Hugging Face's logo

oliveoil8888
/
groot-stack-cup

Safetensors
Model card Files
xet
 Community
oliveoil8888 commited on
Commit
28925df
·
verified ·
1 Parent(s): 21d9bcd

Upload folder using huggingface_hub

Browse files
Files changed (7) hide show
  1. config.json +113 -0
  2. model.safetensors +3 -0
  3. policy_postprocessor.json +20 -0
  4. policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors +3 -0
  5. policy_preprocessor.json +52 -0
  6. policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors +3 -0
  7. train_config.json +251 -0
config.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "groot",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.state": {
6
+ "type": "STATE",
7
+ "shape": [
8
+ 12
9
+ ]
10
+ },
11
+ "observation.images.top_realsense_color": {
12
+ "type": "VISUAL",
13
+ "shape": [
14
+ 3,
15
+ 480,
16
+ 640
17
+ ]
18
+ },
19
+ "observation.images.top_realsense_depth": {
20
+ "type": "VISUAL",
21
+ "shape": [
22
+ 3,
23
+ 480,
24
+ 640
25
+ ]
26
+ },
27
+ "observation.images.top_webcam": {
28
+ "type": "VISUAL",
29
+ "shape": [
30
+ 3,
31
+ 480,
32
+ 640
33
+ ]
34
+ },
35
+ "observation.images.wrist_right": {
36
+ "type": "VISUAL",
37
+ "shape": [
38
+ 3,
39
+ 480,
40
+ 640
41
+ ]
42
+ },
43
+ "observation.images.wrist_left": {
44
+ "type": "VISUAL",
45
+ "shape": [
46
+ 3,
47
+ 480,
48
+ 640
49
+ ]
50
+ }
51
+ },
52
+ "output_features": {
53
+ "action": {
54
+ "type": "ACTION",
55
+ "shape": [
56
+ 12
57
+ ]
58
+ }
59
+ },
60
+ "device": "cuda",
61
+ "use_amp": false,
62
+ "use_peft": false,
63
+ "push_to_hub": false,
64
+ "repo_id": null,
65
+ "private": null,
66
+ "tags": null,
67
+ "license": null,
68
+ "pretrained_path": null,
69
+ "chunk_size": 50,
70
+ "n_action_steps": 50,
71
+ "max_state_dim": 64,
72
+ "max_action_dim": 32,
73
+ "normalization_mapping": {
74
+ "VISUAL": "IDENTITY",
75
+ "STATE": "MEAN_STD",
76
+ "ACTION": "MEAN_STD"
77
+ },
78
+ "image_size": [
79
+ 224,
80
+ 224
81
+ ],
82
+ "base_model_path": "nvidia/GR00T-N1.5-3B",
83
+ "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
84
+ "embodiment_tag": "new_embodiment",
85
+ "tune_llm": false,
86
+ "tune_visual": false,
87
+ "tune_projector": true,
88
+ "tune_diffusion_model": true,
89
+ "lora_rank": 0,
90
+ "lora_alpha": 16,
91
+ "lora_dropout": 0.1,
92
+ "lora_full_model": false,
93
+ "optimizer_lr": 0.0001,
94
+ "optimizer_betas": [
95
+ 0.95,
96
+ 0.999
97
+ ],
98
+ "optimizer_eps": 1e-08,
99
+ "optimizer_weight_decay": 1e-05,
100
+ "warmup_ratio": 0.05,
101
+ "use_bf16": true,
102
+ "video_backend": "decord",
103
+ "balance_dataset_weights": true,
104
+ "balance_trajectory_weights": true,
105
+ "dataset_paths": null,
106
+ "output_dir": "./tmp/gr00t",
107
+ "save_steps": 1000,
108
+ "max_steps": 10000,
109
+ "batch_size": 32,
110
+ "dataloader_num_workers": 8,
111
+ "report_to": "wandb",
112
+ "resume": false
113
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c3a9c9ef97d64a224b555e8cc4dfcd749ecb7bba2e608faaa7b113aea3796171
