push checkpoint-davoud from bda-master-Alienware-Area-51-AAT2250
Browse files- README.md +8 -0
- config.json +88 -0
- config.json.orig +88 -0
- experiment_cfg/conf.yaml +264 -0
- experiment_cfg/config.yaml +293 -0
- experiment_cfg/dataset_statistics.json +441 -0
- experiment_cfg/final_model_config.json +55 -0
- experiment_cfg/final_processor_config.json +0 -0
- model-00001-of-00002.safetensors +3 -0
- model-00002-of-00002.safetensors +3 -0
- model.safetensors.index.json +0 -0
- processor/embodiment_id.json +55 -0
- processor/processor_config.json +1181 -0
- processor/processor_config.json.orig +1181 -0
- processor/statistics.json +0 -0
README.md
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---
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license: other
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tags: [robotics, vla, dexmate-vega]
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---
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# GR00T N1.7 — DexMate Vega pick (data 2026-06-24..07-02)
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GR00T-N1.7-3B finetuned on the pick skill, 403 train episodes (22 held out, deterministic split). 10000 steps, global batch 40, lr 1e-4. Includes processor/ and experiment_cfg/ for inference.
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config.json
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{
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"action_horizon": 40,
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| 3 |
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"add_pos_embed": true,
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| 4 |
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"apply_sincos_state_encoding": false,
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| 5 |
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"architectures": [
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"Gr00tN1d7"
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],
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| 8 |
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"attn_dropout": 0.2,
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| 9 |
+
"attn_implementation": null,
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| 10 |
+
"backbone_embedding_dim": 2048,
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| 11 |
+
"backbone_trainable_params_fp32": true,
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| 12 |
+
"color_jitter_params": {
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| 13 |
+
"brightness": 0.3,
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| 14 |
+
"contrast": 0.4,
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| 15 |
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"hue": 0.08,
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| 16 |
+
"saturation": 0.5
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+
},
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"crop_fraction": 0.95,
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| 19 |
+
"diffusion_model_cfg": {
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| 20 |
+
"attention_head_dim": 48,
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| 21 |
+
"dropout": 0.2,
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| 22 |
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"final_dropout": true,
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| 23 |
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"interleave_self_attention": true,
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| 24 |
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"norm_type": "ada_norm",
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| 25 |
+
"num_attention_heads": 32,
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| 26 |
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"num_layers": 32,
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| 27 |
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"output_dim": 1024,
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| 28 |
+
"positional_embeddings": null
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| 29 |
+
},
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| 30 |
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"dtype": "bfloat16",
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| 31 |
+
"exclude_state": false,
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| 32 |
+
"formalize_language": true,
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| 33 |
+
"hidden_size": 1024,
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| 34 |
+
"image_crop_size": [
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| 35 |
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230,
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| 36 |
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230
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| 37 |
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],
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| 38 |
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"image_target_size": [
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| 39 |
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256,
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| 40 |
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256
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| 41 |
+
],
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| 42 |
+
"letter_box_transform": false,
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| 43 |
+
"load_bf16": false,
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| 44 |
+
"max_action_dim": 132,
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| 45 |
+
"max_num_embodiments": 32,
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| 46 |
+
