Remove intermediate checkpoints, keep final model only
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- checkpoint-10000/config.json +0 -70
- checkpoint-10000/embodiment_id.json +0 -11
- checkpoint-10000/experiment_cfg/conf.yaml +0 -206
- checkpoint-10000/experiment_cfg/config.yaml +0 -239
- checkpoint-10000/experiment_cfg/dataset_statistics.json +0 -149
- checkpoint-10000/experiment_cfg/final_model_config.json +0 -54
- checkpoint-10000/experiment_cfg/final_processor_config.json +0 -0
- checkpoint-10000/model-00001-of-00002.safetensors +0 -3
- checkpoint-10000/model-00002-of-00002.safetensors +0 -3
- checkpoint-10000/model.safetensors.index.json +0 -0
- checkpoint-10000/optimizer.pt +0 -3
- checkpoint-10000/processor_config.json +0 -455
- checkpoint-10000/rng_state.pth +0 -3
- checkpoint-10000/scheduler.pt +0 -3
- checkpoint-10000/statistics.json +0 -0
- checkpoint-10000/trainer_state.json +0 -0
- checkpoint-10000/training_args.bin +0 -3
- checkpoint-10000/wandb_config.json +0 -1
- checkpoint-15000/config.json +0 -70
- checkpoint-15000/embodiment_id.json +0 -11
- checkpoint-15000/experiment_cfg/conf.yaml +0 -206
- checkpoint-15000/experiment_cfg/config.yaml +0 -239
- checkpoint-15000/experiment_cfg/dataset_statistics.json +0 -149
- checkpoint-15000/experiment_cfg/final_model_config.json +0 -54
- checkpoint-15000/experiment_cfg/final_processor_config.json +0 -0
- checkpoint-15000/model-00001-of-00002.safetensors +0 -3
- checkpoint-15000/model-00002-of-00002.safetensors +0 -3
- checkpoint-15000/model.safetensors.index.json +0 -0
- checkpoint-15000/optimizer.pt +0 -3
- checkpoint-15000/processor_config.json +0 -455
- checkpoint-15000/rng_state.pth +0 -3
- checkpoint-15000/scheduler.pt +0 -3
- checkpoint-15000/statistics.json +0 -0
- checkpoint-15000/trainer_state.json +0 -0
- checkpoint-15000/training_args.bin +0 -3
- checkpoint-15000/wandb_config.json +0 -1
- checkpoint-20000/config.json +0 -70
- checkpoint-20000/embodiment_id.json +0 -11
- checkpoint-20000/experiment_cfg/conf.yaml +0 -206
- checkpoint-20000/experiment_cfg/config.yaml +0 -239
- checkpoint-20000/experiment_cfg/dataset_statistics.json +0 -149
- checkpoint-20000/experiment_cfg/final_model_config.json +0 -54
- checkpoint-20000/experiment_cfg/final_processor_config.json +0 -0
- checkpoint-20000/model-00001-of-00002.safetensors +0 -3
- checkpoint-20000/model-00002-of-00002.safetensors +0 -3
- checkpoint-20000/model.safetensors.index.json +0 -0
- checkpoint-20000/optimizer.pt +0 -3
- checkpoint-20000/processor_config.json +0 -455
- checkpoint-20000/rng_state.pth +0 -3
- checkpoint-20000/scheduler.pt +0 -3
checkpoint-10000/config.json
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{
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"action_horizon": 50,
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"add_pos_embed": true,
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"apply_sincos_state_encoding": true,
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"architectures": [
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"Gr00tN1d6"
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],
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"attn_dropout": 0.2,
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"attn_implementation": null,
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"backbone_embedding_dim": 2048,
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"backbone_model_type": "eagle",
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"backbone_trainable_params_fp32": true,
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"collator_overwrite_image_inputs": false,
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"color_jitter_params": {
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"brightness": 0.1,
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"contrast": 0.1,
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"hue": 0.1,
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"saturation": 0.1
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},
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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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}
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checkpoint-10000/embodiment_id.json
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{
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"robocasa_panda_omron": 13,
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"gr1": 20,
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"behavior_r1_pro": 24,
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"unitree_g1": 8,
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"oxe_google": 0,
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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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}
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checkpoint-10000/experiment_cfg/conf.yaml
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load_config_path: null
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model:
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model_type: Gr00tN1d6
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model_dtype: bfloat16
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model_name: nvidia/Eagle-Block2A-2B-v2
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backbone_model_type: eagle
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model_revision: null
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tune_top_llm_layers: 4
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backbone_embedding_dim: 2048
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tune_llm: false
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tune_visual: false
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select_layer: 16
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reproject_vision: false
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use_flash_attention: true
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load_bf16: false
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collator_overwrite_image_inputs: false
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eagle_collator: true
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backbone_trainable_params_fp32: true
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image_crop_size: null
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image_target_size: null
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shortest_image_edge: 256