3
+ size 5448472032
policy_postprocessor.json ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "groot_action_unpack_unnormalize_v1",
6
+ "config": {
7
+ "env_action_dim": 12,
8
+ "normalize_min_max": true
9
+ },
10
+ "state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors"
11
+ },
12
+ {
13
+ "registry_name": "device_processor",
14
+ "config": {
15
+ "device": "cpu",
16
+ "float_dtype": null
17
+ }
18
+ }
19
+ ]
20
+ }
policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:80c7010b40b4f3250c7a27a0a33fddd18fbe81b94a8fbe17642a639cfc4ed658
3
+ size 13096
policy_preprocessor.json ADDED
@@ -0,0 +1,52 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "groot_pack_inputs_v3",
16
+ "config": {
17
+ "state_horizon": 1,
18
+ "action_horizon": 16,
19
+ "max_state_dim": 64,
20
+ "max_action_dim": 32,
21
+ "language_key": "task",
22
+ "formalize_language": false,
23
+ "embodiment_tag": "new_embodiment",
24
+ "embodiment_mapping": {
25
+ "new_embodiment": 31,
26
+ "oxe_droid": 17,
27
+ "agibot_genie1": 26,
28
+ "gr1": 24,
29
+ "so100": 2,
30
+ "unitree_g1": 3
31
+ },
32
+ "normalize_min_max": true
33
+ },
34
+ "state_file": "policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors"
35
+ },
36
+ {
37
+ "registry_name": "groot_eagle_encode_v3",
38
+ "config": {}
39
+ },
40
+ {
41
+ "registry_name": "groot_eagle_collate_v3",
42
+ "config": {}
43
+ },
44
+ {
45
+ "registry_name": "device_processor",
46
+ "config": {
47
+ "device": "cuda",
48
+ "float_dtype": null
49
+ }
50
+ }
51
+ ]
52
+ }
policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:80c7010b40b4f3250c7a27a0a33fddd18fbe81b94a8fbe17642a639cfc4ed658
3
+ size 13096
train_config.json ADDED
@@ -0,0 +1,251 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "oliveoil8888/stack-cup",
4
+ "root": null,
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ },
61
+ "affine": {
62
+ "weight": 1.0,
63
+ "type": "RandomAffine",
64
+ "kwargs": {
65
+ "degrees": [
66
+ -5.0,
67
+ 5.0
68
+ ],
69
+ "translate": [
70
+ 0.05,
71
+ 0.05
72
+ ]
73
+ }
74
+ }
75
+ }
76
+ },
77
+ "revision": null,
78
+ "use_imagenet_stats": true,
79
+ "video_backend": "torchcodec",
80
+ "return_uint8": false,
81
+ "streaming": false
82
+ },
83
+ "env": null,
84
+ "policy": {
85
+ "type": "groot",
86
+ "n_obs_steps": 1,
87
+ "input_features": {
88
+ "observation.state": {
89
+ "type": "STATE",
90
+ "shape": [
91
+ 12
92
+ ]
93
+ },
94
+ "observation.images.top_realsense_color": {
95
+ "type": "VISUAL",
96
+ "shape": [
97
+ 3,
98
+ 480,
99
+ 640
100
+ ]
101
+ },
102
+ "observation.images.top_realsense_depth": {
103
+ "type": "VISUAL",
104
+ "shape": [
105
+ 3,
106
+ 480,
107
+ 640
108
+ ]
109
+ },
110
+ "observation.images.top_webcam": {
111
+ "type": "VISUAL",
112
+ "shape": [
113
+ 3,
114
+ 480,
115
+ 640
116
+ ]
117
+ },
118
+ "observation.images.wrist_right": {
119
+ "type": "VISUAL",
120
+ "shape": [
121
+ 3,
122
+ 480,
123
+ 640
124
+ ]
125
+ },
126
+ "observation.images.wrist_left": {
