Upload folder using huggingface_hub

config.json

@@ -0,0 +1,87 @@
+{
+  "action_horizon": 40,
+  "add_pos_embed": true,
+  "apply_sincos_state_encoding": false,
+  "architectures": [
+    "Gr00tN1d7"
+  ],
+  "attn_dropout": 0.2,
+  "attn_implementation": null,
+  "backbone_embedding_dim": 2048,
+  "color_jitter_params": {
+    "brightness": 0.3,
+    "contrast": 0.4,
+    "hue": 0.08,
+    "saturation": 0.5
+  },
+  "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
+  },
+  "dtype": "bfloat16",
+  "exclude_state": false,
+  "formalize_language": true,
+  "hidden_size": 1024,
+  "image_crop_size": [
+    230,
+    230
+  ],
+  "image_target_size": [
+    256,
+    256
+  ],
+  "letter_box_transform": false,
+  "load_bf16": true,
+  "max_action_dim": 132,
+  "max_num_embodiments": 32,
+  "max_seq_len": 1024,
+  "max_state_dim": 132,
+  "model_dtype": "bfloat16",
+  "model_type": "Gr00tN1d7",
+  "noise_beta_alpha": 1.5,
+  "noise_beta_beta": 1.0,
+  "noise_s": 0.999,
+  "num_inference_timesteps": 4,
+  "num_timestep_buckets": 1000,
+  "random_history_crop": true,
+  "random_rotation_angle": 0,
+  "reproject_vision": false,
+  "rtc_ramp_rate": 6.0,
+  "select_layer": 16,
+  "shortest_image_edge": 256,
+  "state_dropout_prob": 0.2,
+  "state_gaussian_noise_std": 0.0,
+  "transformers_version": "4.57.1",
+  "tune_diffusion_model": true,
+  "tune_linear": true,
+  "tune_llm": true,
+  "tune_projector": true,
+  "tune_top_llm_layers": 0,
+  "tune_visual": true,
+  "tune_vlln": true,
+  "use_albumentations": true,
+  "use_alternate_vl_dit": true,
+  "use_flash_attention": true,
+  "use_future_tokens": false,
+  "use_mean_std": false,
+  "use_percentiles": true,
+  "use_vl_self_attention": true,
+  "use_vlln": true,
+  "vl_self_attention_cfg": {
+    "attention_head_dim": 64,
+    "dropout": 0.2,
+    "final_dropout": true,
+    "num_attention_heads": 32,
+    "num_layers": 4,
+    "positional_embeddings": null
+  },
+  "model_name": "nvidia/Cosmos-Reason2-2B"
+}

embodiment_id.json

@@ -0,0 +1,56 @@
+{
+  "robocasa_panda_omron": 13,
+  "oxe_droid": 17,
+  "oxe_fractal": 18,
+  "oxe_language_table": 19,
+  "oxe_bridge": 20,
+  "unknown": 22,
+  "gr1_unified": 20,
+  "agibot": 26,
+  "sim_behavior_r1_pro": 23,
+  "xdof": 24,
+  "xdof_oss_data": 25,
+  "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
+  "real_r1_pro_sharpa": 27,
+  "real_r1_pro_sharpa_add_view": 27,
+  "real_r1_pro_sharpa_relative_arm_joint": 26,
+  "real_r1_pro_sharpa_delta_eef": 26,
+  "real_r1_pro_sharpa_absolute_eef": 26,
+  "real_r1_pro_sharpa_meanstd": 26,
+  "real_r1_pro_sharpa_relative_eef": 26,
+  "real_r1_pro_sharpa_relative_eef_add_view": 26,
+  "real_r1_pro_sharpa_relative_eef_relative_hand": 26,
+  "real_r1_pro_sharpa_relative_eef_human": 26,
+  "real_r1_pro_sharpa_relative_eef_human_add_view": 26,
+  "real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
+  "real_r1_pro_sharpa_relative_eef_egodex": 26,
+  "real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
+  "real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
+  "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
+  "real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
+  "real_r1_pro_sharpa_relative_eef_mecka": 26,
+  "real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
+  "real_g1_relative_eef_absolute_joints": 25,
+  "real_g1_relative_eef_absolute_joints_wrist_cam": 25,
+  "real_g1_relative_eef_relative_joints": 25,
+  "real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
+  "real_r1_pro_sharpa_relative_joint": 29,
+  "oxe_droid_relative_eef_relative_joint": 24,
+  "oxe_droid_relative_eef_relative_joint_swapped": 24,
+  "oxe_droid_relative_eef_relative_joint_upweight_z": 24,
+  "oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
+  "oxe_droid_relative_eef_relative_joint_3view": 24,
+  "oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
+  "oxe_droid_relative_eef": 24,
+  "oxe_droid_joint_position_relative": 24,
+  "xdof_relative_eef_relative_joint": 27,
+  "xdof_relative_eef_relative_joint_subtask": 27,
+  "xdof_relative_eef": 27,
+  "xdof_relative_joint": 28,
+  "simpler_env_google": 0,
+  "simpler_env_widowx": 1,
+  "libero_sim": 2,
+  "droid_sim": 3,
+  "xdof_relative_eef_subtask": 27,
+  "xdof_relative_joint_subtask": 28
+}

