 3000
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
checkpoint-27000/experiment_cfg/config.yaml DELETED
@@ -1,237 +0,0 @@
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- !!python/object:gr00t.configs.base_config.Config
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- data: !!python/object:gr00t.configs.data.data_config.DataConfig
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- allow_padding: false
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- datasets:
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- dataset_paths:
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- embodiment_tag: reachy2
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- language: !!python/object:gr00t.data.types.ModalityConfig
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- mode: single_turn
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- num_shards_per_epoch: 10000
88
- override_pretraining_statistics: false
89
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- save_best_eval_metric_greater_is_better: true
219
- save_best_eval_metric_name: ''
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- save_steps: 3000
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- save_total_limit: 5
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- save_vl_model: false
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- start_from_checkpoint: nvidia/GR00T-N1.6-3B
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- tf32: true
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- transformers_access_token: null
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- transformers_cache_dir: null
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- transformers_local_files_only: false
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- upload_every: 1000
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- use_ddp: false
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- wandb_project: finetune-gr00t-n1d6
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- warmup_ratio: 0.05
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- warmup_steps: 0
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