diff --git a/checkpoint-10000/config.json b/checkpoint-10000/config.json deleted file mode 100644 index 4357a8edfcf080c80beaee90f6fc0ea0bad73a20..0000000000000000000000000000000000000000 --- a/checkpoint-10000/config.json +++ /dev/null @@ -1,70 +0,0 @@ -{ - "action_horizon": 50, - "add_pos_embed": true, - "apply_sincos_state_encoding": true, - "architectures": [ - "Gr00tN1d6" - ], - "attn_dropout": 0.2, - "attn_implementation": null, - "backbone_embedding_dim": 2048, - "backbone_model_type": "eagle", - "backbone_trainable_params_fp32": true, - "collator_overwrite_image_inputs": false, - "color_jitter_params": { - "brightness": 0.1, - "contrast": 0.1, - "hue": 0.1, - "saturation": 0.1 - }, - "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 - }, - "eagle_collator": true, - "formalize_language": true, - "gemma_collator": false, - "hidden_size": 1024, - "image_crop_size": null, - "image_target_size": null, - "input_embedding_dim": 1536, - "load_bf16": true, - "max_action_dim": 128, - "max_num_embodiments": 32, - "max_seq_len": 1024, - "max_state_dim": 128, - "model_dtype": "bfloat16", - "model_name": "nvidia/Eagle-Block2A-2B-v2", - "model_type": "Gr00tN1d6", - "noise_beta_alpha": 1.5, - "noise_beta_beta": 1.0, - "noise_s": 0.999, - "num_inference_timesteps": 4, - "num_timestep_buckets": 1000, - "random_rotation_angle": null, - "reproject_vision": false, - "select_layer": 16, - "shortest_image_edge": 256, - "state_dropout_prob": 0.0, - "torch_dtype": "bfloat16", - "transformers_version": "4.51.3", - "tune_diffusion_model": true, - "tune_llm": false, - "tune_projector": true, - "tune_top_llm_layers": 4, - "tune_visual": false, - "tune_vlln": true, - "use_albumentations_transforms": true, - "use_alternate_vl_dit": true, - "use_flash_attention": true, - "use_relative_action": true, - "use_vlln": true -} diff --git a/checkpoint-10000/embodiment_id.json b/checkpoint-10000/embodiment_id.json deleted file mode 100644 index 9db6cf1b1236298d5de030192d4d9c3f1d143e4c..0000000000000000000000000000000000000000 --- a/checkpoint-10000/embodiment_id.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "robocasa_panda_omron": 13, - "gr1": 20, - "behavior_r1_pro": 24, - "unitree_g1": 8, - "oxe_google": 0, - "oxe_widowx": 1, - "libero_panda": 2, - "oxe_droid": 16, - "new_embodiment": 10 -} \ No newline at end of file diff --git a/checkpoint-10000/experiment_cfg/conf.yaml b/checkpoint-10000/experiment_cfg/conf.yaml deleted file mode 100644 index 9860db3f534c1a8d86713105c37714410a0c9a57..0000000000000000000000000000000000000000 --- a/checkpoint-10000/experiment_cfg/conf.yaml +++ /dev/null @@ -1,206 +0,0 @@ -load_config_path: null -model: - model_type: Gr00tN1d6 - model_dtype: bfloat16 - model_name: nvidia/Eagle-Block2A-2B-v2 - backbone_model_type: eagle - model_revision: null - tune_top_llm_layers: 4 - backbone_embedding_dim: 2048 - tune_llm: false - tune_visual: false - select_layer: 16 - reproject_vision: false - use_flash_attention: true - load_bf16: false - collator_overwrite_image_inputs: false - eagle_collator: true - backbone_trainable_params_fp32: true - image_crop_size: null - image_target_size: null - shortest_image_edge: 256 - crop_fraction: 0.95 - random_rotation_angle: null - color_jitter_params: null - use_albumentations_transforms: true - extra_augmentation_config: null - formalize_language: true - apply_sincos_state_encoding: false - use_relative_action: true - max_state_dim: 29 - max_action_dim: 29 - action_horizon: 16 - hidden_size: 1024 - input_embedding_dim: 1536 - add_pos_embed: true - attn_dropout: 0.2 - use_vlln: true - max_seq_len: 1024 - use_alternate_vl_dit: true - attend_text_every_n_blocks: 2 - 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 - 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 - state_dropout_prob: 0.0 - state_additive_noise_scale: 0.0 - max_num_embodiments: 32 -data: - datasets: - - dataset_paths: - - ./cherry_data - embodiment_tag: new_embodiment - mix_ratio: 1.0 - dataset_type: physical_embodiment - val_dataset_path: null - modality_configs: - new_embodiment: - video: - delta_indices: - - 0 - modality_keys: - - cam_base - - cam_wrist - sin_cos_embedding_keys: null - mean_std_embedding_keys: null - action_configs: null - state: - delta_indices: - - 0 - modality_keys: - - arm - - gripper - sin_cos_embedding_keys: null - mean_std_embedding_keys: null - action_configs: null - action: - delta_indices: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - modality_keys: - - arm - - gripper - sin_cos_embedding_keys: null - mean_std_embedding_keys: null - action_configs: - - rep: ABSOLUTE - type: NON_EEF - format: DEFAULT - state_key: null - - rep: ABSOLUTE - type: NON_EEF - format: DEFAULT - state_key: null - language: - delta_indices: - - 0 - modality_keys: - - annotation.human.task_description - sin_cos_embedding_keys: null - mean_std_embedding_keys: null - action_configs: 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 - shuffle: true - seed: 42 - multiprocessing_context: fork - allow_padding: false - subsample_ratio: 1.0 - image_crop_size: - - 244 - - 244 - image_target_size: - - 224 - - 224 - video_backend: decord -training: - output_dir: ./outputs/fr5_cherry - experiment_name: null - max_steps: 20000 - global_batch_size: 32 - batch_size: null - gradient_accumulation_steps: 1 - learning_rate: 0.0001 - lr_scheduler_type: cosine - weight_decay: 1.0e-05 - warmup_ratio: 0.05 - warmup_steps: 0 - max_grad_norm: 1.0 - optim: adamw_torch - start_from_checkpoint: ./pretrained_models/GR00T-N1.6-3B - tf32: true - fp16: false - bf16: true - eval_bf16: true - logging_steps: 10 - save_steps: 5000 - save_total_limit: 5 - save_vl_model: false - upload_checkpoints: false - 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 - transformers_trust_remote_code: true - transformers_local_files_only: false - transformers_cache_dir: null - transformers_access_token: null - use_ddp: false - ddp_bucket_cap_mb: 100 - num_gpus: 1 - dataloader_num_workers: 2 - remove_unused_columns: false - use_wandb: false - wandb_project: finetune-gr00t-n1d6 - enable_profiling: false - max_retries: 3 - assert_loss_less_than: null - add_rl_callback: false - enable_open_loop_eval: false - open_loop_eval_traj_ids: - - 0 - open_loop_eval_steps_per_traj: 100 - open_loop_eval_plot_indices: null -max_steps: 20000 -save_steps: 5000 diff --git a/checkpoint-10000/experiment_cfg/config.yaml b/checkpoint-10000/experiment_cfg/config.yaml deleted file mode 100644 index 4e7824eefe34b2a088dd8ec60a0e15c442c8e311..0000000000000000000000000000000000000000 --- a/checkpoint-10000/experiment_cfg/config.yaml +++ /dev/null @@ -1,239 +0,0 @@ -!!python/object:gr00t.configs.base_config.Config -data: !!python/object:gr00t.configs.data.data_config.DataConfig - allow_padding: false - datasets: - - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig - dataset_paths: - - ./cherry_data - dataset_type: physical_embodiment - embodiment_tag: new_embodiment - mix_ratio: 1.0 - val_dataset_path: null - download_cache: false - episode_sampling_rate: 0.1 - image_crop_size: - - 244 - - 244 - image_target_size: - - 224 - - 224 - mock_dataset_mode: false - modality_configs: - new_embodiment: - action: !!python/object:gr00t.data.types.ModalityConfig - action_configs: - - !!python/object:gr00t.data.types.ActionConfig - format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat - - default - rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation - - absolute - state_key: null - type: &id003 !!python/object/apply:gr00t.data.types.ActionType - - non_eef - - !!python/object:gr00t.data.types.ActionConfig - format: *id001 - rep: *id002 - state_key: null - type: *id003 - delta_indices: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - mean_std_embedding_keys: null - modality_keys: - - arm - - gripper - sin_cos_embedding_keys: null - language: !!python/object:gr00t.data.types.ModalityConfig - action_configs: null - delta_indices: - - 0 - mean_std_embedding_keys: null - modality_keys: - - annotation.human.task_description - sin_cos_embedding_keys: null - state: !!python/object:gr00t.data.types.ModalityConfig - action_configs: null - delta_indices: - - 0 - mean_std_embedding_keys: null - modality_keys: - - arm - - gripper - sin_cos_embedding_keys: null - video: !!python/object:gr00t.data.types.ModalityConfig - action_configs: null - delta_indices: - - 0 - mean_std_embedding_keys: null - modality_keys: - - cam_base - - cam_wrist - sin_cos_embedding_keys: null - mode: single_turn - multiprocessing_context: fork - num_shards_per_epoch: 100000 - override_pretraining_statistics: false - random_chop: 0.0 - seed: 42 - shard_size: 1024 - shuffle: true - subsample_ratio: 1.0 - video_backend: decord -load_config_path: null -model: !!python/object:gr00t.configs.model.gr00t_n1d6.Gr00tN1d6Config - _attn_implementation_autoset: false - _attn_implementation_internal: null - _commit_hash: null - _name_or_path: '' - add_cross_attention: false - architectures: null - backbone_model_type: eagle - backbone_trainable_params_fp32: true - bad_words_ids: null - begin_suppress_tokens: null - bos_token_id: null - chunk_size_feed_forward: 0 - color_jitter_params: null - cross_attention_hidden_size: null - decoder_start_token_id: null - 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 - diversity_penalty: 0.0 - do_sample: false - eagle_collator: true - early_stopping: false - encoder_no_repeat_ngram_size: 0 - eos_token_id: null - exponential_decay_length_penalty: null - extra_augmentation_config: null - finetuning_task: null - forced_bos_token_id: null - forced_eos_token_id: null - id2label: - 0: LABEL_0 - 1: LABEL_1 - is_decoder: false - is_encoder_decoder: false - label2id: - LABEL_0: 0 - LABEL_1: 1 - length_penalty: 1.0 - load_bf16: false - max_length: 20 - min_length: 0 - model_name: nvidia/Eagle-Block2A-2B-v2 - no_repeat_ngram_size: 0 - num_beam_groups: 1 - num_beams: 1 - num_return_sequences: 1 - output_attentions: false - output_hidden_states: false - output_scores: false - pad_token_id: null - prefix: null - problem_type: null - pruned_heads: {} - random_rotation_angle: null - remove_invalid_values: false - repetition_penalty: 1.0 - reproject_vision: false - return_dict: true - return_dict_in_generate: false - sep_token_id: null - state_dropout_prob: 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 - torch_dtype: null - torchscript: false - transformers_version: null - tune_diffusion_model: true - tune_llm: false - tune_projector: true - tune_visual: false - typical_p: 1.0 - use_bfloat16: false - use_relative_action: true -training: !!python/object:gr00t.configs.training.training_config.TrainingConfig - add_rl_callback: false - assert_loss_less_than: null - batch_size: null - bf16: true - dataloader_num_workers: 2 - ddp_bucket_cap_mb: 100 - deepspeed_stage: 2 - enable_open_loop_eval: false - 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: 32 - gradient_accumulation_steps: 1 - gradient_checkpointing: false - learning_rate: 0.0001 - logging_steps: 10 - lr_scheduler_type: cosine - max_concurrent_uploads: 2 - max_grad_norm: 1.0 - max_retries: 3 - max_steps: 20000 - num_gpus: 1 - open_loop_eval_plot_indices: null - open_loop_eval_steps_per_traj: 100 - open_loop_eval_traj_ids: - - 0 - optim: adamw_torch - output_dir: ./outputs/fr5_cherry - remove_unused_columns: false - save_best_eval_metric_greater_is_better: true - save_best_eval_metric_name: '' - save_steps: 5000 - save_total_limit: 5 - save_vl_model: false - start_from_checkpoint: ./pretrained_models/GR00T-N1.6-3B - tf32: true - transformers_access_token: null - transformers_cache_dir: null - transformers_local_files_only: false - transformers_trust_remote_code: true - upload_checkpoints: false - upload_every: 1000 - upload_last_n_checkpoints: 5 - use_ddp: false - use_wandb: false - wandb_project: finetune-gr00t-n1d6 - warmup_ratio: 0.05 - warmup_steps: 0 - weight_decay: 1.0e-05 diff --git a/checkpoint-10000/experiment_cfg/dataset_statistics.json