experiment_cfg/conf.yaml

@@ -0,0 +1,373 @@
+load_config_path: groot/vla/omni/configs/experiments/droid_relativeeef_relativejoint_upweight_z.yaml
+model:
+  return_dict: true
+  output_hidden_states: false
+  torchscript: false
+  dtype: null
+  pruned_heads: {}
+  tie_word_embeddings: true
+  chunk_size_feed_forward: 0
+  is_encoder_decoder: false
+  is_decoder: false
+  cross_attention_hidden_size: null
+  add_cross_attention: false
+  tie_encoder_decoder: false
+  architectures: null
+  finetuning_task: null
+  id2label:
+    0: LABEL_0
+    1: LABEL_1
+  label2id:
+    LABEL_0: 0
+    LABEL_1: 1
+  task_specific_params: null
+  problem_type: null
+  tokenizer_class: null
+  prefix: null
+  bos_token_id: null
+  pad_token_id: null
+  eos_token_id: null
+  sep_token_id: null
+  decoder_start_token_id: null
+  max_length: 20
+  min_length: 0
+  do_sample: false
+  early_stopping: false
+  num_beams: 1
+  temperature: 1.0
+  top_k: 50
+  top_p: 1.0
+  typical_p: 1.0
+  repetition_penalty: 1.0
+  length_penalty: 1.0
+  no_repeat_ngram_size: 0
+  encoder_no_repeat_ngram_size: 0
+  bad_words_ids: null
+  num_return_sequences: 1
+  output_scores: false
+  return_dict_in_generate: false
+  forced_bos_token_id: null
+  forced_eos_token_id: null
+  remove_invalid_values: false
+  exponential_decay_length_penalty: null
+  suppress_tokens: null
+  begin_suppress_tokens: null
+  num_beam_groups: 1
+  diversity_penalty: 0.0
+  transformers_version: null
+  model_type: GrootN1d5Qwen
+  model_dtype: bfloat16
+  vlm_backend: qwen3
+  vlm_model_path: nvidia/Cosmos-Reason2-2B
+  backbone_embedding_dim: 2048
+  tune_llm: true
+  tune_top_llm_layers: 0
+  tune_visual: true
+  tune_linear: true
+  select_layer: 16
+  reproject_vision: false
+  use_flash_attention: true
+  load_bf16: true
+  exclude_state: false
+  image_crop_size:
+  - 230
+  - 230
+  image_target_size:
+  - 256
+  - 256
+  random_rotation_angle: 0
+  color_jitter_params:
+    brightness: 0.3
+    contrast: 0.4
+    saturation: 0.5
+    hue: 0.08
+  formalize_language: true
+  action_space_prompt: false
+  apply_sincos_state_encoding: false
+  letter_box_transform: false
+  use_percentiles: true
+  use_mean_std: false
+  use_albumentations: true
+  shortest_image_edge: 256
+  crop_fraction: 0.95
+  random_history_crop: true
+  state_gaussian_noise_std: 0.0
+  do_human_interpolation: false
+  interpolation_steps: 20
+  human_embodiment_tags: null
+  max_state_dim: 132
+  max_action_dim: 132
+  action_horizon: 40
+  hidden_size: 1024
+  dit_latent_dim: 1536
+  state_dropout_prob: 0.5
+  language_dropout_prob: 0.0
+  add_pos_embed: true
+  attn_dropout: 0.2
+  use_vlln: true
+  use_vl_self_attention: true
+  max_seq_len: 1024
+  use_future_tokens: false
+  use_alternate_vl_dit: true
+  vl_self_attention_cfg:
+    positional_embeddings: null
+    num_layers: 4
+    num_attention_heads: 32
+    attention_head_dim: 64
+    dropout: 0.2
+    final_dropout: true
+  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
+    cross_attention_dim: 2048
+  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
+  max_num_embodiments: 32
+  unified_embodiment_id: false
+  rtc_ramp_rate: 6.0
+  tf_legacy_loss: false
+  use_bfloat16: false
+data:
+  datasets:
+  - dataset_paths:
+    - /mnt/aws-lfs-02/shared/datasets/roid_101_success_idlefiltered_n17
+    embodiment_tag: oxe_droid_relative_eef_relative_joint
+    mix_ratio: 1.0
+    dataset_type: physical_embodiment
+  - dataset_paths:
+    - /mnt/aws-lfs-02/shared/datasets/droid_101_success_idlefiltered_n17
+    embodiment_tag: oxe_droid_relative_eef_relative_joint_swapped
+    mix_ratio: 1.0
+    dataset_type: physical_embodiment
+  modality_configs:
+    oxe_droid_relative_eef_relative_joint:
+      video:
+        delta_indices:
+        - 0
+        modality_keys:
+        - exterior_image_1_left
+        - wrist_image_left
+        normalization_mode: null
+        action_representation: null
+        exclude_state: false