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crop_fraction: 0.95
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random_rotation_angle: null
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color_jitter_params: null
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use_albumentations_transforms: true
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extra_augmentation_config: null
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formalize_language: true
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apply_sincos_state_encoding: false
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use_relative_action: true
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max_state_dim: 29
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max_action_dim: 29
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action_horizon: 16
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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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attend_text_every_n_blocks: 2
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diffusion_model_cfg:
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positional_embeddings: null
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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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- ./cherry_data
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embodiment_tag: new_embodiment
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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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new_embodiment:
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video:
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delta_indices:
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- 0
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modality_keys:
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- cam_base
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- cam_wrist
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sin_cos_embedding_keys: null
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mean_std_embedding_keys: null
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action_configs: null
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state:
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delta_indices:
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- 0
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modality_keys:
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- arm
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- gripper
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sin_cos_embedding_keys: null
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mean_std_embedding_keys: null
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action_configs: null
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action:
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delta_indices:
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- 0
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- 1
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modality_keys:
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- arm
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- gripper
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sin_cos_embedding_keys: null
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mean_std_embedding_keys: null
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action_configs:
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- rep: ABSOLUTE
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type: NON_EEF
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format: DEFAULT
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state_key: null
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- rep: ABSOLUTE
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type: NON_EEF
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format: DEFAULT
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state_key: null
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language:
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delta_indices:
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- 0
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modality_keys:
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- annotation.human.task_description
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sin_cos_embedding_keys: null
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mean_std_embedding_keys: null
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action_configs: null
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download_cache: false
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shard_size: 1024
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episode_sampling_rate: 0.1
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num_shards_per_epoch: 100000
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override_pretraining_statistics: false
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mode: single_turn
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random_chop: 0.0
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mock_dataset_mode: false
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shuffle: true
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seed: 42
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multiprocessing_context: fork
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allow_padding: false
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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: ./outputs/fr5_cherry
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experiment_name: null
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max_steps: 20000
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global_batch_size: 32
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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: ./pretrained_models/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: 5000
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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: 2
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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: 20000
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save_steps: 5000
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|
checkpoint-10000/experiment_cfg/config.yaml
DELETED
|
@@ -1,239 +0,0 @@
|
|
| 1 |
-