b/checkpoint-10000/experiment_cfg/dataset_statistics.json deleted file mode 100644 index 8aca952981bb76cb22fb0077ec41ee9f0dfcad6c..0000000000000000000000000000000000000000 --- a/checkpoint-10000/experiment_cfg/dataset_statistics.json +++ /dev/null @@ -1,149 +0,0 @@ -{ - "new_embodiment": { - "state": { - "arm": { - "min": [ - 0.4818978011608124, - -1.687173843383789, - 0.62826007604599, - -2.6761701107025146, - -1.8431425094604492, - -0.5678880214691162 - ], - "max": [ - 0.7935351133346558, - -1.014952301979065, - 1.8637524843215942, - -1.0820374488830566, - -1.4455490112304688, - 0.3115537762641907 - ], - "mean": [ - 0.6489784717559814, - -1.3269319534301758, - 1.356391429901123, - -1.804563045501709, - -1.619696021080017, - -0.07974076271057129 - ], - "std": [ - 0.053538445383310186, - 0.1604488044977188, - 0.2438623011112213, - 0.22075510025024414, - 0.07333532720804177, - 0.10092151165008545 - ], - "q01": [ - 0.5197953635454178, - -1.6432996988296509, - 0.8626433879137039, - -2.5542680168151857, - -1.8000394713878631, - -0.37301090329885483 - ], - "q99": [ - 0.7509180748462676, - -1.0879072868824005, - 1.7959050333499906, - -1.252977850437165, - -1.4705305182933812, - 0.2933953133225437 - ] - }, - "gripper": { - "min": [ - 0.0 - ], - "max": [ - 1.0 - ], - "mean": [ - 0.7650123238563538 - ], - "std": [ - 0.39907386898994446 - ], - "q01": [ - 0.0 - ], - "q99": [ - 1.0 - ] - } - }, - "action": { - "arm": { - "min": [ - 0.4818978011608124, - -1.687173843383789, - 0.62826007604599, - -2.6573522090911865, - -1.8431425094604492, - -0.5678880214691162 - ], - "max": [ - 0.7935351133346558, - -1.014952301979065, - 1.8637524843215942, - -1.0820374488830566, - -1.4455490112304688, - 0.3115537762641907 - ], - "mean": [ - 0.6489997506141663, - -1.326717495918274, - 1.355955958366394, - -1.8026670217514038, - -1.6199865341186523, - -0.07982920855283737 - ], - "std": [ - 0.05358240380883204, - 0.16021256148815155, - 0.243374302983284, - 0.2178075611591339, - 0.07321629673242531, - 0.10097639262676239 - ], - "q01": [ - 0.5197953635454178, - -1.6432996988296509, - 0.8625765931606293, - -2.53433034658432, - -1.8000823378562927, - -0.37301090329885483 - ], - "q99": [ - 0.7509180748462676, - -1.0879072868824005, - 1.7849992513656616, - -1.2526323044300085, - -1.4705633461475374, - 0.2933953133225437 - ] - }, - "gripper": { - "min": [ - 0.0 - ], - "max": [ - 1.0 - ], - "mean": [ - 0.7650123238563538 - ], - "std": [ - 0.39907386898994446 - ], - "q01": [ - 0.0 - ], - "q99": [ - 1.0 - ] - } - }, - "relative_action": {} - } -} \ No newline at end of file diff --git a/checkpoint-10000/experiment_cfg/final_model_config.json b/checkpoint-10000/experiment_cfg/final_model_config.json deleted file mode 100644 index 6ea02d527262f204fae29cbf81f730a6184c97af..0000000000000000000000000000000000000000 --- a/checkpoint-10000/experiment_cfg/final_model_config.json +++ /dev/null @@ -1,54 +0,0 @@ -{ - "model_type": "Gr00tN1d6", - "model_dtype": "bfloat16", - "model_name": "nvidia/Eagle-Block2A-2B-v2", - "backbone_model_type": "eagle", - "model_revision": null, - "tune_top_llm_layers": 4, - "backbone_embedding_dim": 2048, - "tune_llm": false, - "tune_visual": false, - "select_layer": 16, - "reproject_vision": false, - "use_flash_attention": true, - "load_bf16": true, - "collator_overwrite_image_inputs": false, - "eagle_collator": true, - "backbone_trainable_params_fp32": true, - "extra_augmentation_config": null, - "apply_sincos_state_encoding": true, - "use_relative_action": true, - "max_state_dim": 128, - "max_action_dim": 128, - "action_horizon": 50, - "hidden_size": 1024, - "input_embedding_dim": 1536, - "add_pos_embed": true, - "attn_dropout": 0.2, - "use_vlln": true, - "max_seq_len": 1024, - "use_alternate_vl_dit": true, - "attend_text_every_n_blocks": 2, - "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 - }, - "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, - "state_dropout_prob": 0.0, - "state_additive_noise_scale": 0.0, - "max_num_embodiments": 32 -} \ No newline at end of file diff --git a/checkpoint-10000/experiment_cfg/final_processor_config.json b/checkpoint-10000/experiment_cfg/final_processor_config.json deleted file mode 100644 index 4a5b3a7f355513a5b01d299167449a7e96bc5dd3..0000000000000000000000000000000000000000 --- a/checkpoint-10000/experiment_cfg/final_processor_config.json +++ /dev/null @@ -1,28 +0,0 @@ -{ - "modality_configs": "{'behavior_r1_pro': {'video': ModalityConfig(delta_indices=[0], modality_keys=['observation.images.rgb.head_256_256', 'observation.images.rgb.left_wrist_256_256', 'observation.images.rgb.right_wrist_256_256'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['robot_pos', 'robot_ori_cos', 'robot_ori_sin', 'robot_2d_ori', 'robot_2d_ori_cos', 'robot_2d_ori_sin', 'robot_lin_vel', 'robot_ang_vel', 'arm_left_qpos', 'arm_left_qpos_sin', 'arm_left_qpos_cos', 'eef_left_pos', 'eef_left_quat', 'gripper_left_qpos', 'arm_right_qpos', 'arm_right_qpos_sin', 'arm_right_qpos_cos', 'eef_right_pos', 'eef_right_quat', 'gripper_right_qpos', 'trunk_qpos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(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], modality_keys=['base', 'torso', 'left_arm', 'left_gripper', 'right_arm', 'right_gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key='trunk_qpos'), ActionConfig(rep=, type=, format=, state_key='arm_left_qpos'), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key='arm_right_qpos'), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'gr1': {'video': ModalityConfig(delta_indices=[0], modality_keys=['ego_view_bg_crop_pad_res256_freq20'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], sin_cos_embedding_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['task'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'robocasa_panda_omron': {'video': ModalityConfig(delta_indices=[0], modality_keys=['res256_image_side_0', 'res256_image_side_1', 'res256_image_wrist_0'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['end_effector_position_relative', 'end_effector_rotation_relative', 'gripper_qpos', 'base_position', 'base_rotation'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['end_effector_position', 'end_effector_rotation', 'gripper_close', 'base_motion', 'control_mode'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.action.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'new_embodiment': {'video': ModalityConfig(delta_indices=[0], modality_keys=['cam_base', 'cam_wrist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}}", - "state_action_processor": "StateActionProcessor(modality_configs={'behavior_r1_pro': {'video': ModalityConfig(delta_indices=[0], modality_keys=['observation.images.rgb.head_256_256', 'observation.images.rgb.left_wrist_256_256', 'observation.images.rgb.right_wrist_256_256'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['robot_pos', 'robot_ori_cos', 'robot_ori_sin', 'robot_2d_ori', 'robot_2d_ori_cos', 'robot_2d_ori_sin', 'robot_lin_vel', 'robot_ang_vel', 'arm_left_qpos', 'arm_left_qpos_sin', 'arm_left_qpos_cos', 'eef_left_pos', 'eef_left_quat', 'gripper_left_qpos', 'arm_right_qpos', 'arm_right_qpos_sin', 'arm_right_qpos_cos', 'eef_right_pos', 'eef_right_quat', 'gripper_right_qpos', 'trunk_qpos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(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], modality_keys=['base', 'torso', 'left_arm', 'left_gripper', 'right_arm', 'right_gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key='trunk_qpos'), ActionConfig(rep=, type=, format=, state_key='arm_left_qpos'), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key='arm_right_qpos'), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'gr1': {'video': ModalityConfig(delta_indices=[0], modality_keys=['ego_view_bg_crop_pad_res256_freq20'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], sin_cos_embedding_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['task'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'robocasa_panda_omron': {'video': ModalityConfig(delta_indices=[0], modality_keys=['res256_image_side_0', 'res256_image_side_1', 'res256_image_wrist_0'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['end_effector_position_relative', 'end_effector_rotation_relative', 'gripper_qpos', 'base_position', 'base_rotation'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['end_effector_position', 'end_effector_rotation', 'gripper_close', 'base_motion', 'control_mode'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.action.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'new_embodiment': {'video': ModalityConfig(delta_indices=[0], modality_keys=['cam_base', 'cam_wrist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}}, statistics={'behavior_r1_pro': {'state': {'robot_pos': {'min': [-15.878335952758789, -4.874791622161865, -0.0030556470155715942], 'max': [28.783069610595703, 25.5261173248291, 0.03920263051986694], 'mean': [8.377509353981011, 3.5519228390967257, 0.005352396491811134], 'std': [9.333495189323855, 6.293349382128611, 0.002169489814694542], 'q01': [-15.627003288269043, -3.923245668411255, 0.00464746356010437], 'q99': [28.161231212615963, 25.433036193847656, 0.019137874245643616]}, 'robot_ori_cos': {'min': [0.9964054226875305, 0.9807400703430176, -1.0], 'max': [1.0, 1.0, 1.0], 'mean': [0.9999999103013197, 0.9999999012025106, -0.04432371966161217], 'std': [1.0955394108707479e-05, 1.5141053684175453e-05, 0.7159057916231842], 'q01': [0.9996431469917297, 0.9996242523193359, -0.9999993443489075], 'q99': [0.9999995827674866, 0.9999999403953552, 0.9999995231628418]}, 'robot_ori_sin': {'min': [-0.08471290022134781, -0.0467030331492424, -1.0], 'max': [0.03247667849063873, 0.1953173577785492, 1.0], 'mean': [-0.0014819139726979956, 0.0011138110099060865, -0.1747246084485246], 'std': [0.0010692286968725616, 0.0011352230347134887, 0.6740228681643635], 'q01': [-0.026712577790021896, -0.027393728494644165, -0.9999995827674866], 'q99': [0.023761406727135177, 0.015501312464475616, 0.9999998211860657]}, 'robot_2d_ori': {'min': [-3.1415927410125732], 'max': [3.1415927410125732], 'mean': [-0.34116709549670976], 'std': [1.8744272700649074], 'q01': [-3.139659881591797], 'q99': [3.1393938064575195]}, 'robot_2d_ori_cos': {'min': [-1.0], 'max': [1.0], 'mean': [-0.04432376387887985], 'std': [0.7159057729093367], 'q01': [-0.9999993443489075], 'q99': [0.9999995231628418]}, 'robot_2d_ori_sin': {'min': [-1.0], 'max': [1.0], 'mean': [-0.1747246006771579], 'std': [0.6740228728055352], 'q01': [-0.9999995827674866], 'q99': [0.9999998211860657]}, 'robot_lin_vel': {'min': [-0.32111313939094543, -0.3024478554725647, -0.338993102312088], 'max': [0.2888447046279907, 0.29485562443733215, 0.27627527713775635], 'mean': [0.0008032824331051274, -0.000851410695872969, -0.014532478391340347], 'std': [0.04011179386851422, 0.03532797622061294, 0.010790340283590575], 'q01': [-0.1382001194357872, -0.13443224787712096, -0.05219040531665087], 'q99': [0.13666878938674926, 0.13471105083823204, 0.005502225868403539]}, 'robot_ang_vel': {'min': [-1.5866682529449463, -1.7150360345840454, -0.04071682691574097], 'max': [1.6171817779541016, 1.5271120071411133, 0.024320760741829872], 'mean': [0.004609276467004075, 0.004284130662207927, -5.683130788171653e-05], 'std': [0.18832387264077133, 0.2137817785121968, 0.0008538363202659394], 'q01': [-0.7182695555686951, -0.736412662267685, -0.008470569178462029], 'q99': [0.7163371068239212, 0.7284575819969177, 0.008367371931672096]}, 'arm_left_qpos': {'min': [-3.3108322620391846, -0.17451578378677368, -2.3561959266662598, -1.7452956438064575, -2.3561980724334717, -1.0472002029418945, -1.5708036422729492], 'max': [0.5505963563919067, 3.0216875076293945, 2.356196165084839, 0.16950564086437225, 2.3564183712005615, 1.0471999645233154, 1.57080078125], 'mean': [-0.44064831753394845, 0.044810599293520874, -0.09667299499241816, -0.6179559573275901, 0.37324754543867494, 