+        action_type: null
+        action_format: null
+        normalize_rotation: true
+        wrist_keys: null
+        hand_keys: null
+        extra_keys: null
+        loss_weights: null
+      state:
+        delta_indices:
+        - 0
+        modality_keys:
+        - eef_9d
+        - gripper_position
+        - joint_position
+        normalization_mode: null
+        action_representation: null
+        exclude_state: false
+        action_type: null
+        action_format: null
+        normalize_rotation: true
+        wrist_keys: null
+        hand_keys: null
+        extra_keys: null
+        loss_weights: 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
+        modality_keys:
+        - eef_9d
+        - gripper_position
+        - joint_position
+        normalization_mode: null
+        action_representation:
+        - {}
+        - {}
+        - {}
+        exclude_state: false
+        action_type:
+        - {}
+        - {}
+        - {}
+        action_format:
+        - {}
+        - {}
+        - {}
+        normalize_rotation: true
+        wrist_keys:
+        - eef_9d
+        hand_keys:
+        - gripper_position
+        extra_keys:
+        - joint_position
+        loss_weights:
+          eef_9d:
+          - 1.0
+          - 1.0
+          - 2.0
+          - 1.0
+          - 1.0
+          - 1.0
+          - 1.0
+          - 1.0
+          - 1.0
+          gripper_position:
+          - 2.0
+          joint_position:
+          - 1.0
+          - 2.0
+          - 1.0
+          - 2.0
+          - 1.0
+          - 1.0
+          - 1.0
+      language:
+        delta_indices:
+        - 0
+        modality_keys:
+        - annotation.language.language_instruction
+        - annotation.language.language_instruction_2
+        - annotation.language.language_instruction_3
+        - annotation.language.language_instruction_4
+        - annotation.language.language_instruction_5
+        - annotation.language.language_instruction_6
+        normalization_mode: null
+        action_representation: null
+        exclude_state: false
+        action_type: null
+        action_format: null
+        normalize_rotation: true
+        wrist_keys: null
+        hand_keys: null
+        extra_keys: null
+        loss_weights: 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
+  num_prompt_trajectories: 2
+  variable_num_demos: false
+  max_prompt_trajectories: 5
+  shuffle: true
+  seed: 24
+  subsample_ratio: 1.0
+  image_crop_size:
+  - 244
+  - 244
+  image_target_size:
+  - 224
+  - 224
+  video_backend: torchcodec
+training:
+  output_dir: /mnt/aws-lfs-02/shared/ckpts/ruijiez/galaxea_sharpa/n17_ph2_droid_posttrain/posttrain_droid_qwen3vl_2b_finetuned_double_dit_ckpt130k_upweight_z_unfrozen_vlm_wsd_lr3e-5_100ksteps_state_dropout50
+  experiment_name: null
+  max_steps: 100000
+  global_batch_size: 1024
+  batch_size: 32
+  gradient_accumulation_steps: 1
+  use_muon: false
+  muon_lr: 0.005
+  use_legacy_wd_application: false
+  learning_rate: 3.0e-05
+  lr_scheduler_type: wsd
+  weight_decay: 1.0e-05
+  warmup_ratio: 0.0
+  warmup_steps: 0
+  max_grad_norm: 1.0
+  wsd_stable_ratio: 0.8
+  wsd_decay_type: cosine
+  optim: adamw_torch_fused
+  start_from_checkpoint: /mnt/aws-lfs-02/shared/ckpts/ruijiez/galaxea_sharpa/stable_checkpoints/qwen3vl_midtrain_ckpt130k
+  tf32: true
+  fp16: false
+  bf16: true
+  eval_bf16: true
+  logging_steps: 10
+  save_steps: 1000
+  save_total_limit: 5
+  save_vl_model: false
+  upload_checkpoints: true
+  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
+  use_ddp: false
+  num_gpus: 64
+  dataloader_num_workers: 4
+  remove_unused_columns: false
+  use_wandb: true
+  wandb_project: n17_ph2_droid_posttrain
+  enable_profiling: false
+  max_retries: 3
+  skip_spike: true
+  skip_spike_threshold: 5.0
+  skip_spike_ema_alpha: 0.99
+  skip_spike_max_consecutive: 10
+  assert_loss_less_than: null
+max_steps: 100000
+save_steps: 1000