127
+ "type": "VISUAL",
128
+ "shape": [
129
+ 3,
130
+ 480,
131
+ 640
132
+ ]
133
+ }
134
+ },
135
+ "output_features": {
136
+ "action": {
137
+ "type": "ACTION",
138
+ "shape": [
139
+ 12
140
+ ]
141
+ }
142
+ },
143
+ "device": "cuda",
144
+ "use_amp": false,
145
+ "use_peft": false,
146
+ "push_to_hub": false,
147
+ "repo_id": null,
148
+ "private": null,
149
+ "tags": null,
150
+ "license": null,
151
+ "pretrained_path": null,
152
+ "chunk_size": 50,
153
+ "n_action_steps": 50,
154
+ "max_state_dim": 64,
155
+ "max_action_dim": 32,
156
+ "normalization_mapping": {
157
+ "VISUAL": "IDENTITY",
158
+ "STATE": "MEAN_STD",
159
+ "ACTION": "MEAN_STD"
160
+ },
161
+ "image_size": [
162
+ 224,
163
+ 224
164
+ ],
165
+ "base_model_path": "nvidia/GR00T-N1.5-3B",
166
+ "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
167
+ "embodiment_tag": "new_embodiment",
168
+ "tune_llm": false,
169
+ "tune_visual": false,
170
+ "tune_projector": true,
171
+ "tune_diffusion_model": true,
172
+ "lora_rank": 0,
173
+ "lora_alpha": 16,
174
+ "lora_dropout": 0.1,
175
+ "lora_full_model": false,
176
+ "optimizer_lr": 0.0001,
177
+ "optimizer_betas": [
178
+ 0.95,
179
+ 0.999
180
+ ],
181
+ "optimizer_eps": 1e-08,
182
+ "optimizer_weight_decay": 1e-05,
183
+ "warmup_ratio": 0.05,
184
+ "use_bf16": true,
185
+ "video_backend": "decord",
186
+ "balance_dataset_weights": true,
187
+ "balance_trajectory_weights": true,
188
+ "dataset_paths": null,
189
+ "output_dir": "./tmp/gr00t",
190
+ "save_steps": 1000,
191
+ "max_steps": 10000,
192
+ "batch_size": 32,
193
+ "dataloader_num_workers": 8,
194
+ "report_to": "wandb",
195
+ "resume": false
196
+ },
197
+ "reward_model": null,
198
+ "output_dir": "outputs/train/groot-stack-cup",
199
+ "job_name": "job-stack-cup",
200
+ "resume": false,
201
+ "seed": 1000,
202
+ "cudnn_deterministic": false,
203
+ "num_workers": 4,
204
+ "batch_size": 4,
205
+ "prefetch_factor": 4,
206
+ "persistent_workers": true,
207
+ "steps": 10000,
208
+ "eval_freq": 20000,
209
+ "log_freq": 200,
210
+ "tolerance_s": 0.0001,
211
+ "save_checkpoint": true,
212
+ "save_freq": 20000,
213
+ "use_policy_training_preset": true,
214
+ "optimizer": {
215
+ "type": "adamw",
216
+ "lr": 0.0001,
217
+ "weight_decay": 1e-05,
218
+ "grad_clip_norm": 10.0,
219
+ "betas": [
220
+ 0.95,
221
+ 0.999
222
+ ],
223
+ "eps": 1e-08
224
+ },
225
+ "scheduler": {
226
+ "type": "cosine_decay_with_warmup",
227
+ "num_warmup_steps": 500,
228
+ "num_decay_steps": 10000,
229
+ "peak_lr": 0.0001,
230
+ "decay_lr": 1e-05
231
+ },
232
+ "eval": {
233
+ "n_episodes": 50,
234
+ "batch_size": 22,
235
+ "use_async_envs": true
236
+ },
237
+ "wandb": {
238
+ "enable": false,
239
+ "disable_artifact": false,
240
+ "project": "lerobot",
241
+ "entity": null,
242
+ "notes": null,
243
+ "run_id": null,
244
+ "mode": null,
245
+ "add_tags": true
246
+ },
247
+ "peft": null,
248
+ "sample_weighting": null,
249
+ "rename_map": {},
250
+ "checkpoint_path": null
251
+ }