!!python/object:gr00t.configs.base_config.Config
|
| 2 |
-
data: !!python/object:gr00t.configs.data.data_config.DataConfig
|
| 3 |
-
allow_padding: false
|
| 4 |
-
datasets:
|
| 5 |
-
- !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
|
| 6 |
-
dataset_paths:
|
| 7 |
-
- ./cherry_data
|
| 8 |
-
dataset_type: physical_embodiment
|
| 9 |
-
embodiment_tag: new_embodiment
|
| 10 |
-
mix_ratio: 1.0
|
| 11 |
-
val_dataset_path: null
|
| 12 |
-
download_cache: false
|
| 13 |
-
episode_sampling_rate: 0.1
|
| 14 |
-
image_crop_size:
|
| 15 |
-
- 244
|
| 16 |
-
- 244
|
| 17 |
-
image_target_size:
|
| 18 |
-
- 224
|
| 19 |
-
- 224
|
| 20 |
-
mock_dataset_mode: false
|
| 21 |
-
modality_configs:
|
| 22 |
-
new_embodiment:
|
| 23 |
-
action: !!python/object:gr00t.data.types.ModalityConfig
|
| 24 |
-
action_configs:
|
| 25 |
-
- !!python/object:gr00t.data.types.ActionConfig
|
| 26 |
-
format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
|
| 27 |
-
- default
|
| 28 |
-
rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation
|
| 29 |
-
- absolute
|
| 30 |
-
state_key: null
|
| 31 |
-
type: &id003 !!python/object/apply:gr00t.data.types.ActionType
|
| 32 |
-
- non_eef
|
| 33 |
-
- !!python/object:gr00t.data.types.ActionConfig
|
| 34 |
-
format: *id001
|
| 35 |
-
rep: *id002
|
| 36 |
-
state_key: null
|
| 37 |
-
type: *id003
|
| 38 |
-
delta_indices:
|
| 39 |
-
- 0
|
| 40 |
-
- 1
|
| 41 |
-
- 2
|
| 42 |
-
- 3
|
| 43 |
-
- 4
|
| 44 |
-
- 5
|
| 45 |
-
- 6
|
| 46 |
-
- 7
|
| 47 |
-
- 8
|
| 48 |
-
- 9
|
| 49 |
-
- 10
|
| 50 |
-
- 11
|
| 51 |
-
- 12
|
| 52 |
-
- 13
|
| 53 |
-
- 14
|
| 54 |
-
- 15
|
| 55 |
-
mean_std_embedding_keys: null
|
| 56 |
-
modality_keys:
|
| 57 |
-
- arm
|
| 58 |
-
- gripper
|
| 59 |
-
sin_cos_embedding_keys: null
|
| 60 |
-
language: !!python/object:gr00t.data.types.ModalityConfig
|
| 61 |
-
action_configs: null
|
| 62 |
-
delta_indices:
|
| 63 |
-
- 0
|
| 64 |
-
mean_std_embedding_keys: null
|
| 65 |
-
modality_keys:
|
| 66 |
-
- annotation.human.task_description
|
| 67 |
-
sin_cos_embedding_keys: null
|
| 68 |
-
state: !!python/object:gr00t.data.types.ModalityConfig
|
| 69 |
-
action_configs: null
|
| 70 |
-
delta_indices:
|
| 71 |
-
- 0
|
| 72 |
-
mean_std_embedding_keys: null
|
| 73 |
-
modality_keys:
|
| 74 |
-
- arm
|
| 75 |
-
- gripper
|
| 76 |
-
sin_cos_embedding_keys: null
|
| 77 |
-
video: !!python/object:gr00t.data.types.ModalityConfig
|
| 78 |
-
action_configs: null
|
| 79 |
-
delta_indices:
|
| 80 |
-
- 0
|
| 81 |
-
mean_std_embedding_keys: null
|
| 82 |
-
modality_keys:
|
| 83 |
-
- cam_base
|
| 84 |
-
- cam_wrist
|
| 85 |
-
sin_cos_embedding_keys: null
|
| 86 |
-
mode: single_turn
|
| 87 |
-
multiprocessing_context: fork
|
| 88 |
-
num_shards_per_epoch: 100000
|
| 89 |
-
override_pretraining_statistics: false
|
| 90 |
-
random_chop: 0.0
|
| 91 |
-
seed: 42
|
| 92 |
-
shard_size: 1024
|
| 93 |
-
shuffle: true
|
| 94 |
-
subsample_ratio: 1.0
|
| 95 |
-
video_backend: decord
|
| 96 |
-
load_config_path: null
|
| 97 |
-
model: !!python/object:gr00t.configs.model.gr00t_n1d6.Gr00tN1d6Config
|
| 98 |
-
_attn_implementation_autoset: false
|
| 99 |
-
_attn_implementation_internal: null
|
| 100 |
-
_commit_hash: null
|
| 101 |
-
_name_or_path: ''
|
| 102 |
-
add_cross_attention: false
|
| 103 |
-
architectures: null
|
| 104 |
-
backbone_model_type: eagle
|
| 105 |
-
backbone_trainable_params_fp32: true
|
| 106 |
-
bad_words_ids: null
|
| 107 |
-
begin_suppress_tokens: null
|
| 108 |
-
bos_token_id: null
|
| 109 |
-
chunk_size_feed_forward: 0
|
| 110 |
-
color_jitter_params: null
|
| 111 |
-
cross_attention_hidden_size: null
|
| 112 |
-
decoder_start_token_id: null
|
| 113 |
-
diffusion_model_cfg:
|
| 114 |
-
attention_head_dim: 48
|
| 115 |
-
dropout: 0.2
|
| 116 |
-
final_dropout: true
|
| 117 |
-
interleave_self_attention: true
|
| 118 |
-
norm_type: ada_norm
|
| 119 |
-
num_attention_heads: 32
|
| 120 |
-
num_layers: 32
|
| 121 |
-
output_dim: 1024
|
| 122 |
-
positional_embeddings: null
|
| 123 |
-
diversity_penalty: 0.0
|
| 124 |
-
do_sample: false
|
| 125 |
-
eagle_collator: true
|
| 126 |
-
early_stopping: false
|
| 127 |
-
encoder_no_repeat_ngram_size: 0
|
| 128 |
-
eos_token_id: null
|
| 129 |
-
exponential_decay_length_penalty: null
|
| 130 |
-
extra_augmentation_config: null
|
| 131 |
-
finetuning_task: null
|
| 132 |
-
forced_bos_token_id: null
|
| 133 |
-
forced_eos_token_id: null
|
| 134 |
-
id2label:
|
| 135 |
-
0: LABEL_0
|
| 136 |
-
1: LABEL_1
|
| 137 |
-
is_decoder: false
|
| 138 |
-
is_encoder_decoder: false
|
| 139 |
-
label2id:
|
| 140 |
-
LABEL_0: 0
|
| 141 |
-
LABEL_1: 1
|
| 142 |
-
length_penalty: 1.0
|
| 143 |
-
load_bf16: false
|
| 144 |
-
max_length: 20
|
| 145 |
-
min_length: 0
|
| 146 |
-
model_name: nvidia/Eagle-Block2A-2B-v2
|
| 147 |
-
no_repeat_ngram_size: 0
|
| 148 |
-
num_beam_groups: 1
|
| 149 |
-
num_beams: 1
|
| 150 |
-
num_return_sequences: 1
|
| 151 |
-
output_attentions: false
|
| 152 |
-
output_hidden_states: false
|
| 153 |
-
output_scores: false
|
| 154 |
-
pad_token_id: null
|
| 155 |
-
prefix: null
|
| 156 |
-
problem_type: null
|
| 157 |
-
pruned_heads: {}
|
| 158 |
-
random_rotation_angle: null
|
| 159 |
-
remove_invalid_values: false
|
| 160 |
-
repetition_penalty: 1.0
|
| 161 |
-
reproject_vision: false
|
| 162 |
-
return_dict: true
|
| 163 |
-
return_dict_in_generate: false
|
| 164 |
-
sep_token_id: null
|
| 165 |
-
state_dropout_prob: 0.0
|
| 166 |
-
suppress_tokens: null
|
| 167 |
-
task_specific_params: null
|
| 168 |
-
temperature: 1.0
|
| 169 |
-
tf_legacy_loss: false
|
| 170 |
-
tie_encoder_decoder: false
|
| 171 |
-
tie_word_embeddings: true
|
| 172 |
-
tokenizer_class: null
|
| 173 |
-
top_k: 50
|
| 174 |
-
top_p: 1.0
|
| 175 |
-
torch_dtype: null
|
| 176 |
-
torchscript: false
|
| 177 |
-
transformers_version: null
|
| 178 |
-
tune_diffusion_model: true
|
| 179 |
-
tune_llm: false
|
| 180 |
-
tune_projector: true
|
| 181 |
-
tune_visual: false
|
| 182 |
-
typical_p: 1.0
|
| 183 |
-
use_bfloat16: false
|
| 184 |
-
use_relative_action: true
|
| 185 |
-
training: !!python/object:gr00t.configs.training.training_config.TrainingConfig
|
| 186 |
-
add_rl_callback: false
|
| 187 |
-
assert_loss_less_than: null
|
| 188 |
-
batch_size: null
|
| 189 |
-
bf16: true
|
| 190 |
-
dataloader_num_workers: 2
|
| 191 |
-
ddp_bucket_cap_mb: 100
|
| 192 |
-
deepspeed_stage: 2
|
| 193 |
-
enable_open_loop_eval: false
|
| 194 |
-
enable_profiling: false
|
| 195 |
-
eval_batch_size: 2
|
| 196 |
-
eval_bf16: true
|
| 197 |
-
eval_set_split_ratio: 0.1
|
| 198 |
-
eval_steps: 500
|
| 199 |
-
eval_strategy: 'no'
|
