Upload GR00T N1.7 libero_object; observed 98.6% (500 episodes)
Browse files- gr00t_n17_native_libero_object_full_finetune_bs64/checkpoints/step-030000-epoch-315-loss=0.0074.safetensors +3 -0
- gr00t_n17_native_libero_object_full_finetune_bs64/config.json +2646 -0
- gr00t_n17_native_libero_object_full_finetune_bs64/config.yaml +1917 -0
- gr00t_n17_native_libero_object_full_finetune_bs64/dataset_statistics.json +122 -0
- gr00t_n17_native_libero_object_full_finetune_bs64/eval_trainseed7_evalseed7_infeseed42/eval_runs/step-030000-epoch-315-loss=0.0074/EVAL-libero_object-groot_n17_native-2026_08_19-05_00_58/summary.json +91 -0
gr00t_n17_native_libero_object_full_finetune_bs64/checkpoints/step-030000-epoch-315-loss=0.0074.safetensors
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:6f5e335605491576c8ff01c0e664913c738ff6bbdaf250dc8190893f7a95233d
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size 13820862192
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gr00t_n17_native_libero_object_full_finetune_bs64/config.json
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| 1 |
+
{
|
| 2 |
+
"_ACTIVE_TRACKERS": [
|
| 3 |
+
"jsonl"
|
| 4 |
+
],
|
| 5 |
+
"_DATASET_NAME": "libero_object_no_noops_lerobotv2.1",
|
| 6 |
+
"_LIBERO_DATA_ROOT": "./datasets/libero_object_no_noops_lerobotv2.1",
|
| 7 |
+
"_N17_ACTION_LAYOUT": [
|
| 8 |
+
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| 2600 |
+
"actions",
|
| 2601 |
+
"action_masks",
|
| 2602 |
+
"embodiment_ids",
|
| 2603 |
+
"sample_weight"
|
| 2604 |
+
],
|
| 2605 |
+
"padding_side": "left",
|
| 2606 |
+
"strip_task_punctuation": true,
|
| 2607 |
+
"task_pos": "after_images",
|
| 2608 |
+
"tokenizer": {
|
| 2609 |
+
"model_path": "fluxvla/models/third_party_models/qwen3_tokenizer",
|
| 2610 |
+
"padding_side": "left",
|
| 2611 |
+
"trust_remote_code": false,
|
| 2612 |
+
"type": "PretrainedTokenizer"
|
| 2613 |
+
},
|
| 2614 |
+
"truncate": false,
|
| 2615 |
+
"type": "ProcessPromptsWithImage",
|
| 2616 |
+
"use_eos_as_pad": false
|
| 2617 |
+
}
|
| 2618 |
+
],
|
| 2619 |
+
"type": "ParquetDataset",
|
| 2620 |
+
"use_delta": false,
|
| 2621 |
+
"window_start_idx": 0
|
| 2622 |
+
}
|
| 2623 |
+
],
|
| 2624 |
+
"name_mappings": {
|
| 2625 |
+
"action": [
|
| 2626 |
+
"actions"
|
| 2627 |
+
],
|
| 2628 |
+
"observation.state": [
|
| 2629 |
+
"states"
|
| 2630 |
+
]
|
| 2631 |
+
},
|
| 2632 |
+
"reshuffle_each_epoch": true,
|
| 2633 |
+
"seed": 42,
|
| 2634 |
+
"shuffle": true,
|
| 2635 |
+
"statistic_keys": [
|
| 2636 |
+
"observation.state",
|
| 2637 |
+
"timestamp",
|
| 2638 |
+
"action"
|
| 2639 |
+
],
|
| 2640 |
+
"statistic_name": "libero_object_no_noops_native",
|
| 2641 |
+
"type": "DistributedRepeatingDataset"
|
| 2642 |
+
},
|
| 2643 |
+
"per_device_batch_size": 40,
|
| 2644 |
+
"per_device_num_workers": 4
|
| 2645 |
+
}
|
| 2646 |
+
}
|
gr00t_n17_native_libero_object_full_finetune_bs64/config.yaml
ADDED
|
@@ -0,0 +1,1917 @@
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| 1 |
+
_ACTIVE_TRACKERS:
|
| 2 |
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- jsonl
|
| 3 |
+
_DATASET_NAME: libero_object_no_noops_lerobotv2.1
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| 4 |
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state_dropout_prob: 0.2
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statistics:
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use_albumentations: true
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use_percentiles: true
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use_relative_action: true
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architectures:
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image_token_id: 151655
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text_config:
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attention_bias: false
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attention_dropout: 0.0
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head_dim: 128
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hidden_act: silu
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hidden_size: 2048
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initializer_range: 0.02
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intermediate_size: 6144
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max_position_embeddings: 262144
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model_type: qwen3_vl_text
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num_attention_heads: 16
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num_hidden_layers: 28
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num_key_value_heads: 8
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rms_norm_eps: 1.0e-06
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rope_parameters:
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mrope_interleaved: true
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mrope_section:
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rope_theta: 5000000.0
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rope_type: default
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use_cache: false
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vocab_size: 151936
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tie_word_embeddings: false
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video_token_id: 151656
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vision_config:
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deepstack_visual_indexes:
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- 5
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depth: 24