experiment_cfg/config.yaml

@@ -0,0 +1,382 @@
+!!python/object:groot.vla.omni.configs.base_config.Config
+data: !!python/object:groot.vla.omni.configs.data.data_config.DataConfig
+  datasets:
+  - !!python/object:groot.vla.omni.configs.data.data_config.SingleDatasetConfig
+    dataset_paths:
+    - /mnt/aws-lfs-02/shared/datasets/droid_101_success_idlefiltered_n17
+    dataset_type: physical_embodiment
+    embodiment_tag: oxe_droid_relative_eef_relative_joint
+    mix_ratio: 1.0
+  - !!python/object:groot.vla.omni.configs.data.data_config.SingleDatasetConfig
+    dataset_paths:
+    - /mnt/aws-lfs-02/shared/datasets/droid_101_success_idlefiltered_n17
+    dataset_type: physical_embodiment
+    embodiment_tag: oxe_droid_relative_eef_relative_joint
+    mix_ratio: 1.0
+  download_cache: false
+  episode_sampling_rate: 0.1
+  image_crop_size:
+  - 244
+  - 244
+  image_target_size:
+  - 224
+  - 224
+  max_prompt_trajectories: 5
+  mock_dataset_mode: false
+  modality_configs:
+    oxe_droid_relative_eef_relative_joint:
+      action: !!python/object:groot.vla.omni.data.types.ModalityConfig
+        action_format:
+        - &id004 !!python/object/apply:groot.vla.omni.data.types.ActionFormat
+          - xyz+rot6d
+        - &id001 !!python/object/apply:groot.vla.omni.data.types.ActionFormat
+          - default
+        - *id001
+        action_representation:
+        - &id002 !!python/object/apply:groot.vla.omni.data.types.ActionRepresentation
+          - relative
+        - &id005 !!python/object/apply:groot.vla.omni.data.types.ActionRepresentation
+          - absolute
+        - *id002
+        action_type:
+        - &id006 !!python/object/apply:groot.vla.omni.data.types.ActionType
+          - eef
+        - &id003 !!python/object/apply:groot.vla.omni.data.types.ActionType
+          - non_eef
+        - *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
+        exclude_state: false
+        extra_keys:
+        - joint_position
+        hand_keys:
+        - gripper_position
+        loss_weights:
+          eef_9d:
+          - 1.0
+          - 1.0
+          - 2.0
+          - 1.0
+          - 1.0
+          - 1.0
+          - 1.0
+          - 1.0
+          - 1.0
+          gripper_position:
+          - 2.0
+          joint_position:
+          - 1.0
+          - 2.0
+          - 1.0
+          - 2.0
+          - 1.0
+          - 1.0
+          - 1.0
+        modality_keys:
+        - eef_9d
+        - gripper_position
+        - joint_position
+        normalization_mode: null
+        normalize_rotation: true
+        wrist_keys:
+        - eef_9d
+      language: !!python/object:groot.vla.omni.data.types.ModalityConfig
+        action_format: null
+        action_representation: null
+        action_type: null
+        delta_indices:
+        - 0
+        exclude_state: false
+        extra_keys: null
+        hand_keys: null
+        loss_weights: null
+        modality_keys:
+        - annotation.language.language_instruction
+        - annotation.language.language_instruction_2
+        - annotation.language.language_instruction_3