| 200 |
-
experiment_name: null
|
| 201 |
-
fp16: false
|
| 202 |
-
global_batch_size: 32
|
| 203 |
-
gradient_accumulation_steps: 1
|
| 204 |
-
gradient_checkpointing: false
|
| 205 |
-
learning_rate: 0.0001
|
| 206 |
-
logging_steps: 10
|
| 207 |
-
lr_scheduler_type: cosine
|
| 208 |
-
max_concurrent_uploads: 2
|
| 209 |
-
max_grad_norm: 1.0
|
| 210 |
-
max_retries: 3
|
| 211 |
-
max_steps: 20000
|
| 212 |
-
num_gpus: 1
|
| 213 |
-
open_loop_eval_plot_indices: null
|
| 214 |
-
open_loop_eval_steps_per_traj: 100
|
| 215 |
-
open_loop_eval_traj_ids:
|
| 216 |
-
- 0
|
| 217 |
-
optim: adamw_torch
|
| 218 |
-
output_dir: ./outputs/fr5_cherry
|
| 219 |
-
remove_unused_columns: false
|
| 220 |
-
save_best_eval_metric_greater_is_better: true
|
| 221 |
-
save_best_eval_metric_name: ''
|
| 222 |
-
save_steps: 5000
|
| 223 |
-
save_total_limit: 5
|
| 224 |
-
save_vl_model: false
|
| 225 |
-
start_from_checkpoint: ./pretrained_models/GR00T-N1.6-3B
|
| 226 |
-
tf32: true
|
| 227 |
-
transformers_access_token: null
|
| 228 |
-
transformers_cache_dir: null
|
| 229 |
-
transformers_local_files_only: false
|
| 230 |
-
transformers_trust_remote_code: true
|
| 231 |
-
upload_checkpoints: false
|
| 232 |
-
upload_every: 1000
|
| 233 |
-
upload_last_n_checkpoints: 5
|
| 234 |
-
use_ddp: false
|
| 235 |
-
use_wandb: false
|
| 236 |
-
wandb_project: finetune-gr00t-n1d6
|
| 237 |
-
warmup_ratio: 0.05
|
| 238 |
-
warmup_steps: 0
|
| 239 |
-
weight_decay: 1.0e-05
|
|
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checkpoint-10000/rng_state.pth
DELETED
|
@@ -1,3 +0,0 @@
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| 1 |
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| 2 |
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-
size 14645
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checkpoint-10000/scheduler.pt
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
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| 2 |
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| 3 |
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size 1465
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checkpoint-10000/statistics.json
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checkpoint-10000/trainer_state.json
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checkpoint-10000/training_args.bin
DELETED
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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| 3 |
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size 5713
|
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checkpoint-10000/wandb_config.json
DELETED
|
@@ -1 +0,0 @@
|
|
| 1 |
-
{"project": "finetune-gr00t-n1d6", "run_id": "fr5_cherry"}
|
|
|
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|
|
checkpoint-15000/config.json
DELETED
|
@@ -1,70 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"action_horizon": 50,
|
| 3 |
-
"add_pos_embed": true,
|
| 4 |
-
"apply_sincos_state_encoding": true,
|
| 5 |
-
"architectures": [
|
| 6 |
-
"Gr00tN1d6"
|
| 7 |
-
],
|
| 8 |
-
"attn_dropout": 0.2,
|
| 9 |
-
"attn_implementation": null,
|
| 10 |
-
"backbone_embedding_dim": 2048,
|
| 11 |
-
"backbone_model_type": "eagle",
|
| 12 |
-
"backbone_trainable_params_fp32": true,
|
| 13 |
-
"collator_overwrite_image_inputs": false,
|
| 14 |
-
"color_jitter_params": {
|
| 15 |
-
"brightness": 0.1,
|
| 16 |
-
"contrast": 0.1,
|
| 17 |
-
"hue": 0.1,
|
| 18 |
-
"saturation": 0.1
|
| 19 |
-
},
|
| 20 |
-
"crop_fraction": 0.95,
|
| 21 |
-
"diffusion_model_cfg": {
|
| 22 |
-
"attention_head_dim": 48,
|
| 23 |
-
"dropout": 0.2,
|
| 24 |
-
"final_dropout": true,
|
| 25 |
-
"interleave_self_attention": true,
|
| 26 |
-
"norm_type": "ada_norm",
|
| 27 |
-
"num_attention_heads": 32,
|
| 28 |
-
"num_layers": 32,
|
| 29 |
-
"output_dim": 1024,
|
| 30 |
-
"positional_embeddings": null
|
| 31 |
-
},
|
| 32 |
-
"eagle_collator": true,
|
| 33 |
-
"formalize_language": true,
|
| 34 |
-
"gemma_collator": false,
|
| 35 |
-
"hidden_size": 1024,
|
| 36 |
-
"image_crop_size": null,
|
| 37 |
-
"image_target_size": null,
|
| 38 |
-
"input_embedding_dim": 1536,
|
| 39 |
-
"load_bf16": true,
|
| 40 |
-
"max_action_dim": 128,
|
| 41 |
-
"max_num_embodiments": 32,
|
| 42 |
-
"max_seq_len": 1024,
|
| 43 |
-
"max_state_dim": 128,
|
| 44 |
-
"model_dtype": "bfloat16",
|
| 45 |
-
"model_name": "nvidia/Eagle-Block2A-2B-v2",
|
| 46 |
-
"model_type": "Gr00tN1d6",
|
| 47 |
-
"noise_beta_alpha": 1.5,
|
| 48 |
-
"noise_beta_beta": 1.0,
|
| 49 |
-
"noise_s": 0.999,
|
| 50 |
-
"num_inference_timesteps": 4,
|
| 51 |
-
"num_timestep_buckets": 1000,
|
| 52 |
-
"random_rotation_angle": null,
|
| 53 |
-
"reproject_vision": false,
|
| 54 |
-
"select_layer": 16,
|
| 55 |
-
"shortest_image_edge": 256,
|
| 56 |
-
"state_dropout_prob": 0.0,
|
| 57 |
-
"torch_dtype": "bfloat16",
|
| 58 |
-
"transformers_version": "4.51.3",
|
| 59 |
-
"tune_diffusion_model": true,
|
| 60 |
-
"tune_llm": false,
|
| 61 |
-
"tune_projector": true,
|
| 62 |
-
"tune_top_llm_layers": 4,
|
| 63 |
-
"tune_visual": false,
|
| 64 |
-
"tune_vlln": true,
|
| 65 |
-
"use_albumentations_transforms": true,
|
| 66 |
-
"use_alternate_vl_dit": true,
|
| 67 |
-
"use_flash_attention": true,
|
| 68 |
-
"use_relative_action": true,
|
| 69 |
-
"use_vlln": true
|
| 70 |
-
}
|
|
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|
checkpoint-15000/embodiment_id.json
DELETED
|
@@ -1,11 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"robocasa_panda_omron": 13,
|
| 3 |
-
"gr1": 20,
|
| 4 |
-
"behavior_r1_pro": 24,
|
| 5 |
-
"unitree_g1": 8,
|
| 6 |
-
"oxe_google": 0,
|
| 7 |
-
"oxe_widowx": 1,
|
| 8 |
-
"libero_panda": 2,
|
| 9 |
-
"oxe_droid": 16,
|
| 10 |
-
"new_embodiment": 10
|
| 11 |
-
}
|
|
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|
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|
checkpoint-15000/experiment_cfg/conf.yaml
DELETED
|
@@ -1,206 +0,0 @@
|
|
| 1 |
-
load_config_path: null
|
| 2 |
-
model:
|
| 3 |
-
model_type: Gr00tN1d6
|
| 4 |
-
model_dtype: bfloat16
|
| 5 |
-
model_name: nvidia/Eagle-Block2A-2B-v2
|
| 6 |
-
backbone_model_type: eagle
|
| 7 |
-
model_revision: null
|
| 8 |
-
tune_top_llm_layers: 4
|
| 9 |
-
backbone_embedding_dim: 2048
|
| 10 |
-
tune_llm: false
|
| 11 |
-
tune_visual: false
|
| 12 |
-
select_layer: 16
|
| 13 |
-
reproject_vision: false
|
| 14 |
-
use_flash_attention: true
|
| 15 |
-
load_bf16: false
|
| 16 |
-
collator_overwrite_image_inputs: false
|
| 17 |
-
eagle_collator: true
|
| 18 |
-
backbone_trainable_params_fp32: true
|
| 19 |
-
image_crop_size: null
|
| 20 |
-
image_target_size: null