0.16138558929363642, -0.04477622658352863], 'std': [0.4374789217045343, 0.16097317375158413, 0.4566687142938444, 0.5212846522479491, 0.5669997492408592, 0.5223829217451378, 0.5210728198228], 'q01': [-2.61892716884613, -0.17450003325939178, -2.296152515411377, -1.6367655992507935, -1.6587732124328614, -1.04719078540802, -1.5708000659942627], 'q99': [0.5170108753442764, 0.8608633208274836, 1.9160030841827416, 0.09510957151651382, 2.3561954498291016, 1.0471981763839722, 1.570236325263977]}, 'arm_left_qpos_sin': {'min': [-1.0, -0.17363129556179047, -1.0, -1.0, -1.0, -0.8660266995429993, -1.0], 'max': [0.5231955647468567, 1.0, 1.0, 0.1686950922012329, 1.0, 0.8660265803337097, 1.0], 'mean': [-0.3788414888506152, 0.043208541825812886, -0.07497595954692522, -0.49673881006309, 0.2950975242538935, 0.13821974557859906, -0.023564394694352786], 'std': [0.33500504759538763, 0.1550813208035862, 0.35555302155891993, 0.3650771441344372, 0.394534724671373, 0.4671246774437793, 0.4220550333326586], 'q01': [-0.9998769760131836, -0.17361578345298767, -0.9997559851408004, -0.999994695186615, -0.9991854596138, -0.866021990776062, -1.0], 'q99': [0.49428389251232147, 0.7477953410148599, 0.9990536546707154, 0.0949662446975708, 0.9998820424079895, 0.8660256862640381, 0.9999998211860657]}, 'arm_left_qpos_cos': {'min': [-1.0, -0.9928199648857117, -0.7071079611778259, -0.17361508309841156, -0.7072650790214539, 0.49999770522117615, -7.315477887459565e-06], 'max': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], 'mean': [0.8307857834306867, 0.9920001827094036, 0.9118657948785598, 0.7166911882650612, 0.810864158310747, 0.8620206050389164, 0.8824085596125505], 'std': [0.24568417534984152, 0.03566746717075397, 0.21956918727934097, 0.33274636593381524, 0.32686230999243526, 0.1594220496831616, 0.2283688098196029], 'q01': [-0.866491652727127, 0.6517829716205596, -0.6634020233154296, -0.06592143326997757, -0.7071074843406677, 0.499999463558197, -3.739199428309803e-06], 'q99': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]}, 'eef_left_pos': {'min': [-0.29318809509277344, -0.2712371051311493, 0.002660512924194336], 'max': [1.213043212890625, 1.040291666984558, 2.0455143451690674], 'mean': [0.5160713621676302, 0.2474851475100056, 0.6836650939637079], 'std': [0.21588456124837183, 0.12222884073343476, 0.27805653079791637], 'q01': [-0.1094246196746826, -0.1754944610595703, 0.02435866668820381], 'q99': [1.0699838256835932, 0.7893409729003906, 1.8705657005310052]}, 'eef_left_quat': {'min': [-0.8588797450065613, -0.8650590181350708, -0.841005265712738, -0.5], 'max': [0.9999929666519165, 1.0, 0.9845409393310547, 0.9617436528205872], 'mean': [-0.0663535199862692, 0.8611118942418127, -0.06413671264087122, 0.3115006830960212], 'std': [0.1792821484038788, 0.19792752849522144, 0.217055016999389, 0.20829947525926978], 'q01': [-0.6571075320243835, -0.6516380822658538, -0.6857465314865112, -0.48287599831819533], 'q99': [0.7483707463741305, 0.9999786615371704, 0.8158004015684127, 0.8217956781387328]}, 'gripper_left_qpos': {'min': [0.0, 0.0], 'max': [0.05000000074505806, 0.05000000074505806], 'mean': [0.04408877553139796, 0.038755202861951284], 'std': [0.011461306769436432, 0.0185620058519011], 'q01': [6.05472345682756e-08, 3.996996369437511e-08], 'q99': [0.05000000074505806, 0.05000000074505806]}, 'arm_right_qpos': {'min': [-3.206026315689087, -3.005096912384033, -2.356199026107788, -1.7454899549484253, -2.356196403503418, -1.0471998453140259, -1.570801854133606], 'max': [0.4984091520309448, 0.17452052235603333, 2.3561978340148926, 0.34479665756225586, 2.3562169075012207, 1.047200083732605, 1.8344576358795166], 'mean': [-0.4926937303094319, -0.05746068854244716, 0.060067987430524196, -0.6359656591353143, -0.23591194814488878, 0.16645281122902053, 0.048392212598411546], 'std': [0.41749482222866613, 0.17047468677090685, 0.397533469770515, 0.5381004499965083, 0.5435909518022447, 0.5310344433737345, 0.4777509105093705], 'q01': [-2.4307329654693604, -2.4881052446365355, -1.6894862282276153, -1.6293303966522217, -2.309690005779266, -1.0450544357299805, -1.5708000659942627], 'q99': [0.39554643869400025, 0.17450003325939178, 2.2048466110229525, 0.0855640336126089, 1.774828751087189, 1.0471981763839722, 1.567148299217224]}, 'arm_right_qpos_sin': {'min': [-1.0, -1.0, -1.0, -1.0, -1.0, -0.8660265207290649, -1.0], 'max': [0.4780288338661194, 0.17363595962524414, 1.0, 0.33800530433654785, 1.0, 0.8660266399383545, 1.0], 'mean': 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"num_layers": 32, - "output_dim": 1024, - "positional_embeddings": null - }, - "eagle_collator": true, - "formalize_language": true, - "gemma_collator": false, - "hidden_size": 1024, - "image_crop_size": null, - "image_target_size": null, - "input_embedding_dim": 1536, - "load_bf16": true, - "max_action_dim": 128, - "max_num_embodiments": 32, - "max_seq_len": 1024, - "max_state_dim": 128, - "model_dtype": "bfloat16", - "model_name": "nvidia/Eagle-Block2A-2B-v2", - "model_type": "Gr00tN1d6", - "noise_beta_alpha": 1.5, - "noise_beta_beta": 1.0, - "noise_s": 0.999, - "num_inference_timesteps": 4, - "num_timestep_buckets": 1000, - "random_rotation_angle": null, - "reproject_vision": false, - "select_layer": 16, - "shortest_image_edge": 256, - "state_dropout_prob": 0.0, - "torch_dtype": "bfloat16", - "transformers_version": "4.51.3", - "tune_diffusion_model": true, - "tune_llm": false, - "tune_projector": true, - "tune_top_llm_layers": 4, - "tune_visual": false, - "tune_vlln": true, - "use_albumentations_transforms": true, - "use_alternate_vl_dit": true, - "use_flash_attention": true, - "use_relative_action": true, - "use_vlln": true -} diff --git a/checkpoint-15000/embodiment_id.json b/checkpoint-15000/embodiment_id.json deleted file mode 100644 index 9db6cf1b1236298d5de030192d4d9c3f1d143e4c..0000000000000000000000000000000000000000 --- a/checkpoint-15000/embodiment_id.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "robocasa_panda_omron": 13, - "gr1": 20, - "behavior_r1_pro": 24, - "unitree_g1": 8, - "oxe_google": 0, - "oxe_widowx": 1, - "libero_panda": 2, - "oxe_droid": 16, - "new_embodiment": 10 -} \ No newline at end of file diff --git a/checkpoint-15000/experiment_cfg/conf.yaml b/checkpoint-15000/experiment_cfg/conf.yaml deleted file mode 100644 index 9860db3f534c1a8d86713105c37714410a0c9a57..0000000000000000000000000000000000000000 --- a/checkpoint-15000/experiment_cfg/conf.yaml +++ /dev/null @@ -1,206 +0,0 @@ -load_config_path: null -model: - model_type: Gr00tN1d6 - model_dtype: bfloat16 - model_name: nvidia/Eagle-Block2A-2B-v2 - backbone_model_type: eagle - model_revision: null - tune_top_llm_layers: 4 - backbone_embedding_dim: 2048 - tune_llm: false - tune_visual: false - select_layer: 16 - reproject_vision: false - use_flash_attention: true - load_bf16: false - collator_overwrite_image_inputs: false - eagle_collator: true - backbone_trainable_params_fp32: true - image_crop_size: null - image_target_size: null - shortest_image_edge: 256 - crop_fraction: 0.95 - random_rotation_angle: null - color_jitter_params: null - use_albumentations_transforms: true - extra_augmentation_config: null - formalize_language: true - apply_sincos_state_encoding: false - use_relative_action: true - max_state_dim: 29 - max_action_dim: 29 - action_horizon: 16 - hidden_size: 1024 - input_embedding_dim: 1536 - add_pos_embed: true - attn_dropout: 0.2 - use_vlln: true - max_seq_len: 1024 - use_alternate_vl_dit: true - attend_text_every_n_blocks: 2 - 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 - 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 - state_dropout_prob: 0.0 - state_additive_noise_scale: 0.0 - max_num_embodiments: 32 -data: - datasets: - - dataset_paths: - - ./cherry_data - embodiment_tag: new_embodiment - mix_ratio: 1.0 - dataset_type: physical_embodiment - val_dataset_path: null - modality_configs: - new_embodiment: - video: - delta_indices: - - 0 - modality_keys: - - cam_base - - cam_wrist - sin_cos_embedding_keys: null - mean_std_embedding_keys: null - action_configs: null - state: - delta_indices: - - 0 - modality_keys: - - arm - - gripper - sin_cos_embedding_keys: null - mean_std_embedding_keys: null - action_configs: null - action: - delta_indices: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - modality_keys: - - arm - - gripper - sin_cos_embedding_keys: null - mean_std_embedding_keys: null - action_configs: - - rep: ABSOLUTE - type: NON_EEF - format: DEFAULT - state_key: null - - rep: ABSOLUTE - type: NON_EEF - format: DEFAULT - state_key: null - language: - delta_indices: - - 0 - modality_keys: - - annotation.human.task_description - sin_cos_embedding_keys: null - mean_std_embedding_keys: null - action_configs: 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 - shuffle: true - seed: 42 - multiprocessing_context: fork - allow_padding: false - subsample_ratio: 1.0 - image_crop_size: - - 244 - - 244 - image_target_size: - - 224 - - 224 - video_backend: decord -training: - output_dir: ./outputs/fr5_cherry - experiment_name: null - max_steps: 20000 - global_batch_size: 32 - batch_size: null - gradient_accumulation_steps: 1 - learning_rate: 0.0001 - lr_scheduler_type: cosine - weight_decay: 1.0e-05 - warmup_ratio: 0.05 - warmup_steps: 0 - max_grad_norm: 1.0 - optim: adamw_torch - start_from_checkpoint: ./pretrained_models/GR00T-N1.6-3B - tf32: true - fp16: false - bf16: true - eval_bf16: true - logging_steps: 10 - save_steps: 5000 - save_total_limit: 5 - save_vl_model: false - upload_checkpoints: false - 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 - transformers_trust_remote_code: true - transformers_local_files_only: false - transformers_cache_dir: null - transformers_access_token: null - use_ddp: false - ddp_bucket_cap_mb: 100 - num_gpus: 1 - dataloader_num_workers: 2 - remove_unused_columns: false - use_wandb: false - wandb_project: finetune-gr00t-n1d6 - enable_profiling: false - max_retries: 3 - assert_loss_less_than: null - add_rl_callback: false - enable_open_loop_eval: false - open_loop_eval_traj_ids: - - 0 - open_loop_eval_steps_per_traj: 100 - open_loop_eval_plot_indices: null -max_steps: 20000 -save_steps: 5000 diff --git a/checkpoint-15000/experiment_cfg/config.yaml b/checkpoint-15000/experiment_cfg/config.yaml deleted file mode 100644 index 4e7824eefe34b2a088dd8ec60a0e15c442c8e311..0000000000000000000000000000000000000000 --- a/checkpoint-15000/experiment_cfg/config.yaml +++ /dev/null @@ -1,239 +0,0 @@ -!!python/object:gr00t.configs.base_config.Config -data: !!python/object:gr00t.configs.data.data_config.DataConfig - allow_padding: false - datasets: - - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig - dataset_paths: - - ./cherry_data - dataset_type: physical_embodiment - embodiment_tag: new_embodiment - mix_ratio: 1.0 - val_dataset_path: null - download_cache: false - episode_sampling_rate: 0.1 - image_crop_size: - - 244 - - 244 - image_target_size: - - 224 - - 224 - mock_dataset_mode: false - modality_configs: - new_embodiment: - action: !!python/object:gr00t.data.types.ModalityConfig - action_configs: - - !!python/object:gr00t.data.types.ActionConfig - format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat - - default - rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation - - absolute - state_key: null - type: &id003 !!python/object/apply:gr00t.data.types.ActionType - - non_eef - - !!python/object:gr00t.data.types.ActionConfig - format: *id001 - rep: *id002 - state_key: null - type: *id003 - delta_indices: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - mean_std_embedding_keys: null - modality_keys: - - arm - - gripper - sin_cos_embedding_keys: null - language: !!python/object:gr00t.data.types.ModalityConfig - action_configs: null - delta_indices: - - 0 - mean_std_embedding_keys: null - modality_keys: - - annotation.human.task_description - sin_cos_embedding_keys: null - state: !!python/object:gr00t.data.types.ModalityConfig - action_configs: null - delta_indices: - - 0 - mean_std_embedding_keys: null - modality_keys: - - arm - - gripper - sin_cos_embedding_keys: null - video: !!python/object:gr00t.data.types.ModalityConfig - action_configs: null - delta_indices: - - 0 - mean_std_embedding_keys: null - modality_keys: - - cam_base - - cam_wrist - sin_cos_embedding_keys: null - mode: single_turn - multiprocessing_context: fork - num_shards_per_epoch: 100000 - override_pretraining_statistics: false - random_chop: 0.0 - seed: 42 - shard_size: 1024 - shuffle: true - subsample_ratio: 1.0 - video_backend: decord -load_config_path: null -model: !!python/object:gr00t.configs.model.gr00t_n1d6.Gr00tN1d6Config - _attn_implementation_autoset: false - _attn_implementation_internal: null - _commit_hash: null - _name_or_path: '' - add_cross_attention: false - architectures: null - backbone_model_type: eagle - backbone_trainable_params_fp32: true - bad_words_ids: null - begin_suppress_tokens: null - bos_token_id: null - chunk_size_feed_forward: 0 - color_jitter_params: null - cross_attention_hidden_size: null - decoder_start_token_id: null - 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 - diversity_penalty: 0.0 - do_sample: false - eagle_collator: true - early_stopping: false - encoder_no_repeat_ngram_size: 0 - eos_token_id: null - exponential_decay_length_penalty: null - extra_augmentation_config: null - finetuning_task: null - forced_bos_token_id: null - forced_eos_token_id: null - id2label: - 0: LABEL_0 - 1: LABEL_1 - is_decoder: false - is_encoder_decoder: false - label2id: - LABEL_0: 0 - LABEL_1: 1 - length_penalty: 1.0 - load_bf16: false - max_length: 20 - min_length: 0 - model_name: nvidia/Eagle-Block2A-2B-v2 - no_repeat_ngram_size: 0 - num_beam_groups: 1 - num_beams: 1 - num_return_sequences: 1 - output_attentions: false - output_hidden_states: false - output_scores: false - pad_token_id: null - prefix: null - problem_type: null - pruned_heads: {} - random_rotation_angle: null - remove_invalid_values: false - repetition_penalty: 1.0 - reproject_vision: false - return_dict: true - return_dict_in_generate: false - sep_token_id: null - state_dropout_prob: 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 - torch_dtype: null - torchscript: false - transformers_version: null - tune_diffusion_model: true - tune_llm: false - tune_projector: true - tune_visual: false - typical_p: 1.0 - use_bfloat16: false - use_relative_action: true -training: !!python/object:gr00t.configs.training.training_config.TrainingConfig - add_rl_callback: false - assert_loss_less_than: null - batch_size: null - bf16: true - dataloader_num_workers: 2 - ddp_bucket_cap_mb: 100 - deepspeed_stage: 2 - enable_open_loop_eval: false - 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: 32 - gradient_accumulation_steps: 1 - gradient_checkpointing: false - learning_rate: 0.0001 - logging_steps: 10 - lr_scheduler_type: cosine - max_concurrent_uploads: 2 - max_grad_norm: 1.0 - max_retries: 3 - max_steps: 20000 - num_gpus: 1 - open_loop_eval_plot_indices: null - open_loop_eval_steps_per_traj: 100 - open_loop_eval_traj_ids: - - 0 - optim: adamw_torch - output_dir: ./outputs/fr5_cherry - remove_unused_columns: false - save_best_eval_metric_greater_is_better: true - save_best_eval_metric_name: '' - save_steps: 5000 - save_total_limit: 5 - save_vl_model: false - start_from_checkpoint: ./pretrained_models/GR00T-N1.6-3B - tf32: true - transformers_access_token: null - transformers_cache_dir: null - transformers_local_files_only: false - transformers_trust_remote_code: true - upload_checkpoints: false - upload_every: 1000 - upload_last_n_checkpoints: 5 - use_ddp: false - use_wandb: false - wandb_project: finetune-gr00t-n1d6 - warmup_ratio: 0.05 - warmup_steps: 0 - weight_decay: 1.0e-05 diff --git a/checkpoint-15000/experiment_cfg/dataset_statistics.json b/checkpoint-15000/experiment_cfg/dataset_statistics.json deleted file mode 100644 index 8aca952981bb76cb22fb0077ec41ee9f0dfcad6c..0000000000000000000000000000000000000000 --- a/checkpoint-15000/experiment_cfg/dataset_statistics.json +++ /dev/null @@ -1,149 +0,0 @@ -{ - "new_embodiment": { - "state": { - "arm": { - "min": [ - 0.4818978011608124, - -1.687173843383789, - 0.62826007604599, - -2.6761701107025146, - -1.8431425094604492, - -0.5678880214691162 - ], - "max": [ - 0.7935351133346558, - -1.014952301979065, - 1.8637524843215942, - -1.0820374488830566, - -1.4455490112304688, - 0.3115537762641907 - ], - "mean": [ - 0.6489784717559814, - -1.3269319534301758, - 1.356391429901123, - -1.804563045501709, - -1.619696021080017, - -0.07974076271057129 - ], - "std": [ - 0.053538445383310186, - 0.1604488044977188, - 0.2438623011112213, - 0.22075510025024414, - 0.07333532720804177, - 0.10092151165008545 - ], - "q01": [ - 0.5197953635454178, - -1.6432996988296509, - 0.8626433879137039, - -2.5542680168151857, - -1.8000394713878631, - -0.37301090329885483 - ], - "q99": [ - 0.7509180748462676, - -1.0879072868824005, - 1.7959050333499906, - -1.252977850437165, - -1.4705305182933812, - 0.2933953133225437 - ] - }, - "gripper": { - "min": [ - 0.0 - ], - "max": [ - 1.0 - ], - "mean": [ - 0.7650123238563538 - ], - "std": [ - 0.39907386898994446 - ], - "q01": [ - 0.0 - ], - "q99": [ - 1.0 - ] - } - }, - "action": { - "arm": { - "min": [ - 0.4818978011608124, - -1.687173843383789, - 0.62826007604599, - -2.6573522090911865, - -1.8431425094604492, - -0.5678880214691162 - ], - "max": [ - 0.7935351133346558, - -1.014952301979065, - 1.8637524843215942, - -1.0820374488830566, - -1.4455490112304688, - 0.3115537762641907 - ], - "mean": [ - 0.6489997506141663, - -1.326717495918274, - 1.355955958366394, - -1.8026670217514038, - -1.6199865341186523, - -0.07982920855283737 - ], - "std": [ - 0.05358240380883204, - 0.16021256148815155, - 0.243374302983284, - 0.2178075611591339, - 0.07321629673242531, - 0.10097639262676239 - ], - "q01": [ - 0.5197953635454178, - -1.6432996988296509, - 0.8625765931606293, - -2.53433034658432, - -1.8000823378562927, - -0.37301090329885483 - ], - "q99": [ - 0.7509180748462676, - -1.0879072868824005, - 1.7849992513656616, - -1.2526323044300085, - -1.4705633461475374, - 0.2933953133225437 - ] - }, - "gripper": { - "min": [ - 0.0 - ], - "max": [ - 1.0 - ], - "mean": [ - 0.7650123238563538 - ], - "std": [ - 0.39907386898994446 - ], - "q01": [ - 0.0 - ], - "q99": [ - 1.0 - ] - } - }, - "relative_action": {} - } -} \ No newline at end of file diff --git a/checkpoint-15000/experiment_cfg/final_model_config.json b/checkpoint-15000/experiment_cfg/final_model_config.json deleted file mode 100644 index 6ea02d527262f204fae29cbf81f730a6184c97af..0000000000000000000000000000000000000000 --- a/checkpoint-15000/experiment_cfg/final_model_config.json +++ /dev/null @@ -1,54 +0,0 @@ -{ - "model_type": "Gr00tN1d6", - "model_dtype": "bfloat16", - "model_name": "nvidia/Eagle-Block2A-2B-v2", - "backbone_model_type": "eagle", - "model_revision": null, - "tune_top_llm_layers": 4, - "backbone_embedding_dim": 2048, - "tune_llm": false, - "tune_visual": false, - "select_layer": 16, - "reproject_vision": false, - "use_flash_attention": true, - "load_bf16": true, - "collator_overwrite_image_inputs": false, - "eagle_collator": true, - "backbone_trainable_params_fp32": true, - "extra_augmentation_config": null, - "apply_sincos_state_encoding": true, - "use_relative_action": true, - "max_state_dim": 128, - "max_action_dim": 128, - "action_horizon": 50, - "hidden_size": 1024, - "input_embedding_dim": 1536, - "add_pos_embed": true, - "attn_dropout": 0.2, - "use_vlln": true, - "max_seq_len": 1024, - "use_alternate_vl_dit": true, - "attend_text_every_n_blocks": 2, - "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 - }, - "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, - "state_dropout_prob": 0.0, - "state_additive_noise_scale": 0.0, - "max_num_embodiments": 32 -} \ No newline at end of file diff --git a/checkpoint-15000/experiment_cfg/final_processor_config.json b/checkpoint-15000/experiment_cfg/final_processor_config.json deleted file mode 100644 index 4a5b3a7f355513a5b01d299167449a7e96bc5dd3..0000000000000000000000000000000000000000 --- a/checkpoint-15000/experiment_cfg/final_processor_config.json +++ /dev/null @@ -1,28 +0,0 @@ -{ - "modality_configs": "{'behavior_r1_pro': {'video': ModalityConfig(delta_indices=[0], modality_keys=['observation.images.rgb.head_256_256', 'observation.images.rgb.left_wrist_256_256', 'observation.images.rgb.right_wrist_256_256'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['robot_pos', 'robot_ori_cos', 'robot_ori_sin', 'robot_2d_ori', 'robot_2d_ori_cos', 'robot_2d_ori_sin', 'robot_lin_vel', 'robot_ang_vel', 'arm_left_qpos', 'arm_left_qpos_sin', 'arm_left_qpos_cos', 'eef_left_pos', 'eef_left_quat', 'gripper_left_qpos', 'arm_right_qpos', 'arm_right_qpos_sin', 'arm_right_qpos_cos', 'eef_right_pos', 'eef_right_quat', 'gripper_right_qpos', 'trunk_qpos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(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], modality_keys=['base', 'torso', 'left_arm', 'left_gripper', 'right_arm', 'right_gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key='trunk_qpos'), ActionConfig(rep=, type=, format=, state_key='arm_left_qpos'), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key='arm_right_qpos'), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'gr1': {'video': ModalityConfig(delta_indices=[0], modality_keys=['ego_view_bg_crop_pad_res256_freq20'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], sin_cos_embedding_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['task'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'robocasa_panda_omron': {'video': ModalityConfig(delta_indices=[0], modality_keys=['res256_image_side_0', 'res256_image_side_1', 'res256_image_wrist_0'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['end_effector_position_relative', 'end_effector_rotation_relative', 'gripper_qpos', 'base_position', 'base_rotation'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['end_effector_position', 'end_effector_rotation', 'gripper_close', 'base_motion', 'control_mode'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.action.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'new_embodiment': {'video': ModalityConfig(delta_indices=[0], modality_keys=['cam_base', 'cam_wrist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}}", - "state_action_processor": "StateActionProcessor(modality_configs={'behavior_r1_pro': {'video': ModalityConfig(delta_indices=[0], modality_keys=['observation.images.rgb.head_256_256', 'observation.images.rgb.left_wrist_256_256', 'observation.images.rgb.right_wrist_256_256'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['robot_pos', 'robot_ori_cos', 'robot_ori_sin', 'robot_2d_ori', 'robot_2d_ori_cos', 'robot_2d_ori_sin', 'robot_lin_vel', 'robot_ang_vel', 'arm_left_qpos', 'arm_left_qpos_sin', 'arm_left_qpos_cos', 'eef_left_pos', 'eef_left_quat', 'gripper_left_qpos', 'arm_right_qpos', 'arm_right_qpos_sin', 'arm_right_qpos_cos', 'eef_right_pos', 'eef_right_quat', 'gripper_right_qpos', 'trunk_qpos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(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], modality_keys=['base', 'torso', 'left_arm', 'left_gripper', 'right_arm', 'right_gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key='trunk_qpos'), ActionConfig(rep=, type=, format=, state_key='arm_left_qpos'), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key='arm_right_qpos'), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'gr1': {'video': ModalityConfig(delta_indices=[0], modality_keys=['ego_view_bg_crop_pad_res256_freq20'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], sin_cos_embedding_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['task'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'robocasa_panda_omron': {'video': ModalityConfig(delta_indices=[0], modality_keys=['res256_image_side_0', 'res256_image_side_1', 'res256_image_wrist_0'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['end_effector_position_relative', 'end_effector_rotation_relative', 'gripper_qpos', 'base_position', 'base_rotation'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['end_effector_position', 'end_effector_rotation', 'gripper_close', 'base_motion', 'control_mode'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.action.