+        normalization_mode: null
+        normalize_rotation: true
+        wrist_keys: null
+      state: !!python/object:groot.vla.omni.data.types.ModalityConfig
+        action_format: null
+        action_representation: null
+        action_type: null
+        delta_indices:
+        - 0
+        exclude_state: false
+        extra_keys: null
+        hand_keys: null
+        loss_weights: null
+        modality_keys:
+        - eef_9d
+        - gripper_position
+        - joint_position
+        normalization_mode: null
+        normalize_rotation: true
+        wrist_keys: null
+      video: !!python/object:groot.vla.omni.data.types.ModalityConfig
+        action_format: null
+        action_representation: null
+        action_type: null
+        delta_indices:
+        - -15
+        - 0
+        exclude_state: false
+        extra_keys: null
+        hand_keys: null
+        loss_weights: null
+        modality_keys:
+        - exterior_image_1_left
+        - wrist_image_left
+        normalization_mode: null
+        normalize_rotation: true
+        wrist_keys: null
+  mode: single_turn
+  num_prompt_trajectories: 2
+  num_shards_per_epoch: 100000
+  override_pretraining_statistics: false
+  random_chop: 0.0
+  seed: 24
+  shard_size: 1024
+  shuffle: true
+  subsample_ratio: 1.0
+  variable_num_demos: false
+  video_backend: torchcodec
+load_config_path: groot/vla/omni/configs/experiments/droid_relativeeef_relativejoint_upweight_z.yaml
+model: !!python/object:groot.vla.omni.configs.model.groot_n1d5_qwen.GrootN1d5QwenConfig
+  _attn_implementation_internal: null
+  _commit_hash: null
+  _name_or_path: ''
+  _output_attentions: false
+  action_horizon: 40
+  action_space_prompt: false
+  add_cross_attention: false
+  add_pos_embed: true
+  apply_sincos_state_encoding: false
+  architectures: null
+  attn_dropout: 0.2
+  backbone_embedding_dim: 2048
+  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
+  crop_fraction: 0.95
+  cross_attention_hidden_size: null
+  decoder_start_token_id: null
+  diffusion_model_cfg:
+    attention_head_dim: 48
+    cross_attention_dim: 2048
+    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
+  dit_latent_dim: 1536
+  diversity_penalty: 0.0
+  do_human_interpolation: false
+  do_sample: false
+  dtype: null
+  early_stopping: false
+  encoder_no_repeat_ngram_size: 0
+  eos_token_id: null
+  exclude_state: false
+  exponential_decay_length_penalty: null
+  finetuning_task: null
+  forced_bos_token_id: null
+  forced_eos_token_id: null
+  formalize_language: true
+  hidden_size: 1024
+  human_embodiment_tags: null
+  id2label:
+    0: LABEL_0
+    1: LABEL_1
+  image_crop_size: !!python/tuple
+  - 230
+  - 230
+  image_target_size: !!python/tuple
+  - 256
+  - 256
+  interpolation_steps: 20
+  is_decoder: false
+  is_encoder_decoder: false
+  label2id:
+    LABEL_0: 0
+    LABEL_1: 1
+  language_dropout_prob: 0.0
+  length_penalty: 1.0
+  letter_box_transform: false
+  load_bf16: true
+  max_action_dim: 132
+  max_length: 20
+  max_num_embodiments: 32
+  max_seq_len: 1024
+  max_state_dim: 132