|
| 21 |
-
shortest_image_edge: 256
|
| 22 |
-
crop_fraction: 0.95
|
| 23 |
-
random_rotation_angle: null
|
| 24 |
-
color_jitter_params: null
|
| 25 |
-
use_albumentations_transforms: true
|
| 26 |
-
extra_augmentation_config: null
|
| 27 |
-
formalize_language: true
|
| 28 |
-
apply_sincos_state_encoding: false
|
| 29 |
-
use_relative_action: true
|
| 30 |
-
max_state_dim: 29
|
| 31 |
-
max_action_dim: 29
|
| 32 |
-
action_horizon: 16
|
| 33 |
-
hidden_size: 1024
|
| 34 |
-
input_embedding_dim: 1536
|
| 35 |
-
add_pos_embed: true
|
| 36 |
-
attn_dropout: 0.2
|
| 37 |
-
use_vlln: true
|
| 38 |
-
max_seq_len: 1024
|
| 39 |
-
use_alternate_vl_dit: true
|
| 40 |
-
attend_text_every_n_blocks: 2
|
| 41 |
-
diffusion_model_cfg:
|
| 42 |
-
positional_embeddings: null
|
| 43 |
-
num_layers: 32
|
| 44 |
-
num_attention_heads: 32
|
| 45 |
-
attention_head_dim: 48
|
| 46 |
-
norm_type: ada_norm
|
| 47 |
-
dropout: 0.2
|
| 48 |
-
final_dropout: true
|
| 49 |
-
output_dim: 1024
|
| 50 |
-
interleave_self_attention: true
|
| 51 |
-
num_inference_timesteps: 4
|
| 52 |
-
noise_beta_alpha: 1.5
|
| 53 |
-
noise_beta_beta: 1.0
|
| 54 |
-
noise_s: 0.999
|
| 55 |
-
num_timestep_buckets: 1000
|
| 56 |
-
tune_projector: true
|
| 57 |
-
tune_diffusion_model: true
|
| 58 |
-
tune_vlln: true
|
| 59 |
-
state_dropout_prob: 0.0
|
| 60 |
-
state_additive_noise_scale: 0.0
|
| 61 |
-
max_num_embodiments: 32
|
| 62 |
-
data:
|
| 63 |
-
datasets:
|
| 64 |
-
- dataset_paths:
|
| 65 |
-
- ./cherry_data
|
| 66 |
-
embodiment_tag: new_embodiment
|
| 67 |
-
mix_ratio: 1.0
|
| 68 |
-
dataset_type: physical_embodiment
|
| 69 |
-
val_dataset_path: null
|
| 70 |
-
modality_configs:
|
| 71 |
-
new_embodiment:
|
| 72 |
-
video:
|
| 73 |
-
delta_indices:
|
| 74 |
-
- 0
|
| 75 |
-
modality_keys:
|
| 76 |
-
- cam_base
|
| 77 |
-
- cam_wrist
|
| 78 |
-
sin_cos_embedding_keys: null
|
| 79 |
-
mean_std_embedding_keys: null
|
| 80 |
-
action_configs: null
|
| 81 |
-
state:
|
| 82 |
-
delta_indices:
|
| 83 |
-
- 0
|
| 84 |
-
modality_keys:
|
| 85 |
-
- arm
|
| 86 |
-
- gripper
|
| 87 |
-
sin_cos_embedding_keys: null
|
| 88 |
-
mean_std_embedding_keys: null
|
| 89 |
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action_configs: null
|
| 90 |
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action:
|
| 91 |
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delta_indices:
|
| 92 |
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- 0
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| 93 |
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modality_keys:
|
| 109 |
-
- arm
|
| 110 |
-
- gripper
|
| 111 |
-
sin_cos_embedding_keys: null
|
| 112 |
-
mean_std_embedding_keys: null
|
| 113 |
-
action_configs:
|
| 114 |
-
- rep: ABSOLUTE
|
| 115 |
-
type: NON_EEF
|
| 116 |
-
format: DEFAULT
|
| 117 |
-
state_key: null
|
| 118 |
-
- rep: ABSOLUTE
|
| 119 |
-
type: NON_EEF
|
| 120 |
-
format: DEFAULT
|
| 121 |
-
state_key: null
|
| 122 |
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language:
|
| 123 |
-
delta_indices:
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| 124 |
-
- 0
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| 125 |
-
modality_keys:
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| 126 |
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|
| 127 |
-
sin_cos_embedding_keys: null
|
| 128 |
-
mean_std_embedding_keys: null
|
| 129 |
-
action_configs: null
|
| 130 |
-
download_cache: false
|
| 131 |
-
shard_size: 1024
|
| 132 |
-
episode_sampling_rate: 0.1
|
| 133 |
-
num_shards_per_epoch: 100000
|
| 134 |
-
override_pretraining_statistics: false
|
| 135 |
-
mode: single_turn
|
| 136 |
-
random_chop: 0.0
|
| 137 |
-
mock_dataset_mode: false
|
| 138 |
-
shuffle: true
|
| 139 |
-
seed: 42
|
| 140 |
-
multiprocessing_context: fork
|
| 141 |
-
allow_padding: false
|
| 142 |
-
subsample_ratio: 1.0
|
| 143 |
-
image_crop_size:
|
| 144 |
-
- 244
|
| 145 |
-
- 244
|
| 146 |
-
image_target_size:
|
| 147 |
-
- 224
|
| 148 |
-
- 224
|
| 149 |
-
video_backend: decord
|
| 150 |
-
training:
|
| 151 |
-
output_dir: ./outputs/fr5_cherry
|
| 152 |
-
experiment_name: null
|
| 153 |
-
max_steps: 20000
|
| 154 |
-
global_batch_size: 32
|
| 155 |
-
batch_size: null
|
| 156 |
-
gradient_accumulation_steps: 1
|
| 157 |
-
learning_rate: 0.0001
|
| 158 |
-
lr_scheduler_type: cosine
|
| 159 |
-
weight_decay: 1.0e-05
|
| 160 |
-
warmup_ratio: 0.05
|
| 161 |
-
warmup_steps: 0
|
| 162 |
-
max_grad_norm: 1.0
|
| 163 |
-
optim: adamw_torch
|
| 164 |
-
start_from_checkpoint: ./pretrained_models/GR00T-N1.6-3B
|
| 165 |
-
tf32: true
|
| 166 |
-
fp16: false
|
| 167 |
-
bf16: true
|
| 168 |
-
eval_bf16: true
|
| 169 |
-
logging_steps: 10
|
| 170 |
-
save_steps: 5000
|
| 171 |
-
save_total_limit: 5
|
| 172 |
-
save_vl_model: false
|
| 173 |
-
upload_checkpoints: false
|
| 174 |
-
upload_every: 1000
|
| 175 |
-
upload_last_n_checkpoints: 5
|
| 176 |
-
max_concurrent_uploads: 2
|
| 177 |
-
eval_strategy: 'no'
|
| 178 |
-
eval_steps: 500
|
| 179 |
-
eval_set_split_ratio: 0.1
|
| 180 |
-
eval_batch_size: 2
|
| 181 |
-
save_best_eval_metric_name: ''
|
| 182 |
-
save_best_eval_metric_greater_is_better: true
|
| 183 |
-
deepspeed_stage: 2
|
| 184 |
-
gradient_checkpointing: false
|
| 185 |
-
transformers_trust_remote_code: true
|
| 186 |
-
transformers_local_files_only: false
|
| 187 |
-
transformers_cache_dir: null
|
| 188 |
-
transformers_access_token: null
|
| 189 |
-
use_ddp: false
|
| 190 |
-
ddp_bucket_cap_mb: 100
|
| 191 |
-
num_gpus: 1
|
| 192 |
-
dataloader_num_workers: 2
|
| 193 |
-
remove_unused_columns: false
|
| 194 |
-
use_wandb: false
|
| 195 |
-
wandb_project: finetune-gr00t-n1d6
|
| 196 |
-
enable_profiling: false
|
| 197 |
-
max_retries: 3
|
| 198 |
-
assert_loss_less_than: null
|
| 199 |
-
add_rl_callback: false
|
| 200 |
-
enable_open_loop_eval: false
|
| 201 |
-
open_loop_eval_traj_ids:
|
| 202 |
-
- 0
|
| 203 |
-
open_loop_eval_steps_per_traj: 100
|
| 204 |
-
open_loop_eval_plot_indices: null
|
| 205 |
-
max_steps: 20000
|
| 206 |
-
save_steps: 5000
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|
checkpoint-15000/experiment_cfg/config.yaml
DELETED
|
@@ -1,239 +0,0 @@
|
|
| 1 |
-
!!python/object:gr00t.configs.base_config.Config
|
| 2 |
-
data: !!python/object:gr00t.configs.data.data_config.DataConfig
|
| 3 |
-
allow_padding: false
|
| 4 |
-
datasets:
|
| 5 |
-
- !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
|
| 6 |
-
dataset_paths:
|
| 7 |
-
- ./cherry_data
|
| 8 |
-
dataset_type: physical_embodiment
|
| 9 |
-
embodiment_tag: new_embodiment
|
| 10 |
-
mix_ratio: 1.0