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hidden_act: gelu_pytorch_tanh
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hidden_size: 1024
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in_channels: 3
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initializer_range: 0.02
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intermediate_size: 4096
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model_type: qwen3_vl_vision
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num_heads: 16
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num_position_embeddings: 2304
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out_hidden_size: 2048
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patch_size: 16
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spatial_merge_size: 2
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temporal_patch_size: 2
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vision_end_token_id: 151653
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| 690 |
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vision_start_token_id: 151652
|
| 691 |
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_QWEN_TOKENIZER_PATH: fluxvla/models/third_party_models/qwen3_tokenizer
|
| 692 |
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_STATISTIC_NAME: libero_object_no_noops_native
|
| 693 |
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_SUITE: libero_object
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| 694 |
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eval:
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| 695 |
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dataset:
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transforms:
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img_keys:
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| 699 |
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type: ProcessLiberoEvalInputs
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| 702 |
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out_key: states
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type: LiberoProprioFromInputs
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clip_norm: true
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norm_type: quantile
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normalization_epsilon: 0.0
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preserve_input_dtype: true
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state_dim: 132
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state_key: states
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statistics_key: norm_stats
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type: NormalizeStatesAndActions
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- action_horizon: 40
|
| 715 |
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state_dropout_prob: 0.0
|
| 716 |
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state_history_length: 1
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| 717 |
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type: PrepareStateActionTargets
|
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valid_action_dim: 7
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- embodiment_tag: LIBERO_PANDA
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| 720 |
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image_key: pixel_values
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output_image_key: pixel_values
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processor_kwargs:
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apply_sincos_state_encoding: false
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clip_outliers: true
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color_jitter_params:
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brightness: 0.3
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contrast: 0.4
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hue: 0.08
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saturation: 0.5
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crop_fraction: 0.95
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embodiment_id_mapping:
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libero_sim: 2
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formalize_language: true
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image_crop_size:
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image_target_size:
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max_action_dim: 132
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max_action_horizon: 40
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max_state_dim: 132
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modality_configs:
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libero_sim:
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action:
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task_pos: after_images
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tokenizer:
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model_path: fluxvla/models/third_party_models/qwen3_tokenizer
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padding_side: left
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trust_remote_code: false
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type: PretrainedTokenizer
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truncate: false
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type: ProcessPromptsWithImage
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use_eos_as_pad: false
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type: LiberoParquetEvalDataset