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'new_embodiment': {'video': ModalityConfig(delta_indices=[0], modality_keys=['cam_base', 'cam_wrist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}}, statistics={'behavior_r1_pro': {'state': {'robot_pos': {'min': [-15.878335952758789, -4.874791622161865, -0.0030556470155715942], 'max': [28.783069610595703, 25.5261173248291, 0.03920263051986694], 'mean': [8.377509353981011, 3.5519228390967257, 0.005352396491811134], 'std': [9.333495189323855, 6.293349382128611, 0.002169489814694542], 'q01': [-15.627003288269043, -3.923245668411255, 0.00464746356010437], 'q99': [28.161231212615963, 25.433036193847656, 0.019137874245643616]}, 'robot_ori_cos': {'min': [0.9964054226875305, 0.9807400703430176, -1.0], 'max': [1.0, 1.0, 1.0], 'mean': [0.9999999103013197, 0.9999999012025106, -0.04432371966161217], 'std': [1.0955394108707479e-05, 1.5141053684175453e-05, 0.7159057916231842], 'q01': [0.9996431469917297, 0.9996242523193359, -0.9999993443489075], 'q99': [0.9999995827674866, 0.9999999403953552, 0.9999995231628418]}, 'robot_ori_sin': {'min': [-0.08471290022134781, -0.0467030331492424, -1.0], 'max': [0.03247667849063873, 0.1953173577785492, 1.0], 'mean': [-0.0014819139726979956, 0.0011138110099060865, -0.1747246084485246], 'std': [0.0010692286968725616, 0.0011352230347134887, 0.6740228681643635], 'q01': [-0.026712577790021896, -0.027393728494644165, -0.9999995827674866], 'q99': [0.023761406727135177, 0.015501312464475616, 0.9999998211860657]}, 'robot_2d_ori': {'min': [-3.1415927410125732], 'max': [3.1415927410125732], 'mean': [-0.34116709549670976], 'std': [1.8744272700649074], 'q01': [-3.139659881591797], 'q99': [3.1393938064575195]}, 'robot_2d_ori_cos': {'min': [-1.0], 'max': [1.0], 'mean': [-0.04432376387887985], 'std': [0.7159057729093367], 'q01': [-0.9999993443489075], 'q99': [0.9999995231628418]}, 'robot_2d_ori_sin': {'min': [-1.0], 'max': [1.0], 'mean': [-0.1747246006771579], 'std': [0.6740228728055352], 'q01': [-0.9999995827674866], 'q99': [0.9999998211860657]}, 'robot_lin_vel': {'min': [-0.32111313939094543, -0.3024478554725647, -0.338993102312088], 'max': [0.2888447046279907, 0.29485562443733215, 0.27627527713775635], 'mean': [0.0008032824331051274, -0.000851410695872969, -0.014532478391340347], 'std': [0.04011179386851422, 0.03532797622061294, 0.010790340283590575], 'q01': [-0.1382001194357872, -0.13443224787712096, -0.05219040531665087], 'q99': [0.13666878938674926, 0.13471105083823204, 0.005502225868403539]}, 'robot_ang_vel': {'min': [-1.5866682529449463, -1.7150360345840454, -0.04071682691574097], 'max': [1.6171817779541016, 1.5271120071411133, 0.024320760741829872], 'mean': [0.004609276467004075, 0.004284130662207927, -5.683130788171653e-05], 'std': [0.18832387264077133, 0.2137817785121968, 0.0008538363202659394], 'q01': [-0.7182695555686951, -0.736412662267685, 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1.0471981763839722, 1.570236325263977]}, 'arm_left_qpos_sin': {'min': [-1.0, -0.17363129556179047, -1.0, -1.0, -1.0, -0.8660266995429993, -1.0], 'max': [0.5231955647468567, 1.0, 1.0, 0.1686950922012329, 1.0, 0.8660265803337097, 1.0], 'mean': [-0.3788414888506152, 0.043208541825812886, -0.07497595954692522, -0.49673881006309, 0.2950975242538935, 0.13821974557859906, -0.023564394694352786], 'std': [0.33500504759538763, 0.1550813208035862, 0.35555302155891993, 0.3650771441344372, 0.394534724671373, 0.4671246774437793, 0.4220550333326586], 'q01': [-0.9998769760131836, -0.17361578345298767, -0.9997559851408004, -0.999994695186615, -0.9991854596138, -0.866021990776062, -1.0], 'q99': [0.49428389251232147, 0.7477953410148599, 0.9990536546707154, 0.0949662446975708, 0.9998820424079895, 0.8660256862640381, 0.9999998211860657]}, 'arm_left_qpos_cos': {'min': [-1.0, -0.9928199648857117, -0.7071079611778259, -0.17361508309841156, -0.7072650790214539, 0.49999770522117615, -7.315477887459565e-06], 'max': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], 'mean': [0.8307857834306867, 0.9920001827094036, 0.9118657948785598, 0.7166911882650612, 0.810864158310747, 0.8620206050389164, 0.8824085596125505], 'std': [0.24568417534984152, 0.03566746717075397, 0.21956918727934097, 0.33274636593381524, 0.32686230999243526, 0.1594220496831616, 0.2283688098196029], 'q01': [-0.866491652727127, 0.6517829716205596, -0.6634020233154296, -0.06592143326997757, -0.7071074843406677, 0.499999463558197, -3.739199428309803e-06], 'q99': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]}, 'eef_left_pos': {'min': [-0.29318809509277344, -0.2712371051311493, 0.002660512924194336], 'max': [1.213043212890625, 1.040291666984558, 2.0455143451690674], 'mean': [0.5160713621676302, 0.2474851475100056, 0.6836650939637079], 'std': [0.21588456124837183, 0.12222884073343476, 0.27805653079791637], 'q01': [-0.1094246196746826, -0.1754944610595703, 0.02435866668820381], 'q99': [1.0699838256835932, 0.7893409729003906, 1.8705657005310052]}, 'eef_left_quat': {'min': [-0.8588797450065613, -0.8650590181350708, -0.841005265712738, -0.5], 'max': [0.9999929666519165, 1.0, 0.9845409393310547, 0.9617436528205872], 'mean': [-0.0663535199862692, 0.8611118942418127, -0.06413671264087122, 0.3115006830960212], 'std': [0.1792821484038788, 0.19792752849522144, 0.217055016999389, 0.20829947525926978], 'q01': [-0.6571075320243835, -0.6516380822658538, -0.6857465314865112, -0.48287599831819533], 'q99': [0.7483707463741305, 0.9999786615371704, 0.8158004015684127, 0.8217956781387328]}, 'gripper_left_qpos': {'min': [0.0, 0.0], 'max': [0.05000000074505806, 0.05000000074505806], 'mean': [0.04408877553139796, 0.038755202861951284], 'std': [0.011461306769436432, 0.0185620058519011], 'q01': [6.05472345682756e-08, 3.996996369437511e-08], 'q99': [0.05000000074505806, 0.05000000074505806]}, 'arm_right_qpos': {'min': [-3.206026315689087, -3.005096912384033, -2.356199026107788, -1.7454899549484253, -2.356196403503418, -1.0471998453140259, 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backbone_model_type: eagle - model_revision: null - tune_top_llm_layers: 4 - backbone_embedding_dim: 2048 - tune_llm: false - tune_visual: false - select_layer: 16 - reproject_vision: false - use_flash_attention: true - load_bf16: false - collator_overwrite_image_inputs: false - eagle_collator: true - backbone_trainable_params_fp32: true - image_crop_size: null - image_target_size: null - shortest_image_edge: 256 - crop_fraction: 0.95 - random_rotation_angle: null - color_jitter_params: null - use_albumentations_transforms: true - extra_augmentation_config: null - formalize_language: true - apply_sincos_state_encoding: false - use_relative_action: true - max_state_dim: 29 - max_action_dim: 29 - action_horizon: 16 - hidden_size: 1024 - input_embedding_dim: 1536 - add_pos_embed: true - attn_dropout: 0.2 - use_vlln: true - max_seq_len: 1024 - use_alternate_vl_dit: true - attend_text_every_n_blocks: 2 - 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 - 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 - state_dropout_prob: 0.0 - state_additive_noise_scale: 0.0 - max_num_embodiments: 32 -data: - datasets: - - dataset_paths: - - ./cherry_data - embodiment_tag: new_embodiment - mix_ratio: 1.0 - dataset_type: physical_embodiment - val_dataset_path: null - modality_configs: - new_embodiment: - video: - delta_indices: - - 0 - modality_keys: - - cam_base - - cam_wrist - sin_cos_embedding_keys: null - mean_std_embedding_keys: null - action_configs: null - state: - delta_indices: - - 0 - modality_keys: - - arm - - gripper - sin_cos_embedding_keys: null - mean_std_embedding_keys: null - action_configs: null - action: - delta_indices: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - modality_keys: - - arm - - gripper - sin_cos_embedding_keys: null - mean_std_embedding_keys: null - action_configs: - - rep: ABSOLUTE - type: NON_EEF - format: DEFAULT - state_key: null - - rep: ABSOLUTE - type: NON_EEF - format: DEFAULT - state_key: null - language: - delta_indices: - - 0 - modality_keys: - - annotation.human.task_description - sin_cos_embedding_keys: null - mean_std_embedding_keys: null - action_configs: 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 - shuffle: true - seed: 42 - multiprocessing_context: fork - allow_padding: false - subsample_ratio: 1.0 - image_crop_size: - - 244 - - 244 - image_target_size: - - 224 - - 224 - video_backend: decord -training: - output_dir: ./outputs/fr5_cherry - experiment_name: null - max_steps: 20000 - global_batch_size: 32 - batch_size: null - gradient_accumulation_steps: 1 - learning_rate: 0.0001 - lr_scheduler_type: cosine - weight_decay: 1.0e-05 - warmup_ratio: 0.05 - warmup_steps: 0 - max_grad_norm: 1.0 - optim: adamw_torch - start_from_checkpoint: ./pretrained_models/GR00T-N1.6-3B - tf32: true - fp16: false - bf16: true - eval_bf16: true - logging_steps: 10 - save_steps: 5000 - save_total_limit: 5 - save_vl_model: false - upload_checkpoints: false - 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 - transformers_trust_remote_code: true - transformers_local_files_only: false - transformers_cache_dir: null - transformers_access_token: null - use_ddp: false - ddp_bucket_cap_mb: 100 - num_gpus: 1 - dataloader_num_workers: 2 - remove_unused_columns: false - use_wandb: false - wandb_project: finetune-gr00t-n1d6 - enable_profiling: false - max_retries: 3 - assert_loss_less_than: null - add_rl_callback: false - enable_open_loop_eval: false - open_loop_eval_traj_ids: - - 0 - open_loop_eval_steps_per_traj: 100 - open_loop_eval_plot_indices: null -max_steps: 20000 -save_steps: 5000 diff --git a/checkpoint-20000/experiment_cfg/config.yaml b/checkpoint-20000/experiment_cfg/config.yaml deleted file mode 100644 index 4e7824eefe34b2a088dd8ec60a0e15c442c8e311..0000000000000000000000000000000000000000 --- a/checkpoint-20000/experiment_cfg/config.yaml +++ /dev/null @@ -1,239 +0,0 @@ -!!python/object:gr00t.configs.base_config.Config -data: !!python/object:gr00t.configs.data.data_config.DataConfig - allow_padding: false - datasets: - - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig - dataset_paths: - - ./cherry_data - dataset_type: physical_embodiment - embodiment_tag: new_embodiment - mix_ratio: 1.0 - val_dataset_path: null - download_cache: false - episode_sampling_rate: 0.1 - image_crop_size: - - 244 - - 244 - image_target_size: - - 224 - - 224 - mock_dataset_mode: false - modality_configs: - new_embodiment: - action: !!python/object:gr00t.data.types.ModalityConfig - action_configs: - - !!python/object:gr00t.data.types.ActionConfig - format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat - - default - rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation - - absolute - state_key: null - type: &id003 !!python/object/apply:gr00t.data.types.ActionType - - non_eef - - !!python/object:gr00t.data.types.ActionConfig - format: *id001 - rep: *id002 - state_key: null - type: *id003 - delta_indices: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - mean_std_embedding_keys: null - modality_keys: - - arm - - gripper - sin_cos_embedding_keys: null - language: !!python/object:gr00t.data.types.ModalityConfig - action_configs: null - delta_indices: - - 0 - mean_std_embedding_keys: null - modality_keys: - - annotation.human.task_description - sin_cos_embedding_keys: null - state: !!python/object:gr00t.data.types.ModalityConfig - action_configs: null - delta_indices: - - 0 - mean_std_embedding_keys: null - modality_keys: - - arm - - gripper - sin_cos_embedding_keys: null - video: !!python/object:gr00t.data.types.ModalityConfig - action_configs: null - delta_indices: - - 0 - mean_std_embedding_keys: null - modality_keys: - - cam_base - - cam_wrist - sin_cos_embedding_keys: null - mode: single_turn - multiprocessing_context: fork - num_shards_per_epoch: 100000 - override_pretraining_statistics: false - random_chop: 0.0 - seed: 42 - shard_size: 1024 - shuffle: true - subsample_ratio: 1.0 - video_backend: decord -load_config_path: null -model: !!python/object:gr00t.configs.model.gr00t_n1d6.Gr00tN1d6Config - _attn_implementation_autoset: false - _attn_implementation_internal: null - _commit_hash: null - _name_or_path: '' - add_cross_attention: false - architectures: null - backbone_model_type: eagle - backbone_trainable_params_fp32: true - bad_words_ids: null - begin_suppress_tokens: null - bos_token_id: null - chunk_size_feed_forward: 0 - color_jitter_params: null - cross_attention_hidden_size: null - decoder_start_token_id: null - 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 - diversity_penalty: 0.0 - do_sample: false - eagle_collator: true - early_stopping: false - encoder_no_repeat_ngram_size: 0 - eos_token_id: null - exponential_decay_length_penalty: null - extra_augmentation_config: null - finetuning_task: null - forced_bos_token_id: null - forced_eos_token_id: null - id2label: - 0: LABEL_0 - 1: LABEL_1 - is_decoder: false - is_encoder_decoder: false - label2id: - LABEL_0: 0 - LABEL_1: 1 - length_penalty: 1.0 - load_bf16: false - max_length: 20 - min_length: 0 - model_name: nvidia/Eagle-Block2A-2B-v2 - no_repeat_ngram_size: 0 - num_beam_groups: 1 - num_beams: 1 - num_return_sequences: 1 - output_attentions: false - output_hidden_states: false - output_scores: false - pad_token_id: null - prefix: null - problem_type: null - pruned_heads: {} - random_rotation_angle: null - remove_invalid_values: false - repetition_penalty: 1.0 - reproject_vision: false - return_dict: true - return_dict_in_generate: false - sep_token_id: null - state_dropout_prob: 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 - torch_dtype: null - torchscript: false - transformers_version: null - tune_diffusion_model: true - tune_llm: false - tune_projector: true - tune_visual: false - typical_p: 1.0 - use_bfloat16: false - use_relative_action: true -training: !!python/object:gr00t.configs.training.training_config.TrainingConfig - add_rl_callback: false - assert_loss_less_than: null - batch_size: null - bf16: true - dataloader_num_workers: 2 - ddp_bucket_cap_mb: 100 - deepspeed_stage: 2 - enable_open_loop_eval: false - 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: 32 - gradient_accumulation_steps: 1 - gradient_checkpointing: false - learning_rate: 0.0001 - logging_steps: 10 - lr_scheduler_type: cosine - max_concurrent_uploads: 2 - max_grad_norm: 1.0 - max_retries: 3 - max_steps: 20000 - num_gpus: 1 - open_loop_eval_plot_indices: null - open_loop_eval_steps_per_traj: 100 - open_loop_eval_traj_ids: - - 0 - optim: adamw_torch - output_dir: ./outputs/fr5_cherry - remove_unused_columns: false - save_best_eval_metric_greater_is_better: true - save_best_eval_metric_name: '' - save_steps: 5000 - save_total_limit: 5 - save_vl_model: false - start_from_checkpoint: ./pretrained_models/GR00T-N1.6-3B - tf32: true - transformers_access_token: null - transformers_cache_dir: null - transformers_local_files_only: false - transformers_trust_remote_code: true - upload_checkpoints: false - upload_every: 1000 - upload_last_n_checkpoints: 5 - use_ddp: false - use_wandb: false - wandb_project: finetune-gr00t-n1d6 - warmup_ratio: 0.05 - warmup_steps: 0 - weight_decay: 1.0e-05 diff --git a/checkpoint-20000/experiment_cfg/dataset_statistics.json b/checkpoint-20000/experiment_cfg/dataset_statistics.json deleted file mode 100644 index 8aca952981bb76cb22fb0077ec41ee9f0dfcad6c..0000000000000000000000000000000000000000 --- a/checkpoint-20000/experiment_cfg/dataset_statistics.json +++ /dev/null @@ -1,149 +0,0 @@ -{ - "new_embodiment": { - "state": { - "arm": { - "min": [ - 0.4818978011608124, - -1.687173843383789, - 0.62826007604599, - -2.6761701107025146, - -1.8431425094604492, - -0.5678880214691162 - ], - "max": [ - 0.7935351133346558, - -1.014952301979065, - 1.8637524843215942, - -1.0820374488830566, - -1.4455490112304688, - 0.3115537762641907 - ], - "mean": [ - 0.6489784717559814, - -1.3269319534301758, - 1.356391429901123, - -1.804563045501709, - -1.619696021080017, - -0.07974076271057129 - ], - "std": [ - 0.053538445383310186, - 0.1604488044977188, - 0.2438623011112213, - 0.22075510025024414, - 0.07333532720804177, - 0.10092151165008545 - ], - "q01": [ - 0.5197953635454178, - -1.6432996988296509, - 0.8626433879137039, - -2.5542680168151857, - -1.8000394713878631, - -0.37301090329885483 - ], - "q99": [ - 0.7509180748462676, - -1.0879072868824005, - 1.7959050333499906, - -1.252977850437165, - -1.4705305182933812, - 0.2933953133225437 - ] - }, - "gripper": { - "min": [ - 0.0 - ], - "max": [ - 1.0 - ], - "mean": [ - 0.7650123238563538 - ], - "std": [ - 0.39907386898994446 - ], - "q01": [ - 0.0 - ], - "q99": [ - 1.0 - ] - } - }, - "action": { - "arm": { - "min": [ - 0.4818978011608124, - -1.687173843383789, - 0.62826007604599, - -2.6573522090911865, - -1.8431425094604492, - -0.5678880214691162 - ], - "max": [ - 0.7935351133346558, - -1.014952301979065, - 1.8637524843215942, - -1.0820374488830566, - -1.4455490112304688, - 0.3115537762641907 - ], - "mean": [ - 0.6489997506141663, - -1.326717495918274, - 1.355955958366394, - -1.8026670217514038, - -1.6199865341186523, - -0.07982920855283737 - ], - "std": [ - 0.05358240380883204, - 0.16021256148815155, - 0.243374302983284, - 0.2178075611591339, - 0.07321629673242531, - 0.10097639262676239 - ], - "q01": [ - 0.5197953635454178, - -1.6432996988296509, - 0.8625765931606293, - -2.53433034658432, - -1.8000823378562927, - -0.37301090329885483 - ], - "q99": [ - 0.7509180748462676, - -1.0879072868824005, - 1.7849992513656616, - -1.2526323044300085, - -1.4705633461475374, - 0.2933953133225437 - ] - }, - "gripper": { - "min": [ - 0.0 - ], - "max": [ - 1.0 - ], - "mean": [ - 0.7650123238563538 - ], - "std": [ - 0.39907386898994446 - ], - "q01": [ - 0.0 - ], - "q99": [ - 1.0 - ] - } - }, - "relative_action": {} - } -} \ No newline at end of file diff --git a/checkpoint-20000/experiment_cfg/final_model_config.json b/checkpoint-20000/experiment_cfg/final_model_config.json deleted file mode 100644 index 6ea02d527262f204fae29cbf81f730a6184c97af..0000000000000000000000000000000000000000 --- a/checkpoint-20000/experiment_cfg/final_model_config.json +++ /dev/null @@ -1,54 +0,0 @@ -{ - "model_type": "Gr00tN1d6", - "model_dtype": "bfloat16", - "model_name": "nvidia/Eagle-Block2A-2B-v2", - "backbone_model_type": "eagle", - "model_revision": null, - "tune_top_llm_layers": 4, - "backbone_embedding_dim": 2048, - "tune_llm": false, - "tune_visual": false, - "select_layer": 16, - "reproject_vision": false, - "use_flash_attention": true, - "load_bf16": true, - "collator_overwrite_image_inputs": false, - "eagle_collator": true, - "backbone_trainable_params_fp32": true, - "extra_augmentation_config": null, - "apply_sincos_state_encoding": true, - "use_relative_action": true, - "max_state_dim": 128, - "max_action_dim": 128, - "action_horizon": 50, - "hidden_size": 1024, - "input_embedding_dim": 1536, - "add_pos_embed": true, - "attn_dropout": 0.2, - "use_vlln": true, - "max_seq_len": 1024, - "use_alternate_vl_dit": true, - "attend_text_every_n_blocks": 2, - "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 - }, - "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, - "state_dropout_prob": 0.0, - "state_additive_noise_scale": 0.0, - "max_num_embodiments": 32 -} \ No newline at end of file diff --git a/checkpoint-20000/experiment_cfg/final_processor_config.json b/checkpoint-20000/experiment_cfg/final_processor_config.json deleted file mode 100644 index 4a5b3a7f355513a5b01d299167449a7e96bc5dd3..0000000000000000000000000000000000000000 --- a/checkpoint-20000/experiment_cfg/final_processor_config.json +++ /dev/null @@ -1,28 +0,0 @@ -{ - "modality_configs": "{'behavior_r1_pro': {'video': ModalityConfig(delta_indices=[0], modality_keys=['observation.images.rgb.head_256_256', 'observation.images.rgb.left_wrist_256_256', 'observation.images.rgb.right_wrist_256_256'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['robot_pos', 'robot_ori_cos', 'robot_ori_sin', 'robot_2d_ori', 'robot_2d_ori_cos', 'robot_2d_ori_sin', 'robot_lin_vel', 'robot_ang_vel', 'arm_left_qpos', 'arm_left_qpos_sin', 'arm_left_qpos_cos', 'eef_left_pos', 'eef_left_quat', 'gripper_left_qpos', 'arm_right_qpos', 'arm_right_qpos_sin', 'arm_right_qpos_cos', 'eef_right_pos', 'eef_right_quat', 'gripper_right_qpos', 'trunk_qpos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(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], modality_keys=['base', 'torso', 'left_arm', 'left_gripper', 'right_arm', 'right_gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key='trunk_qpos'), ActionConfig(rep=, type=, format=, state_key='arm_left_qpos'), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key='arm_right_qpos'), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'gr1': {'video': ModalityConfig(delta_indices=[0], modality_keys=['ego_view_bg_crop_pad_res256_freq20'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], sin_cos_embedding_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['task'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'robocasa_panda_omron': {'video': ModalityConfig(delta_indices=[0], modality_keys=['res256_image_side_0', 'res256_image_side_1', 'res256_image_wrist_0'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['end_effector_position_relative', 'end_effector_rotation_relative', 'gripper_qpos', 'base_position', 'base_rotation'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['end_effector_position', 'end_effector_rotation', 'gripper_close', 'base_motion', 'control_mode'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.action.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'new_embodiment': {'video': ModalityConfig(delta_indices=[0], modality_keys=['cam_base', 'cam_wrist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}}", - "state_action_processor": "StateActionProcessor(modality_configs={'behavior_r1_pro': {'video': ModalityConfig(delta_indices=[0], modality_keys=['observation.images.rgb.head_256_256', 'observation.images.rgb.left_wrist_256_256', 'observation.images.rgb.right_wrist_256_256'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['robot_pos', 'robot_ori_cos', 'robot_ori_sin', 'robot_2d_ori', 'robot_2d_ori_cos', 'robot_2d_ori_sin', 'robot_lin_vel', 'robot_ang_vel', 'arm_left_qpos', 'arm_left_qpos_sin', 'arm_left_qpos_cos', 'eef_left_pos', 'eef_left_quat', 'gripper_left_qpos', 'arm_right_qpos', 'arm_right_qpos_sin', 'arm_right_qpos_cos', 'eef_right_pos', 'eef_right_quat', 'gripper_right_qpos', 'trunk_qpos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(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], modality_keys=['base', 'torso', 'left_arm', 'left_gripper', 'right_arm', 'right_gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key='trunk_qpos'), ActionConfig(rep=, type=, format=, state_key='arm_left_qpos'), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key='arm_right_qpos'), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'gr1': {'video': ModalityConfig(delta_indices=[0], modality_keys=['ego_view_bg_crop_pad_res256_freq20'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], sin_cos_embedding_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['task'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'robocasa_panda_omron': {'video': ModalityConfig(delta_indices=[0], modality_keys=['res256_image_side_0', 'res256_image_side_1', 'res256_image_wrist_0'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['end_effector_position_relative', 'end_effector_rotation_relative', 'gripper_qpos', 'base_position', 'base_rotation'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['end_effector_position', 'end_effector_rotation', 'gripper_close', 'base_motion', 'control_mode'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.action.