|
| 11 |
-
val_dataset_path: null
|
| 12 |
-
download_cache: false
|
| 13 |
-
episode_sampling_rate: 0.1
|
| 14 |
-
image_crop_size:
|
| 15 |
-
- 244
|
| 16 |
-
- 244
|
| 17 |
-
image_target_size:
|
| 18 |
-
- 224
|
| 19 |
-
- 224
|
| 20 |
-
mock_dataset_mode: false
|
| 21 |
-
modality_configs:
|
| 22 |
-
new_embodiment:
|
| 23 |
-
action: !!python/object:gr00t.data.types.ModalityConfig
|
| 24 |
-
action_configs:
|
| 25 |
-
- !!python/object:gr00t.data.types.ActionConfig
|
| 26 |
-
format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
|
| 27 |
-
- default
|
| 28 |
-
rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation
|
| 29 |
-
- absolute
|
| 30 |
-
state_key: null
|
| 31 |
-
type: &id003 !!python/object/apply:gr00t.data.types.ActionType
|
| 32 |
-
- non_eef
|
| 33 |
-
- !!python/object:gr00t.data.types.ActionConfig
|
| 34 |
-
format: *id001
|
| 35 |
-
rep: *id002
|
| 36 |
-
state_key: null
|
| 37 |
-
type: *id003
|
| 38 |
-
delta_indices:
|
| 39 |
-
- 0
|
| 40 |
-
- 1
|
| 41 |
-
- 2
|
| 42 |
-
- 3
|
| 43 |
-
- 4
|
| 44 |
-
- 5
|
| 45 |
-
- 6
|
| 46 |
-
- 7
|
| 47 |
-
- 8
|
| 48 |
-
- 9
|
| 49 |
-
- 10
|
| 50 |
-
- 11
|
| 51 |
-
- 12
|
| 52 |
-
- 13
|
| 53 |
-
- 14
|
| 54 |
-
- 15
|
| 55 |
-
mean_std_embedding_keys: null
|
| 56 |
-
modality_keys:
|
| 57 |
-
- arm
|
| 58 |
-
- gripper
|
| 59 |
-
sin_cos_embedding_keys: null
|
| 60 |
-
language: !!python/object:gr00t.data.types.ModalityConfig
|
| 61 |
-
action_configs: null
|
| 62 |
-
delta_indices:
|
| 63 |
-
- 0
|
| 64 |
-
mean_std_embedding_keys: null
|
| 65 |
-
modality_keys:
|
| 66 |
-
- annotation.human.task_description
|
| 67 |
-
sin_cos_embedding_keys: null
|
| 68 |
-
state: !!python/object:gr00t.data.types.ModalityConfig
|
| 69 |
-
action_configs: null
|
| 70 |
-
delta_indices:
|
| 71 |
-
- 0
|
| 72 |
-
mean_std_embedding_keys: null
|
| 73 |
-
modality_keys:
|
| 74 |
-
- arm
|
| 75 |
-
- gripper
|
| 76 |
-
sin_cos_embedding_keys: null
|
| 77 |
-
video: !!python/object:gr00t.data.types.ModalityConfig
|
| 78 |
-
action_configs: null
|
| 79 |
-
delta_indices:
|
| 80 |
-
- 0
|
| 81 |
-
mean_std_embedding_keys: null
|
| 82 |
-
modality_keys:
|
| 83 |
-
- cam_base
|
| 84 |
-
- cam_wrist
|
| 85 |
-
sin_cos_embedding_keys: null
|
| 86 |
-
mode: single_turn
|
| 87 |
-
multiprocessing_context: fork
|
| 88 |
-
num_shards_per_epoch: 100000
|
| 89 |
-
override_pretraining_statistics: false
|
| 90 |
-
random_chop: 0.0
|
| 91 |
-
seed: 42
|
| 92 |
-
shard_size: 1024
|
| 93 |
-
shuffle: true
|
| 94 |
-
subsample_ratio: 1.0
|
| 95 |
-
video_backend: decord
|
| 96 |
-
load_config_path: null
|
| 97 |
-
model: !!python/object:gr00t.configs.model.gr00t_n1d6.Gr00tN1d6Config
|
| 98 |
-
_attn_implementation_autoset: false
|
| 99 |
-
_attn_implementation_internal: null
|
| 100 |
-
_commit_hash: null
|
| 101 |
-
_name_or_path: ''
|
| 102 |
-
add_cross_attention: false
|
| 103 |
-
architectures: null
|
| 104 |
-
backbone_model_type: eagle
|
| 105 |
-
backbone_trainable_params_fp32: true
|
| 106 |
-
bad_words_ids: null
|
| 107 |
-
begin_suppress_tokens: null
|
| 108 |
-
bos_token_id: null
|
| 109 |
-
chunk_size_feed_forward: 0
|
| 110 |
-
color_jitter_params: null
|
| 111 |
-
cross_attention_hidden_size: null
|
| 112 |
-
decoder_start_token_id: null
|
| 113 |
-
diffusion_model_cfg:
|
| 114 |
-
attention_head_dim: 48
|
| 115 |
-
dropout: 0.2
|
| 116 |
-
final_dropout: true
|
| 117 |
-
interleave_self_attention: true
|
| 118 |
-
norm_type: ada_norm
|
| 119 |
-
num_attention_heads: 32
|
| 120 |
-
num_layers: 32
|
| 121 |
-
output_dim: 1024
|
| 122 |
-
positional_embeddings: null
|
| 123 |
-
diversity_penalty: 0.0
|
| 124 |
-
do_sample: false
|
| 125 |
-
eagle_collator: true
|
| 126 |
-
early_stopping: false
|
| 127 |
-
encoder_no_repeat_ngram_size: 0
|
| 128 |
-
eos_token_id: null
|
| 129 |
-
exponential_decay_length_penalty: null
|
| 130 |
-
extra_augmentation_config: null
|
| 131 |
-
finetuning_task: null
|
| 132 |
-
forced_bos_token_id: null
|
| 133 |
-
forced_eos_token_id: null
|
| 134 |
-
id2label:
|
| 135 |
-
0: LABEL_0
|
| 136 |
-
1: LABEL_1
|
| 137 |
-
is_decoder: false
|
| 138 |
-
is_encoder_decoder: false
|
| 139 |
-
label2id:
|
| 140 |
-
LABEL_0: 0
|
| 141 |
-
LABEL_1: 1
|
| 142 |
-
length_penalty: 1.0
|
| 143 |
-
load_bf16: false
|
| 144 |
-
max_length: 20
|
| 145 |
-
min_length: 0
|
| 146 |
-
model_name: nvidia/Eagle-Block2A-2B-v2
|
| 147 |
-
no_repeat_ngram_size: 0
|
| 148 |
-
num_beam_groups: 1
|
| 149 |
-
num_beams: 1
|
| 150 |
-
num_return_sequences: 1
|
| 151 |
-
output_attentions: false
|
| 152 |
-
output_hidden_states: false
|
| 153 |
-
output_scores: false
|
| 154 |
-
pad_token_id: null
|
| 155 |
-
prefix: null
|
| 156 |
-
problem_type: null
|
| 157 |
-
pruned_heads: {}
|
| 158 |
-
random_rotation_angle: null
|
| 159 |
-
remove_invalid_values: false
|
| 160 |
-
repetition_penalty: 1.0
|
| 161 |
-
reproject_vision: false
|
| 162 |
-
return_dict: true
|
| 163 |
-
return_dict_in_generate: false
|
| 164 |
-
sep_token_id: null
|
| 165 |
-
state_dropout_prob: 0.0
|
| 166 |
-
suppress_tokens: null
|
| 167 |
-
task_specific_params: null
|
| 168 |
-
temperature: 1.0
|
| 169 |
-
tf_legacy_loss: false
|
| 170 |
-
tie_encoder_decoder: false
|
| 171 |
-
tie_word_embeddings: true
|
| 172 |
-
tokenizer_class: null
|
| 173 |
-
top_k: 50
|
| 174 |
-
top_p: 1.0
|
| 175 |
-
torch_dtype: null
|
| 176 |
-
torchscript: false
|
| 177 |
-
transformers_version: null
|
| 178 |
-
tune_diffusion_model: true
|
| 179 |
-
tune_llm: false
|
| 180 |
-
tune_projector: true
|
| 181 |
-
tune_visual: false
|
| 182 |
-
typical_p: 1.0
|
| 183 |
-
use_bfloat16: false
|
| 184 |
-
use_relative_action: true
|
| 185 |
-
training: !!python/object:gr00t.configs.training.training_config.TrainingConfig
|
| 186 |
-
add_rl_callback: false
|
| 187 |
-
assert_loss_less_than: null
|
| 188 |
-
batch_size: null
|
| 189 |
-
bf16: true
|
| 190 |
-
dataloader_num_workers: 2
|
| 191 |
-
ddp_bucket_cap_mb: 100
|
| 192 |
-
deepspeed_stage: 2
|
| 193 |
-
enable_open_loop_eval: false
|
| 194 |
-
enable_profiling: false
|
| 195 |
-
eval_batch_size: 2
|
| 196 |
-
eval_bf16: true
|
| 197 |
-
eval_set_split_ratio: 0.1
|
| 198 |
-
eval_steps: 500
|
| 199 |
-
eval_strategy: 'no'
|
| 200 |
-
experiment_name: null
|
| 201 |
-
fp16: false
|
| 202 |
-
global_batch_size: 32
|
| 203 |
-
gradient_accumulation_steps: 1
|
| 204 |
-
gradient_checkpointing: false
|
| 205 |
-
learning_rate: 0.0001
|
| 206 |
-
logging_steps: 10
|
| 207 |
-
lr_scheduler_type: cosine
|
| 208 |
-
max_concurrent_uploads: 2
|
| 209 |
-
max_grad_norm: 1.0
|
| 210 |
-
max_retries: 3
|
| 211 |
-