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denormalize_action:
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action_dim: 7
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denorm_action: false
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type: DenormalizeLiberoAction
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eval_shard_strategy: episode
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num_steps_wait: 0
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result_output_dir: work_dirs/groot_n17_libero_object_fluxvla_gbs640_seed42_abf72b8_crop_30k/eval_trainseed7_evalseed7_infeseed42
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seed: 7
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embodiment_tag: LIBERO_PANDA
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| 1566 |
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- observation.images.wrist_image
|
| 1567 |
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- action_dim: 132
|
| 1568 |
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action_key: actions
|
| 1569 |
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clip_norm: true
|
| 1570 |
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norm_type: quantile
|
| 1571 |
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normalization_epsilon: 0.0
|
| 1572 |
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preserve_input_dtype: true
|
| 1573 |
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state_dim: 132
|
| 1574 |
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state_key: states
|
| 1575 |
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type: NormalizeStatesAndActions
|
| 1576 |
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- action_horizon: 40
|
| 1577 |
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state_dropout_prob: 0.2
|
| 1578 |
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state_history_length: 1
|
| 1579 |
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type: PrepareStateActionTargets
|
| 1580 |
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valid_action_dim: 7
|
| 1581 |
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- embodiment_tag: LIBERO_PANDA
|
| 1582 |
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image_key: images
|
| 1583 |
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output_image_key: images
|
| 1584 |
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processor_kwargs:
|
| 1585 |
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apply_sincos_state_encoding: false
|
| 1586 |
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clip_outliers: true
|
| 1587 |
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color_jitter_params:
|
| 1588 |
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brightness: 0.3
|
| 1589 |
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contrast: 0.4
|
| 1590 |
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hue: 0.08
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| 1591 |
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saturation: 0.5
|
| 1592 |
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crop_fraction: 0.95
|
| 1593 |
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embodiment_id_mapping:
|
| 1594 |
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libero_sim: 2
|
| 1595 |
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formalize_language: true
|
| 1596 |
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image_crop_size:
|
| 1597 |
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|
| 1598 |
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| 1599 |
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image_target_size:
|
| 1600 |
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|
| 1601 |
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|
| 1602 |
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max_action_dim: 132
|
| 1603 |
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max_action_horizon: 40
|
| 1604 |
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max_state_dim: 132
|
| 1605 |
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modality_configs:
|
| 1606 |
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| 1607 |
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modality_keys:
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shortest_image_edge: 256
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| 1651 |
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state_dropout_prob: 0.2
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statistics:
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| 1732 |
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z:
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max:
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| 1735 |
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mean:
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min:
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| 1739 |
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q01:
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| 1742 |
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q99:
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| 1743 |
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| 1744 |
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std:
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| 1745 |
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| 1746 |
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state:
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| 1747 |
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gripper:
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| 1748 |
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max:
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| 1749 |
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mean:
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min:
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q01:
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| 1780 |
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| 1781 |
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| 1782 |
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|
| 1783 |
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| 1785 |
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q01:
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| 1789 |
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| 1791 |
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x:
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| 1793 |
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| 1795 |
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mean:
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q01:
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q99:
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y:
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mean:
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| 1818 |
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yaw:
|
| 1819 |
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max:
|
| 1820 |
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|
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mean:
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std:
|
| 1830 |
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|
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z:
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max:
|
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|
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mean:
|
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|
| 1836 |
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min:
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|
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q01:
|
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|
| 1840 |
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q99:
|
| 1841 |
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|
| 1842 |
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std:
|
| 1843 |
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- 0.07806197322485103
|
| 1844 |
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use_albumentations: true
|
| 1845 |
+
use_percentiles: true
|
| 1846 |
+
use_relative_action: true
|
| 1847 |
+
train_mode: true
|
| 1848 |
+
type: GrootN17ImageAugmentation
|
| 1849 |
+
- image_mean:
|
| 1850 |
+
- 0.5
|
| 1851 |
+
- 0.5
|
| 1852 |
+
- 0.5
|
| 1853 |
+
image_std:
|
| 1854 |
+
- 0.5
|
| 1855 |
+
- 0.5
|
| 1856 |
+
- 0.5
|
| 1857 |
+
img_key: images
|
| 1858 |
+
merge_size: 2
|
| 1859 |
+
patch_size: 16
|
| 1860 |
+
size:
|
| 1861 |
+
longest_edge: 16777216
|
| 1862 |
+
shortest_edge: 65536
|
| 1863 |
+
temporal_patch_size: 2
|
| 1864 |
+
to_tensor: true
|
| 1865 |
+
type: QWen2VLImageTransform
|
| 1866 |
+
- add_assistant_stub: false
|
| 1867 |
+
add_system: false
|
| 1868 |
+
attention_mask_dtype: int64
|
| 1869 |
+
image_grid_thw_key: image_grid_thw
|
| 1870 |
+
image_merge_size: 2
|
| 1871 |
+
image_tag_template: ''
|
| 1872 |
+
img_context_token: <|image_pad|>
|
| 1873 |
+
img_end: <|vision_end|>
|
| 1874 |
+
img_start: <|vision_start|>
|
| 1875 |
+
img_tokens_source: from_image_grid_thw
|
| 1876 |
+
lowercase_task_description: true
|
| 1877 |
+
max_len: 180
|
| 1878 |
+
output_keys:
|
| 1879 |
+
- lang_tokens
|
| 1880 |
+
- lang_masks
|
| 1881 |
+
- images
|
| 1882 |
+
- image_grid_thw
|
| 1883 |
+
- states
|
| 1884 |
+
- actions
|
| 1885 |
+
- action_masks
|
| 1886 |
+
- embodiment_ids
|
| 1887 |
+
- sample_weight
|
| 1888 |
+
padding_side: left
|
| 1889 |
+
strip_task_punctuation: true
|
| 1890 |
+
task_pos: after_images
|
| 1891 |
+
tokenizer:
|
| 1892 |
+
model_path: fluxvla/models/third_party_models/qwen3_tokenizer
|
| 1893 |
+
padding_side: left
|
| 1894 |
+
trust_remote_code: false
|
| 1895 |
+
type: PretrainedTokenizer
|
| 1896 |
+
truncate: false
|
| 1897 |
+
type: ProcessPromptsWithImage
|
| 1898 |
+
use_eos_as_pad: false
|
| 1899 |
+
type: ParquetDataset
|
| 1900 |
+
use_delta: false
|
| 1901 |
+
window_start_idx: 0
|
| 1902 |
+
name_mappings:
|
| 1903 |
+
action:
|
| 1904 |
+
- actions
|
| 1905 |
+
observation.state:
|
| 1906 |
+
- states
|
| 1907 |
+
reshuffle_each_epoch: true
|
| 1908 |
+
seed: 42
|
| 1909 |
+
shuffle: true
|
| 1910 |
+
statistic_keys:
|
| 1911 |
+
- observation.state
|
| 1912 |
+
- timestamp
|
| 1913 |
+
- action
|
| 1914 |
+
statistic_name: libero_object_no_noops_native
|
| 1915 |
+
type: DistributedRepeatingDataset
|
| 1916 |
+
per_device_batch_size: 40
|
| 1917 |
+
per_device_num_workers: 4
|
gr00t_n17_native_libero_object_full_finetune_bs64/dataset_statistics.json
ADDED
|
@@ -0,0 +1,122 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"libero_object_no_noops_native": {
|
| 3 |
+
"states": {
|
| 4 |
+
"min": [
|
| 5 |
+
-0.17652566730976105,
|
| 6 |
+
-0.28169912099838257,
|
| 7 |
+
0.008128181099891663,
|
| 8 |
+
2.2889645099639893,
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gr00t_n17_native_libero_object_full_finetune_bs64/eval_trainseed7_evalseed7_infeseed42/eval_runs/step-030000-epoch-315-loss=0.0074/EVAL-libero_object-groot_n17_native-2026_08_19-05_00_58/summary.json
ADDED
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{
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