+  min_length: 0
+  model_dtype: bfloat16
+  model_type: GrootN1d5Qwen
+  no_repeat_ngram_size: 0
+  noise_beta_alpha: 1.5
+  noise_beta_beta: 1.0
+  noise_s: 0.999
+  num_beam_groups: 1
+  num_beams: 1
+  num_inference_timesteps: 4
+  num_return_sequences: 1
+  num_timestep_buckets: 1000
+  output_hidden_states: false
+  output_scores: false
+  pad_token_id: null
+  prefix: null
+  problem_type: null
+  pruned_heads: {}
+  random_history_crop: true
+  random_rotation_angle: 0
+  remove_invalid_values: false
+  repetition_penalty: 1.0
+  reproject_vision: false
+  return_dict: true
+  return_dict_in_generate: false
+  rtc_ramp_rate: 6.0
+  select_layer: 16
+  sep_token_id: null
+  shortest_image_edge: 256
+  state_dropout_prob: 0.5
+  state_gaussian_noise_std: 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
+  torchscript: false
+  transformers_version: null
+  tune_diffusion_model: true
+  tune_linear: true
+  tune_llm: true
+  tune_projector: true
+  tune_top_llm_layers: 0
+  tune_visual: true
+  tune_vlln: true
+  typical_p: 1.0
+  unified_embodiment_id: false
+  use_albumentations: true
+  use_alternate_vl_dit: true
+  use_bfloat16: false
+  use_flash_attention: true
+  use_future_tokens: false
+  use_mean_std: false
+  use_percentiles: true
+  use_vl_self_attention: true
+  use_vlln: true
+  vl_self_attention_cfg:
+    attention_head_dim: 64
+    dropout: 0.2
+    final_dropout: true
+    num_attention_heads: 32
+    num_layers: 4
+    positional_embeddings: null
+  vlm_backend: qwen3
+  vlm_model_path: nvidia/Cosmos-Reason2-2B
+training: !!python/object:groot.vla.omni.configs.training.training_config.TrainingConfig
+  assert_loss_less_than: null
+  batch_size: 32
+  bf16: true
+  dataloader_num_workers: 4
+  deepspeed_stage: 2
+  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: 1024
+  gradient_accumulation_steps: 1
+  gradient_checkpointing: false
+  learning_rate: 3.0e-05
+  logging_steps: 10
+  lr_scheduler_type: wsd
+  max_concurrent_uploads: 2
+  max_grad_norm: 1.0
+  max_retries: 3
+  max_steps: 100000
+  muon_lr: 0.005
+  num_gpus: 64
+  optim: adamw_torch_fused
+  output_dir: /mnt/aws-lfs-02/shared/ckpts/ruijiez/galaxea_sharpa/n17_ph2_droid_posttrain/posttrain_droid_qwen3vl_2b_finetuned_double_dit_ckpt130k_upweight_z_unfrozen_vlm_wsd_lr3e-5_100ksteps_state_dropout50
+  remove_unused_columns: false
+  save_best_eval_metric_greater_is_better: true
+  save_best_eval_metric_name: ''
+  save_steps: 1000
+  save_total_limit: 5
+  save_vl_model: false
+  skip_spike: true
+  skip_spike_ema_alpha: 0.99
+  skip_spike_max_consecutive: 10
+  skip_spike_threshold: 5.0
+  start_from_checkpoint: /mnt/aws-lfs-02/shared/ckpts/ruijiez/galaxea_sharpa/stable_checkpoints/qwen3vl_midtrain_ckpt130k
+  tf32: true
+  upload_checkpoints: true
+  upload_every: 1000
+  upload_last_n_checkpoints: 5
+  use_ddp: false
+  use_legacy_wd_application: false
+  use_muon: false
+  use_wandb: true
+  wandb_project: n17_ph2_droid_posttrain
+  warmup_ratio: 0.0
+  warmup_steps: 0
+  weight_decay: 1.0e-05
+  wsd_decay_type: cosine
+  wsd_stable_ratio: 0.8