max_steps: 20000
|
| 212 |
-
num_gpus: 1
|
| 213 |
-
open_loop_eval_plot_indices: null
|
| 214 |
-
open_loop_eval_steps_per_traj: 100
|
| 215 |
-
open_loop_eval_traj_ids:
|
| 216 |
-
- 0
|
| 217 |
-
optim: adamw_torch
|
| 218 |
-
output_dir: ./outputs/fr5_cherry
|
| 219 |
-
remove_unused_columns: false
|
| 220 |
-
save_best_eval_metric_greater_is_better: true
|
| 221 |
-
save_best_eval_metric_name: ''
|
| 222 |
-
save_steps: 5000
|
| 223 |
-
save_total_limit: 5
|
| 224 |
-
save_vl_model: false
|
| 225 |
-
start_from_checkpoint: ./pretrained_models/GR00T-N1.6-3B
|
| 226 |
-
tf32: true
|
| 227 |
-
transformers_access_token: null
|
| 228 |
-
transformers_cache_dir: null
|
| 229 |
-
transformers_local_files_only: false
|
| 230 |
-
transformers_trust_remote_code: true
|
| 231 |
-
upload_checkpoints: false
|
| 232 |
-
upload_every: 1000
|
| 233 |
-
upload_last_n_checkpoints: 5
|
| 234 |
-
use_ddp: false
|
| 235 |
-
use_wandb: false
|
| 236 |
-
wandb_project: finetune-gr00t-n1d6
|
| 237 |
-
warmup_ratio: 0.05
|
| 238 |
-
warmup_steps: 0
|
| 239 |
-
weight_decay: 1.0e-05
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|
checkpoint-15000/experiment_cfg/dataset_statistics.json
DELETED
|
@@ -1,149 +0,0 @@
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|
checkpoint-15000/experiment_cfg/final_model_config.json
DELETED
|
@@ -1,54 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"model_type": "Gr00tN1d6",
|
| 3 |
-
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|
| 4 |
-
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| 5 |
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| 6 |
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| 8 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
-
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|
| 15 |
-
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|
| 16 |
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|
| 17 |
-
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|
| 18 |
-
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|
| 19 |
-
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|
| 20 |
-
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|
| 21 |
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|
| 22 |
-
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|
| 23 |
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|
| 24 |
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|
| 25 |
-
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|
| 26 |
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|
| 27 |
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|
| 28 |
-
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|
| 29 |
-
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|
| 30 |
-
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|
| 31 |
-
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|
| 32 |
-
"diffusion_model_cfg": {
|
| 33 |
-
"attention_head_dim": 48,
|
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|
checkpoint-20000/embodiment_id.json
DELETED
|
@@ -1,11 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"robocasa_panda_omron": 13,
|
| 3 |
-
"gr1": 20,
|
| 4 |
-
"behavior_r1_pro": 24,
|
| 5 |
-
"unitree_g1": 8,
|
| 6 |
-
"oxe_google": 0,
|
| 7 |
-
"oxe_widowx": 1,
|
| 8 |
-
"libero_panda": 2,
|
| 9 |
-
"oxe_droid": 16,
|
| 10 |
-
"new_embodiment": 10
|
| 11 |
-
}
|
|
|
|
|
|
|
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|
checkpoint-20000/experiment_cfg/conf.yaml
DELETED
|
@@ -1,206 +0,0 @@
|
|
| 1 |
-
load_config_path: null
|
| 2 |
-
model:
|
| 3 |
-
model_type: Gr00tN1d6
|
| 4 |
-
model_dtype: bfloat16
|
| 5 |
-
model_name: nvidia/Eagle-Block2A-2B-v2
|
| 6 |
-
backbone_model_type: eagle
|
| 7 |
-
model_revision: null
|
| 8 |
-
tune_top_llm_layers: 4
|
| 9 |
-
backbone_embedding_dim: 2048
|
| 10 |
-
tune_llm: false
|
| 11 |
-
tune_visual: false
|
| 12 |
-
select_layer: 16
|
| 13 |
-
reproject_vision: false
|
| 14 |
-
use_flash_attention: true
|
| 15 |
-
load_bf16: false
|
| 16 |
-
collator_overwrite_image_inputs: false
|
| 17 |
-
eagle_collator: true
|
| 18 |
-
backbone_trainable_params_fp32: true
|
| 19 |
-
image_crop_size: null
|
| 20 |
-
image_target_size: null
|
| 21 |
-
shortest_image_edge: 256
|
| 22 |
-
crop_fraction: 0.95
|
| 23 |
-
random_rotation_angle: null
|
| 24 |
-
color_jitter_params: null
|
| 25 |
-
use_albumentations_transforms: true
|
| 26 |
-
extra_augmentation_config: null
|
| 27 |
-
formalize_language: true
|
| 28 |
-
apply_sincos_state_encoding: false
|
| 29 |
-
use_relative_action: true
|
| 30 |
-
max_state_dim: 29
|
| 31 |
-
max_action_dim: 29
|
| 32 |
-
action_horizon: 16
|
| 33 |
-
hidden_size: 1024
|
| 34 |
-
input_embedding_dim: 1536
|
| 35 |
-
add_pos_embed: true
|
| 36 |
-
attn_dropout: 0.2
|
| 37 |
-
use_vlln: true
|
| 38 |
-
max_seq_len: 1024
|
| 39 |
-
use_alternate_vl_dit: true
|
| 40 |
-
attend_text_every_n_blocks: 2
|
| 41 |
-
diffusion_model_cfg:
|
| 42 |
-
positional_embeddings: null
|
| 43 |
-
num_layers: 32
|
| 44 |
-
num_attention_heads: 32
|
| 45 |
-
attention_head_dim: 48
|
| 46 |
-
norm_type: ada_norm
|
| 47 |
-
dropout: 0.2
|
| 48 |
-
final_dropout: true
|
| 49 |
-
output_dim: 1024
|
| 50 |
-
interleave_self_attention: true
|
| 51 |
-
num_inference_timesteps: 4
|
| 52 |
-
noise_beta_alpha: 1.5
|
| 53 |
-
noise_beta_beta: 1.0
|
| 54 |
-
noise_s: 0.999
|
| 55 |
-
num_timestep_buckets: 1000
|
| 56 |
-
tune_projector: true
|
| 57 |
-
tune_diffusion_model: true
|
| 58 |
-
tune_vlln: true
|
| 59 |
-
state_dropout_prob: 0.0
|
| 60 |
-
state_additive_noise_scale: 0.0
|
| 61 |
-
max_num_embodiments: 32
|
| 62 |
-
data:
|
| 63 |
-
datasets:
|
| 64 |
-
- dataset_paths:
|
| 65 |
-
- ./cherry_data
|
| 66 |
-
embodiment_tag: new_embodiment
|
| 67 |
-
mix_ratio: 1.0
|
| 68 |
-
dataset_type: physical_embodiment
|
| 69 |
-
val_dataset_path: null
|
| 70 |
-
modality_configs:
|
| 71 |
-
new_embodiment:
|
| 72 |
-
video:
|
| 73 |
-
delta_indices:
|
| 74 |
-
- 0
|
| 75 |
-
modality_keys:
|
| 76 |
-
- cam_base
|
| 77 |
-
- cam_wrist
|
| 78 |
-
sin_cos_embedding_keys: null
|
| 79 |
-
mean_std_embedding_keys: null
|
| 80 |
-
action_configs: null
|
| 81 |
-
state:
|
| 82 |
-
delta_indices:
|
| 83 |
-
- 0
|
| 84 |
-
modality_keys:
|
| 85 |
-
- arm
|
| 86 |
-
- gripper
|
| 87 |
-
sin_cos_embedding_keys: null
|
| 88 |
-
mean_std_embedding_keys: null
|
| 89 |
-
action_configs: null
|
| 90 |
-
action:
|
| 91 |
-
delta_indices:
|
| 92 |
-
- 0
|
| 93 |
-
- 1
|
| 94 |
-
- 2
|
| 95 |
-
- 3
|
| 96 |
-
- 4
|
| 97 |
-
- 5
|
| 98 |
-
- 6
|
| 99 |
-
- 7
|
| 100 |
-
- 8
|
| 101 |
-
- 9
|
| 102 |
-
- 10
