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- config.json +80 -0
- experiment_cfg/conf.yaml +0 -0
- experiment_cfg/metadata.json +380 -0
- global_step30000/bf16_zero_pp_rank_0_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_10_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_11_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_12_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_13_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_14_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_15_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_16_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_17_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_18_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_19_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_1_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_20_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_21_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_22_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_23_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_24_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_25_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_26_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_27_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_28_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_29_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_2_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_30_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_31_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_3_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_4_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_5_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_6_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_7_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_8_mp_rank_00_optim_states.pt +3 -0
- global_step30000/bf16_zero_pp_rank_9_mp_rank_00_optim_states.pt +3 -0
- global_step30000/mp_rank_00_model_states.pt +3 -0
- latest +1 -0
- model.safetensors +3 -0
- rng_state_0.pth +3 -0
- rng_state_1.pth +3 -0
- rng_state_10.pth +3 -0
- rng_state_11.pth +3 -0
- rng_state_12.pth +3 -0
- rng_state_13.pth +3 -0
- rng_state_14.pth +3 -0
- rng_state_15.pth +3 -0
- rng_state_16.pth +3 -0
- rng_state_17.pth +3 -0
- rng_state_18.pth +3 -0
- rng_state_19.pth +3 -0
config.json
ADDED
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{
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"_name_or_path": "/mnt/amlfs-01/home/seonghyeony/checkpoints/groot_s_idm_so100",
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| 3 |
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"action_dim": 32,
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"action_head_cfg": {
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"_convert_": "object",
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"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDM",
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"config": {
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| 8 |
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"_recursive_": false,
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"_target_": "gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDMConfig",
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"action_dim": 32,
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"action_horizon": 16,
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"add_pos_embed": true,
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"add_seperator_token": true,
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"add_view_embed": true,
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"backbone_features_projector_cfg": null,
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"diffusion_model_cfg": {
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"_target_": "gr00t.model.action_head.cross_attention_dit.DiT",
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"attention_head_dim": 64,
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"dropout": 0.2,
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"final_dropout": true,
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"interleave_self_attention": true,
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"norm_type": "ada_norm",
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"num_attention_heads": 16,
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"num_layers": 8,
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"output_dim": 1024,
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"positional_embeddings": null
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},
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"hidden_size": 1024,
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"max_action_dim": 32,
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| 30 |
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"max_num_views": 3,
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"max_state_dim": 44,
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"mm_projector_cfg": {
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"_convert_": "object",
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"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjector",
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"config": {
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"_target_": "gr00t.model.action_head.multimodal_projector.MultimodalProjectorConfig",
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| 37 |
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"hidden_size": 1024,
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| 38 |
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"mm_hidden_size": 1024,
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"mm_projector_type": "mlp_doubledownsample"
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}
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},
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"mm_vision_select_layer": -2,
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"model_dtype": "float32",
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"noise_beta_alpha": 1.5,
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| 45 |
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"noise_beta_beta": 1.0,
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| 46 |
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"noise_s": 0.999,
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| 47 |
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"num_inference_timesteps": 16,
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| 48 |
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"num_timestep_buckets": 1000,
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| 49 |
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"siglip_hidden_size": 1024,
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| 50 |
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"siglip_model_cfg": {
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| 51 |
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"_convert_": "object",
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"_target_": "gr00t.model.action_head.siglip.SiglipModel.from_pretrained",
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"pretrained_model_name_or_path": "google/siglip2-large-patch16-256"
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},
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"tune_vision_tower": true,
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"vl_self_attention_cfg": {
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"_target_": "gr00t.model.action_head.cross_attention_dit.SelfAttentionTransformer",
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"attention_head_dim": 64,
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"dropout": 0.2,
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"final_dropout": true,
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"num_attention_heads": 16,
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"num_layers": 4,
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"positional_embeddings": null
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}
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}
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| 66 |
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},
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| 67 |
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"action_horizon": 16,
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"architectures": [
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"DualBrain"
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| 70 |
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],
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| 71 |
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"backbone_cfg": {
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| 72 |
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"_target_": "gr00t.model.backbone.IdentityBackbone"
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| 73 |
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},
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| 74 |
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"hidden_size": 0,
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| 75 |
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"model_dtype": "float32",
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"model_type": "dual_brain",
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| 77 |
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"resume_path": "/mnt/amlfs-01/home/seonghyeony/checkpoints/groot_s_idm_so100",
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| 78 |
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"torch_dtype": "bfloat16",
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| 79 |
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"transformers_version": "4.45.2"
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}
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experiment_cfg/conf.yaml
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The diff for this file is too large to render.
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experiment_cfg/metadata.json
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| 1 |
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{
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| 2 |
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"so100": {
|
| 3 |
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"dataset_name": "so100:FullSet, so100:FullSet",
|
| 4 |
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"dataset_statistics": {
|
| 5 |
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"state": {
|
| 6 |
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"main_shoulder_pan": {
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| 7 |
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"max": [
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| 8 |
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| 9 |
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],
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| 10 |
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"min": [
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| 11 |
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| 12 |
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],
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| 13 |
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"mean": [
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| 14 |
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| 15 |
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],
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| 16 |
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"std": [
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],
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| 19 |
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"q01": [
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| 22 |
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"q99": [
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},
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| 26 |
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"main_shoulder_lift": {
|
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"min": [
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"mean": [
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