latest

@@ -0,0 +1 @@
+global_step100000

model-00001-of-00002.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68d885c9684bb7d4781389873e4b7d33202b5618e70a83f2e78187a5fb839202
+size 4990519232

model-00002-of-00002.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa4c6e553ea8454500354352368bcbb7e4f0fb32a9816b20d5b25c231f13a8fd
+size 1919980184

processor_config.json

@@ -0,0 +1,135 @@
+{
+  "processor_class": "Gr00tN1d7Processor",
+  "processor_kwargs": {
+    "modality_configs": {
+      "oxe_droid_relative_eef_relative_joint": {
+        "video": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "exterior_image_1_left",
+            "wrist_image_left"
+          ]
+        },
+        "state": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "eef_9d",
+            "gripper_position",
+            "joint_position"
+          ]
+        },
+        "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
+          ],
+          "modality_keys": [
+            "eef_9d",
+            "gripper_position",
+            "joint_position"
+          ],
+          "action_configs": [
+            {
+              "rep": "RELATIVE",
+              "type": "EEF",
+              "format": "XYZ_ROT6D",
+              "state_key": "eef_9d"
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "gripper_position"
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "joint_position"
+            }
+          ]
+        },
+        "language": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "annotation.language.language_instruction"
+          ]
+        }
+      }
+    },
+    "use_percentiles": true,
+    "use_mean_std": false,
+    "image_crop_size": [
+      230,
+      230
+    ],
+    "image_target_size": [
+      256,
+      256
+    ],
+    "formalize_language": true,
+    "max_state_dim": 132,
+    "max_action_dim": 132,
+    "apply_sincos_state_encoding": false,
+    "color_jitter_params": {
+      "brightness": 0.3,
+      "contrast": 0.4,
+      "saturation": 0.5,
+      "hue": 0.08
+    },
+    "random_rotation_angle": 0,
+    "letter_box_transform": false,
+    "exclude_state": false,
+    "state_dropout_prob": 0.2,
+    "state_gaussian_noise_std": 0.0,
+    "use_albumentations": true,
+    "shortest_image_edge": 256,
+    "crop_fraction": 0.95,
+    "max_action_horizon": 40,
+    "use_relative_action": true
+  }
+}

scheduler.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e68cd5c0983910f321ec0ab989e4ea8c30670cfdbd27cf252aeb2b95587256c
+size 1263

training_args.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d636db8bb639e87538810ab7d76176a6a334d903728dd0bd0b3d2358f668e1b
+size 8259