|
| 103 |
-
- 11
|
| 104 |
-
- 12
|
| 105 |
-
- 13
|
| 106 |
-
- 14
|
| 107 |
-
- 15
|
| 108 |
-
modality_keys:
|
| 109 |
-
- arm
|
| 110 |
-
- gripper
|
| 111 |
-
sin_cos_embedding_keys: null
|
| 112 |
-
mean_std_embedding_keys: null
|
| 113 |
-
action_configs:
|
| 114 |
-
- rep: ABSOLUTE
|
| 115 |
-
type: NON_EEF
|
| 116 |
-
format: DEFAULT
|
| 117 |
-
state_key: null
|
| 118 |
-
- rep: ABSOLUTE
|
| 119 |
-
type: NON_EEF
|
| 120 |
-
format: DEFAULT
|
| 121 |
-
state_key: null
|
| 122 |
-
language:
|
| 123 |
-
delta_indices:
|
| 124 |
-
- 0
|
| 125 |
-
modality_keys:
|
| 126 |
-
- annotation.human.task_description
|
| 127 |
-
sin_cos_embedding_keys: null
|
| 128 |
-
mean_std_embedding_keys: null
|
| 129 |
-
action_configs: null
|
| 130 |
-
download_cache: false
|
| 131 |
-
shard_size: 1024
|
| 132 |
-
episode_sampling_rate: 0.1
|
| 133 |
-
num_shards_per_epoch: 100000
|
| 134 |
-
override_pretraining_statistics: false
|
| 135 |
-
mode: single_turn
|
| 136 |
-
random_chop: 0.0
|
| 137 |
-
mock_dataset_mode: false
|
| 138 |
-
shuffle: true
|
| 139 |
-
seed: 42
|
| 140 |
-
multiprocessing_context: fork
|
| 141 |
-
allow_padding: false
|
| 142 |
-
subsample_ratio: 1.0
|
| 143 |
-
image_crop_size:
|
| 144 |
-
- 244
|
| 145 |
-
- 244
|
| 146 |
-
image_target_size:
|
| 147 |
-
- 224
|
| 148 |
-
- 224
|
| 149 |
-
video_backend: decord
|
| 150 |
-
training:
|
| 151 |
-
output_dir: ./outputs/fr5_cherry
|
| 152 |
-
experiment_name: null
|
| 153 |
-
max_steps: 20000
|
| 154 |
-
global_batch_size: 32
|
| 155 |
-
batch_size: null
|
| 156 |
-
gradient_accumulation_steps: 1
|
| 157 |
-
learning_rate: 0.0001
|
| 158 |
-
lr_scheduler_type: cosine
|
| 159 |
-
weight_decay: 1.0e-05
|
| 160 |
-
warmup_ratio: 0.05
|
| 161 |
-
warmup_steps: 0
|
| 162 |
-
max_grad_norm: 1.0
|
| 163 |
-
optim: adamw_torch
|
| 164 |
-
start_from_checkpoint: ./pretrained_models/GR00T-N1.6-3B
|
| 165 |
-
tf32: true
|
| 166 |
-
fp16: false
|
| 167 |
-
bf16: true
|
| 168 |
-
eval_bf16: true
|
| 169 |
-
logging_steps: 10
|
| 170 |
-
save_steps: 5000
|
| 171 |
-
save_total_limit: 5
|
| 172 |
-
save_vl_model: false
|
| 173 |
-
upload_checkpoints: false
|
| 174 |
-
upload_every: 1000
|
| 175 |
-
upload_last_n_checkpoints: 5
|
| 176 |
-
max_concurrent_uploads: 2
|
| 177 |
-
eval_strategy: 'no'
|
| 178 |
-
eval_steps: 500
|
| 179 |
-
eval_set_split_ratio: 0.1
|
| 180 |
-
eval_batch_size: 2
|
| 181 |
-
save_best_eval_metric_name: ''
|
| 182 |
-
save_best_eval_metric_greater_is_better: true
|
| 183 |
-
deepspeed_stage: 2
|
| 184 |
-
gradient_checkpointing: false
|
| 185 |
-
transformers_trust_remote_code: true
|
| 186 |
-
transformers_local_files_only: false
|
| 187 |
-
transformers_cache_dir: null
|
| 188 |
-
transformers_access_token: null
|
| 189 |
-
use_ddp: false
|
| 190 |
-
ddp_bucket_cap_mb: 100
|
| 191 |
-
num_gpus: 1
|
| 192 |
-
dataloader_num_workers: 2
|
| 193 |
-
remove_unused_columns: false
|
| 194 |
-
use_wandb: false
|
| 195 |
-
wandb_project: finetune-gr00t-n1d6
|
| 196 |
-
enable_profiling: false
|
| 197 |
-
max_retries: 3
|
| 198 |
-
assert_loss_less_than: null
|
| 199 |
-
add_rl_callback: false
|
| 200 |
-
enable_open_loop_eval: false
|
| 201 |
-
open_loop_eval_traj_ids:
|
| 202 |
-
- 0
|
| 203 |
-
open_loop_eval_steps_per_traj: 100
|
| 204 |
-
open_loop_eval_plot_indices: null
|
| 205 |
-
max_steps: 20000
|
| 206 |
-
save_steps: 5000
|
|
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|
checkpoint-20000/experiment_cfg/config.yaml
DELETED
|
@@ -1,239 +0,0 @@
|
|
| 1 |
-
!!python/object:gr00t.configs.base_config.Config
|
| 2 |
-
data: !!python/object:gr00t.configs.data.data_config.DataConfig
|
| 3 |
-
allow_padding: false
|
| 4 |
-
datasets:
|
| 5 |
-
- !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
|
| 6 |
-
dataset_paths:
|
| 7 |
-
- ./cherry_data
|
| 8 |
-
dataset_type: physical_embodiment
|
| 9 |
-
embodiment_tag: new_embodiment
|
| 10 |
-
mix_ratio: 1.0
|
| 11 |
-
val_dataset_path: null
|
| 12 |
-
download_cache: false
|
| 13 |
-
episode_sampling_rate: 0.1
|
| 14 |
-
image_crop_size:
|
| 15 |
-
- 244
|
| 16 |
-
- 244
|
| 17 |
-
image_target_size:
|
| 18 |
-
- 224
|
| 19 |
-
- 224
|
| 20 |
-
mock_dataset_mode: false
|
| 21 |
-
modality_configs:
|
| 22 |
-
new_embodiment:
|
| 23 |
-
action: !!python/object:gr00t.data.types.ModalityConfig
|
| 24 |
-
action_configs:
|
| 25 |
-
- !!python/object:gr00t.data.types.ActionConfig
|
| 26 |
-
format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
|
| 27 |
-
- default
|
| 28 |
-
rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation
|
| 29 |
-
- absolute
|
| 30 |
-
state_key: null
|
| 31 |
-
type: &id003 !!python/object/apply:gr00t.data.types.ActionType
|
| 32 |
-
- non_eef
|
| 33 |
-
- !!python/object:gr00t.data.types.ActionConfig
|
| 34 |
-
format: *id001
|
| 35 |
-
rep: *id002
|
| 36 |
-
state_key: null
|
| 37 |
-
type: *id003
|
| 38 |
-
delta_indices:
|
| 39 |
-
- 0
|
| 40 |
-
- 1
|
| 41 |
-
- 2
|
| 42 |
-
- 3
|
| 43 |
-
- 4
|
| 44 |
-
- 5
|
| 45 |
-
- 6
|
| 46 |
-
- 7
|
| 47 |
-
- 8
|
| 48 |
-
- 9
|
| 49 |
-
- 10
|
| 50 |
-
- 11
|
| 51 |
-
- 12
|
| 52 |
-
- 13
|
| 53 |
-
- 14
|
| 54 |
-
- 15
|
| 55 |
-
mean_std_embedding_keys: null
|
| 56 |
-
modality_keys:
|
| 57 |
-
- arm
|
| 58 |
-
- gripper
|
| 59 |
-
sin_cos_embedding_keys: null
|
| 60 |
-
language: !!python/object:gr00t.data.types.ModalityConfig
|
| 61 |
-
action_configs: null
|
| 62 |
-
delta_indices:
|
| 63 |
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video: !!python/object:gr00t.data.types.ModalityConfig
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learning_rate: 0.0001
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optim: adamw_torch
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output_dir: ./outputs/fr5_cherry
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checkpoint-20000/experiment_cfg/dataset_statistics.json
DELETED
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checkpoint-20000/rng_state.pth
DELETED
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| 1 |
-
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:675751298697509e109188026494482b1da89c72d7a1ba3abec2e498516d2755
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size 14645
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checkpoint-20000/scheduler.pt
DELETED
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:7fa802a80def971b73ec74284a6aa44d0b2ea101bd38ed41a3b1c1a0b4001f00
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| 3 |
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size 1465
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