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'new_embodiment': {'video': ModalityConfig(delta_indices=[0], modality_keys=['cam_base', 'cam_wrist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}}, statistics={'behavior_r1_pro': {'state': {'robot_pos': {'min': [-15.878335952758789, -4.874791622161865, -0.0030556470155715942], 'max': [28.783069610595703, 25.5261173248291, 0.03920263051986694], 'mean': [8.377509353981011, 3.5519228390967257, 0.005352396491811134], 'std': [9.333495189323855, 6.293349382128611, 0.002169489814694542], 'q01': [-15.627003288269043, -3.923245668411255, 0.00464746356010437], 'q99': [28.161231212615963, 25.433036193847656, 0.019137874245643616]}, 'robot_ori_cos': {'min': [0.9964054226875305, 0.9807400703430176, -1.0], 'max': [1.0, 1.0, 1.0], 'mean': [0.9999999103013197, 0.9999999012025106, -0.04432371966161217], 'std': [1.0955394108707479e-05, 1.5141053684175453e-05, 0.7159057916231842], 'q01': [0.9996431469917297, 0.9996242523193359, -0.9999993443489075], 'q99': [0.9999995827674866, 0.9999999403953552, 0.9999995231628418]}, 'robot_ori_sin': {'min': [-0.08471290022134781, -0.0467030331492424, -1.0], 'max': [0.03247667849063873, 0.1953173577785492, 1.0], 'mean': [-0.0014819139726979956, 0.0011138110099060865, -0.1747246084485246], 'std': [0.0010692286968725616, 0.0011352230347134887, 0.6740228681643635], 'q01': [-0.026712577790021896, -0.027393728494644165, -0.9999995827674866], 'q99': [0.023761406727135177, 0.015501312464475616, 0.9999998211860657]}, 'robot_2d_ori': {'min': [-3.1415927410125732], 'max': [3.1415927410125732], 'mean': [-0.34116709549670976], 'std': [1.8744272700649074], 'q01': [-3.139659881591797], 'q99': [3.1393938064575195]}, 'robot_2d_ori_cos': {'min': [-1.0], 'max': [1.0], 'mean': [-0.04432376387887985], 'std': [0.7159057729093367], 'q01': [-0.9999993443489075], 'q99': [0.9999995231628418]}, 'robot_2d_ori_sin': {'min': [-1.0], 'max': [1.0], 'mean': [-0.1747246006771579], 'std': [0.6740228728055352], 'q01': [-0.9999995827674866], 'q99': [0.9999998211860657]}, 'robot_lin_vel': {'min': [-0.32111313939094543, -0.3024478554725647, -0.338993102312088], 'max': [0.2888447046279907, 0.29485562443733215, 0.27627527713775635], 'mean': [0.0008032824331051274, -0.000851410695872969, -0.014532478391340347], 'std': [0.04011179386851422, 0.03532797622061294, 0.010790340283590575], 'q01': [-0.1382001194357872, -0.13443224787712096, -0.05219040531665087], 'q99': [0.13666878938674926, 0.13471105083823204, 0.005502225868403539]}, 'robot_ang_vel': {'min': [-1.5866682529449463, -1.7150360345840454, -0.04071682691574097], 'max': [1.6171817779541016, 1.5271120071411133, 0.024320760741829872], 'mean': [0.004609276467004075, 0.004284130662207927, -5.683130788171653e-05], 'std': [0.18832387264077133, 0.2137817785121968, 0.0008538363202659394], 'q01': [-0.7182695555686951, -0.736412662267685, 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mode 100644 index 4357a8edfcf080c80beaee90f6fc0ea0bad73a20..0000000000000000000000000000000000000000 --- a/checkpoint-5000/config.json +++ /dev/null @@ -1,70 +0,0 @@ -{ - "action_horizon": 50, - "add_pos_embed": true, - "apply_sincos_state_encoding": true, - "architectures": [ - "Gr00tN1d6" - ], - "attn_dropout": 0.2, - "attn_implementation": null, - "backbone_embedding_dim": 2048, - "backbone_model_type": "eagle", - "backbone_trainable_params_fp32": true, - "collator_overwrite_image_inputs": false, - "color_jitter_params": { - "brightness": 0.1, - "contrast": 0.1, - "hue": 0.1, - "saturation": 0.1 - }, - "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 - }, - "eagle_collator": true, - "formalize_language": true, - "gemma_collator": false, - 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a/checkpoint-5000/embodiment_id.json b/checkpoint-5000/embodiment_id.json deleted file mode 100644 index 9db6cf1b1236298d5de030192d4d9c3f1d143e4c..0000000000000000000000000000000000000000 --- a/checkpoint-5000/embodiment_id.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "robocasa_panda_omron": 13, - "gr1": 20, - "behavior_r1_pro": 24, - "unitree_g1": 8, - "oxe_google": 0, - "oxe_widowx": 1, - "libero_panda": 2, - "oxe_droid": 16, - "new_embodiment": 10 -} \ No newline at end of file diff --git a/checkpoint-5000/experiment_cfg/conf.yaml b/checkpoint-5000/experiment_cfg/conf.yaml deleted file mode 100644 index 9860db3f534c1a8d86713105c37714410a0c9a57..0000000000000000000000000000000000000000 --- a/checkpoint-5000/experiment_cfg/conf.yaml +++ /dev/null @@ -1,206 +0,0 @@ -load_config_path: null -model: - model_type: Gr00tN1d6 - model_dtype: bfloat16 - model_name: nvidia/Eagle-Block2A-2B-v2 - backbone_model_type: eagle - model_revision: null - tune_top_llm_layers: 4 - backbone_embedding_dim: 2048 - tune_llm: false - tune_visual: false - select_layer: 16 - reproject_vision: false - use_flash_attention: true - load_bf16: false - collator_overwrite_image_inputs: false - eagle_collator: true - backbone_trainable_params_fp32: true - image_crop_size: null - image_target_size: null - shortest_image_edge: 256 - crop_fraction: 0.95 - random_rotation_angle: null - color_jitter_params: null - use_albumentations_transforms: true - extra_augmentation_config: null - formalize_language: true - apply_sincos_state_encoding: false - use_relative_action: true - max_state_dim: 29 - max_action_dim: 29 - action_horizon: 16 - hidden_size: 1024 - input_embedding_dim: 1536 - add_pos_embed: true - attn_dropout: 0.2 - use_vlln: true - max_seq_len: 1024 - use_alternate_vl_dit: true - attend_text_every_n_blocks: 2 - 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 - 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 - state_dropout_prob: 0.0 - state_additive_noise_scale: 0.0 - max_num_embodiments: 32 -data: - datasets: - - dataset_paths: - - ./cherry_data - embodiment_tag: new_embodiment - mix_ratio: 1.0 - dataset_type: physical_embodiment - val_dataset_path: null - modality_configs: - new_embodiment: - video: - delta_indices: - - 0 - modality_keys: - - cam_base - - cam_wrist - sin_cos_embedding_keys: null - mean_std_embedding_keys: null - action_configs: null - state: - delta_indices: - - 0 - modality_keys: - - arm - - gripper - sin_cos_embedding_keys: null - mean_std_embedding_keys: null - action_configs: null - action: - delta_indices: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - modality_keys: - - arm - - gripper - sin_cos_embedding_keys: null - mean_std_embedding_keys: null - action_configs: - - rep: ABSOLUTE - type: NON_EEF - format: DEFAULT - state_key: null - - rep: ABSOLUTE - type: NON_EEF - format: DEFAULT - state_key: null - language: - delta_indices: - - 0 - modality_keys: - - annotation.human.task_description - sin_cos_embedding_keys: null - mean_std_embedding_keys: null - action_configs: 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 - shuffle: true - seed: 42 - multiprocessing_context: fork - allow_padding: false - subsample_ratio: 1.0 - image_crop_size: - - 244 - - 244 - image_target_size: - - 224 - - 224 - video_backend: decord -training: - output_dir: ./outputs/fr5_cherry - experiment_name: null - max_steps: 20000 - global_batch_size: 32 - batch_size: null - gradient_accumulation_steps: 1 - learning_rate: 0.0001 - lr_scheduler_type: cosine - weight_decay: 1.0e-05 - warmup_ratio: 0.05 - warmup_steps: 0 - max_grad_norm: 1.0 - optim: adamw_torch - start_from_checkpoint: ./pretrained_models/GR00T-N1.6-3B - tf32: true - fp16: false - bf16: true - eval_bf16: true - logging_steps: 10 - save_steps: 5000 - save_total_limit: 5 - save_vl_model: false - upload_checkpoints: false - 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 - transformers_trust_remote_code: true - transformers_local_files_only: false - transformers_cache_dir: null - transformers_access_token: null - use_ddp: false - ddp_bucket_cap_mb: 100 - num_gpus: 1 - dataloader_num_workers: 2 - remove_unused_columns: false - use_wandb: false - wandb_project: finetune-gr00t-n1d6 - enable_profiling: false - max_retries: 3 - assert_loss_less_than: null - add_rl_callback: false - enable_open_loop_eval: false - open_loop_eval_traj_ids: - - 0 - open_loop_eval_steps_per_traj: 100 - open_loop_eval_plot_indices: null -max_steps: 20000 -save_steps: 5000 diff --git a/checkpoint-5000/experiment_cfg/config.yaml b/checkpoint-5000/experiment_cfg/config.yaml deleted file mode 100644 index 4e7824eefe34b2a088dd8ec60a0e15c442c8e311..0000000000000000000000000000000000000000 --- a/checkpoint-5000/experiment_cfg/config.yaml +++ /dev/null @@ -1,239 +0,0 @@ -!!python/object:gr00t.configs.base_config.Config -data: !!python/object:gr00t.configs.data.data_config.DataConfig - allow_padding: false - datasets: - - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig - dataset_paths: - - ./cherry_data - dataset_type: physical_embodiment - embodiment_tag: new_embodiment - mix_ratio: 1.0 - val_dataset_path: null - download_cache: false - episode_sampling_rate: 0.1 - image_crop_size: - - 244 - - 244 - image_target_size: - - 224 - - 224 - mock_dataset_mode: false - modality_configs: - new_embodiment: - action: !!python/object:gr00t.data.types.ModalityConfig - action_configs: - - !!python/object:gr00t.data.types.ActionConfig - format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat - - default - rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation - - absolute - state_key: null - type: &id003 !!python/object/apply:gr00t.data.types.ActionType - - non_eef - - !!python/object:gr00t.data.types.ActionConfig - format: *id001 - rep: *id002 - state_key: null - type: *id003 - delta_indices: - - 0 - - 1 - - 2 - - 3 - - 4 - - 5 - - 6 - - 7 - - 8 - - 9 - - 10 - - 11 - - 12 - - 13 - - 14 - - 15 - mean_std_embedding_keys: null - modality_keys: - - arm - - gripper - sin_cos_embedding_keys: null - language: !!python/object:gr00t.data.types.ModalityConfig - action_configs: null - delta_indices: - - 0 - mean_std_embedding_keys: null - modality_keys: - - annotation.human.task_description - sin_cos_embedding_keys: null - state: !!python/object:gr00t.data.types.ModalityConfig - action_configs: null - delta_indices: - - 0 - mean_std_embedding_keys: null - modality_keys: - - arm - - gripper - sin_cos_embedding_keys: null - video: !!python/object:gr00t.data.types.ModalityConfig - action_configs: null - delta_indices: - - 0 - mean_std_embedding_keys: null - modality_keys: - - cam_base - - cam_wrist - sin_cos_embedding_keys: null - mode: single_turn - multiprocessing_context: fork - num_shards_per_epoch: 100000 - override_pretraining_statistics: false - random_chop: 0.0 - seed: 42 - shard_size: 1024 - shuffle: true - subsample_ratio: 1.0 - video_backend: decord -load_config_path: null -model: !!python/object:gr00t.configs.model.gr00t_n1d6.Gr00tN1d6Config - _attn_implementation_autoset: false - _attn_implementation_internal: null - _commit_hash: null - _name_or_path: '' - add_cross_attention: false - architectures: null - backbone_model_type: eagle - backbone_trainable_params_fp32: true - bad_words_ids: null - begin_suppress_tokens: null - bos_token_id: null - chunk_size_feed_forward: 0 - color_jitter_params: null - cross_attention_hidden_size: null - decoder_start_token_id: null - 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 - diversity_penalty: 0.0 - do_sample: false - eagle_collator: true - early_stopping: false - encoder_no_repeat_ngram_size: 0 - eos_token_id: null - exponential_decay_length_penalty: null - extra_augmentation_config: null - finetuning_task: null - forced_bos_token_id: null - forced_eos_token_id: null - id2label: - 0: LABEL_0 - 1: LABEL_1 - is_decoder: false - is_encoder_decoder: false - label2id: - LABEL_0: 0 - LABEL_1: 1 - length_penalty: 1.0 - load_bf16: false - max_length: 20 - min_length: 0 - model_name: nvidia/Eagle-Block2A-2B-v2 - no_repeat_ngram_size: 0 - num_beam_groups: 1 - num_beams: 1 - num_return_sequences: 1 - output_attentions: false - output_hidden_states: false - output_scores: false - pad_token_id: null - prefix: null - problem_type: null - pruned_heads: {} - random_rotation_angle: null - remove_invalid_values: false - repetition_penalty: 1.0 - reproject_vision: false - return_dict: true - return_dict_in_generate: false - sep_token_id: null - state_dropout_prob: 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 - torch_dtype: null - torchscript: false - transformers_version: null - tune_diffusion_model: true - tune_llm: false - tune_projector: true - tune_visual: false - typical_p: 1.0 - use_bfloat16: false - use_relative_action: true -training: !!python/object:gr00t.configs.training.training_config.TrainingConfig - add_rl_callback: false - assert_loss_less_than: null - batch_size: null - bf16: true - dataloader_num_workers: 2 - ddp_bucket_cap_mb: 100 - deepspeed_stage: 2 - enable_open_loop_eval: false - 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: 32 - gradient_accumulation_steps: 1 - gradient_checkpointing: false - learning_rate: 0.0001 - logging_steps: 10 - lr_scheduler_type: cosine - max_concurrent_uploads: 2 - max_grad_norm: 1.0 - max_retries: 3 - max_steps: 20000 - num_gpus: 1 - open_loop_eval_plot_indices: null - open_loop_eval_steps_per_traj: 100 - open_loop_eval_traj_ids: - - 0 - optim: adamw_torch - output_dir: ./outputs/fr5_cherry - remove_unused_columns: false - save_best_eval_metric_greater_is_better: true - save_best_eval_metric_name: '' - save_steps: 5000 - save_total_limit: 5 - save_vl_model: false - start_from_checkpoint: ./pretrained_models/GR00T-N1.6-3B - tf32: true - transformers_access_token: null - transformers_cache_dir: null - transformers_local_files_only: false - transformers_trust_remote_code: true - upload_checkpoints: false - upload_every: 1000 - upload_last_n_checkpoints: 5 - use_ddp: false - use_wandb: false - wandb_project: finetune-gr00t-n1d6 - warmup_ratio: 0.05 - warmup_steps: 0 - weight_decay: 1.0e-05 diff --git a/checkpoint-5000/experiment_cfg/dataset_statistics.json b/checkpoint-5000/experiment_cfg/dataset_statistics.json deleted file mode 100644 index 8aca952981bb76cb22fb0077ec41ee9f0dfcad6c..0000000000000000000000000000000000000000 --- a/checkpoint-5000/experiment_cfg/dataset_statistics.json +++ /dev/null @@ -1,149 +0,0 @@ -{ - "new_embodiment": { - "state": { - "arm": { - "min": [ - 0.4818978011608124, - -1.687173843383789, - 0.62826007604599, - -2.6761701107025146, - -1.8431425094604492, - -0.5678880214691162 - 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0.4818978011608124, - -1.687173843383789, - 0.62826007604599, - -2.6573522090911865, - -1.8431425094604492, - -0.5678880214691162 - ], - "max": [ - 0.7935351133346558, - -1.014952301979065, - 1.8637524843215942, - -1.0820374488830566, - -1.4455490112304688, - 0.3115537762641907 - ], - "mean": [ - 0.6489997506141663, - -1.326717495918274, - 1.355955958366394, - -1.8026670217514038, - -1.6199865341186523, - -0.07982920855283737 - ], - "std": [ - 0.05358240380883204, - 0.16021256148815155, - 0.243374302983284, - 0.2178075611591339, - 0.07321629673242531, - 0.10097639262676239 - ], - "q01": [ - 0.5197953635454178, - -1.6432996988296509, - 0.8625765931606293, - -2.53433034658432, - -1.8000823378562927, - -0.37301090329885483 - ], - "q99": [ - 0.7509180748462676, - -1.0879072868824005, - 1.7849992513656616, - -1.2526323044300085, - -1.4705633461475374, - 0.2933953133225437 - ] - }, - "gripper": { - "min": [ - 0.0 - ], - "max": [ - 1.0 - ], - "mean": [ - 0.7650123238563538 - ], - "std": [ - 0.39907386898994446 - ], - "q01": [ - 0.0 - ], - "q99": [ - 1.0 - ] - } - }, - "relative_action": {} - } -} \ No newline at end of file diff --git a/checkpoint-5000/experiment_cfg/final_model_config.json b/checkpoint-5000/experiment_cfg/final_model_config.json deleted file mode 100644 index 6ea02d527262f204fae29cbf81f730a6184c97af..0000000000000000000000000000000000000000 --- a/checkpoint-5000/experiment_cfg/final_model_config.json +++ /dev/null @@ -1,54 +0,0 @@ -{ - "model_type": "Gr00tN1d6", - "model_dtype": "bfloat16", - "model_name": "nvidia/Eagle-Block2A-2B-v2", - "backbone_model_type": "eagle", - "model_revision": null, - "tune_top_llm_layers": 4, - "backbone_embedding_dim": 2048, - "tune_llm": false, - "tune_visual": false, - "select_layer": 16, - "reproject_vision": false, - "use_flash_attention": true, - "load_bf16": true, - "collator_overwrite_image_inputs": false, - "eagle_collator": true, - "backbone_trainable_params_fp32": true, - "extra_augmentation_config": null, - "apply_sincos_state_encoding": true, - "use_relative_action": true, - "max_state_dim": 128, - "max_action_dim": 128, - "action_horizon": 50, - "hidden_size": 1024, - "input_embedding_dim": 1536, - "add_pos_embed": true, - "attn_dropout": 0.2, - "use_vlln": true, - "max_seq_len": 1024, - "use_alternate_vl_dit": true, - "attend_text_every_n_blocks": 2, - "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 - }, - "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, - "state_dropout_prob": 0.0, - "state_additive_noise_scale": 0.0, - "max_num_embodiments": 32 -} \ No newline at end of file diff --git a/checkpoint-5000/experiment_cfg/final_processor_config.json b/checkpoint-5000/experiment_cfg/final_processor_config.json deleted file mode 100644 index 4a5b3a7f355513a5b01d299167449a7e96bc5dd3..0000000000000000000000000000000000000000 --- a/checkpoint-5000/experiment_cfg/final_processor_config.json +++ /dev/null @@ -1,28 +0,0 @@ -{ - "modality_configs": "{'behavior_r1_pro': {'video': ModalityConfig(delta_indices=[0], modality_keys=['observation.images.rgb.head_256_256', 'observation.images.rgb.left_wrist_256_256', 'observation.images.rgb.right_wrist_256_256'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['robot_pos', 'robot_ori_cos', 'robot_ori_sin', 'robot_2d_ori', 'robot_2d_ori_cos', 'robot_2d_ori_sin', 'robot_lin_vel', 'robot_ang_vel', 'arm_left_qpos', 'arm_left_qpos_sin', 'arm_left_qpos_cos', 'eef_left_pos', 'eef_left_quat', 'gripper_left_qpos', 'arm_right_qpos', 'arm_right_qpos_sin', 'arm_right_qpos_cos', 'eef_right_pos', 'eef_right_quat', 'gripper_right_qpos', 'trunk_qpos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(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], modality_keys=['base', 'torso', 'left_arm', 'left_gripper', 'right_arm', 'right_gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key='trunk_qpos'), ActionConfig(rep=, type=, format=, state_key='arm_left_qpos'), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key='arm_right_qpos'), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'gr1': {'video': ModalityConfig(delta_indices=[0], modality_keys=['ego_view_bg_crop_pad_res256_freq20'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], sin_cos_embedding_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['task'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'robocasa_panda_omron': {'video': ModalityConfig(delta_indices=[0], modality_keys=['res256_image_side_0', 'res256_image_side_1', 'res256_image_wrist_0'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['end_effector_position_relative', 'end_effector_rotation_relative', 'gripper_qpos', 'base_position', 'base_rotation'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['end_effector_position', 'end_effector_rotation', 'gripper_close', 'base_motion', 'control_mode'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.action.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'new_embodiment': {'video': ModalityConfig(delta_indices=[0], modality_keys=['cam_base', 'cam_wrist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}}", - "state_action_processor": "StateActionProcessor(modality_configs={'behavior_r1_pro': {'video': ModalityConfig(delta_indices=[0], modality_keys=['observation.images.rgb.head_256_256', 'observation.images.rgb.left_wrist_256_256', 'observation.images.rgb.right_wrist_256_256'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['robot_pos', 'robot_ori_cos', 'robot_ori_sin', 'robot_2d_ori', 'robot_2d_ori_cos', 'robot_2d_ori_sin', 'robot_lin_vel', 'robot_ang_vel', 'arm_left_qpos', 'arm_left_qpos_sin', 'arm_left_qpos_cos', 'eef_left_pos', 'eef_left_quat', 'gripper_left_qpos', 'arm_right_qpos', 'arm_right_qpos_sin', 'arm_right_qpos_cos', 'eef_right_pos', 'eef_right_quat', 'gripper_right_qpos', 'trunk_qpos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(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], modality_keys=['base', 'torso', 'left_arm', 'left_gripper', 'right_arm', 'right_gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key='trunk_qpos'), ActionConfig(rep=, type=, format=, state_key='arm_left_qpos'), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key='arm_right_qpos'), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'gr1': {'video': ModalityConfig(delta_indices=[0], modality_keys=['ego_view_bg_crop_pad_res256_freq20'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], sin_cos_embedding_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['left_arm', 'right_arm', 'left_hand', 'right_hand', 'waist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['task'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'robocasa_panda_omron': {'video': ModalityConfig(delta_indices=[0], modality_keys=['res256_image_side_0', 'res256_image_side_1', 'res256_image_wrist_0'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['end_effector_position_relative', 'end_effector_rotation_relative', 'gripper_qpos', 'base_position', 'base_rotation'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['end_effector_position', 'end_effector_rotation', 'gripper_close', 'base_motion', 'control_mode'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.action.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'new_embodiment': {'video': ModalityConfig(delta_indices=[0], modality_keys=['cam_base', 'cam_wrist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}}, statistics={'behavior_r1_pro': {'state': {'robot_pos': {'min': [-15.878335952758789, -4.874791622161865, -0.0030556470155715942], 'max': [28.783069610595703, 25.5261173248291, 0.03920263051986694], 'mean': [8.377509353981011, 3.5519228390967257, 0.005352396491811134], 'std': [9.333495189323855, 6.293349382128611, 0.002169489814694542], 'q01': [-15.627003288269043, -3.923245668411255, 0.00464746356010437], 'q99': [28.161231212615963, 25.433036193847656, 0.019137874245643616]}, 'robot_ori_cos': {'min': [0.9964054226875305, 0.9807400703430176, -1.0], 'max': [1.0, 1.0, 1.0], 'mean': [0.9999999103013197, 0.9999999012025106, -0.04432371966161217], 'std': [1.0955394108707479e-05, 1.5141053684175453e-05, 0.7159057916231842], 'q01': [0.9996431469917297, 0.9996242523193359, -0.9999993443489075], 'q99': [0.9999995827674866, 0.9999999403953552, 0.9999995231628418]}, 'robot_ori_sin': {'min': [-0.08471290022134781, -0.0467030331492424, -1.0], 'max': [0.03247667849063873, 0.1953173577785492, 1.0], 'mean': [-0.0014819139726979956, 0.0011138110099060865, -0.1747246084485246], 'std': [0.0010692286968725616, 0.0011352230347134887, 0.6740228681643635], 'q01': [-0.026712577790021896, -0.027393728494644165, -0.9999995827674866], 'q99': [0.023761406727135177, 0.015501312464475616, 0.9999998211860657]}, 'robot_2d_ori': {'min': [-3.1415927410125732], 'max': [3.1415927410125732], 'mean': [-0.34116709549670976], 'std': [1.8744272700649074], 'q01': [-3.139659881591797], 'q99': [3.1393938064575195]}, 'robot_2d_ori_cos': {'min': [-1.0], 'max': [1.0], 'mean': [-0.04432376387887985], 'std': [0.7159057729093367], 'q01': [-0.9999993443489075], 'q99': [0.9999995231628418]}, 'robot_2d_ori_sin': {'min': [-1.0], 'max': [1.0], 'mean': [-0.1747246006771579], 'std': [0.6740228728055352], 'q01': [-0.9999995827674866], 'q99': [0.9999998211860657]}, 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