"max_seq_len": 1024,
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| 47 |
+
"max_state_dim": 132,
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| 48 |
+
"model_dtype": "bfloat16",
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| 49 |
+
"model_name": "nvidia/Cosmos-Reason2-2B",
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| 50 |
+
"model_type": "Gr00tN1d7",
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| 51 |
+
"noise_beta_alpha": 1.5,
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| 52 |
+
"noise_beta_beta": 1.0,
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| 53 |
+
"noise_s": 0.999,
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| 54 |
+
"num_inference_timesteps": 4,
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| 55 |
+
"num_timestep_buckets": 1000,
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| 56 |
+
"random_history_crop": true,
|
| 57 |
+
"random_rotation_angle": 0,
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| 58 |
+
"reproject_vision": false,
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| 59 |
+
"rtc_ramp_rate": 6.0,
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| 60 |
+
"select_layer": 16,
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| 61 |
+
"shortest_image_edge": 256,
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| 62 |
+
"state_dropout_prob": 0.2,
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| 63 |
+
"state_gaussian_noise_std": 0.0,
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| 64 |
+
"transformers_version": "4.57.3",
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| 65 |
+
"tune_diffusion_model": true,
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| 66 |
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"tune_linear": true,
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| 67 |
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"tune_llm": false,
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| 68 |
+
"tune_projector": true,
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| 69 |
+
"tune_top_llm_layers": 0,
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| 70 |
+
"tune_visual": false,
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| 71 |
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"tune_vlln": true,
|
| 72 |
+
"use_albumentations": true,
|
| 73 |
+
"use_alternate_vl_dit": true,
|
| 74 |
+
"use_flash_attention": true,
|
| 75 |
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"use_future_tokens": false,
|
| 76 |
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"use_mean_std": false,
|
| 77 |
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"use_percentiles": true,
|
| 78 |
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"use_vl_self_attention": true,
|
| 79 |
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"use_vlln": true,
|
| 80 |
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"vl_self_attention_cfg": {
|
| 81 |
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"attention_head_dim": 64,
|
| 82 |
+
"dropout": 0.2,
|
| 83 |
+
"final_dropout": true,
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| 84 |
+
"num_attention_heads": 32,
|
| 85 |
+
"num_layers": 4,
|
| 86 |
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"positional_embeddings": null
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| 87 |
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}
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| 88 |
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}
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config.json.orig
ADDED
|
@@ -0,0 +1,88 @@
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{
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| 2 |
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"action_horizon": 40,
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| 3 |
+
"add_pos_embed": true,
|
| 4 |
+
"apply_sincos_state_encoding": false,
|
| 5 |
+
"architectures": [
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| 6 |
+
"Gr00tN1d7"
|
| 7 |
+
],
|
| 8 |
+
"attn_dropout": 0.2,
|
| 9 |
+
"attn_implementation": null,
|
| 10 |
+
"backbone_embedding_dim": 2048,
|
| 11 |
+
"backbone_trainable_params_fp32": true,
|
| 12 |
+
"color_jitter_params": {
|
| 13 |
+
"brightness": 0.3,
|
| 14 |
+
"contrast": 0.4,
|
| 15 |
+
"hue": 0.08,
|
| 16 |
+
"saturation": 0.5
|
| 17 |
+
},
|
| 18 |
+
"crop_fraction": 0.95,
|
| 19 |
+
"diffusion_model_cfg": {
|
| 20 |
+
"attention_head_dim": 48,
|
| 21 |
+
"dropout": 0.2,
|
| 22 |
+
"final_dropout": true,
|
| 23 |
+
"interleave_self_attention": true,
|
| 24 |
+
"norm_type": "ada_norm",
|
| 25 |
+
"num_attention_heads": 32,
|
| 26 |
+
"num_layers": 32,
|
| 27 |
+
"output_dim": 1024,
|
| 28 |
+
"positional_embeddings": null
|
| 29 |
+
},
|
| 30 |
+
"dtype": "bfloat16",
|
| 31 |
+
"exclude_state": false,
|
| 32 |
+
"formalize_language": true,
|
| 33 |
+
"hidden_size": 1024,
|
| 34 |
+
"image_crop_size": [
|
| 35 |
+
230,
|
| 36 |
+
230
|
| 37 |
+
],
|
| 38 |
+
"image_target_size": [
|
| 39 |
+
256,
|
| 40 |
+
256
|
| 41 |
+
],
|
| 42 |
+
"letter_box_transform": false,
|
| 43 |
+
"load_bf16": false,
|
| 44 |
+
"max_action_dim": 132,
|
| 45 |
+
"max_num_embodiments": 32,
|
| 46 |
+
"max_seq_len": 1024,
|
| 47 |
+
"max_state_dim": 132,
|
| 48 |
+
"model_dtype": "bfloat16",
|
| 49 |
+
"model_name": "nvidia/Cosmos-Reason2-2B",
|
| 50 |
+
"model_type": "Gr00tN1d7",
|
| 51 |
+
"noise_beta_alpha": 1.5,
|
| 52 |
+
"noise_beta_beta": 1.0,
|
| 53 |
+
"noise_s": 0.999,
|
| 54 |
+
"num_inference_timesteps": 4,
|
| 55 |
+
"num_timestep_buckets": 1000,
|
| 56 |
+
"random_history_crop": true,
|
| 57 |
+
"random_rotation_angle": 0,
|
| 58 |
+
"reproject_vision": false,
|
| 59 |
+
"rtc_ramp_rate": 6.0,
|
| 60 |
+
"select_layer": 16,
|
| 61 |
+
"shortest_image_edge": 256,
|
| 62 |
+
"state_dropout_prob": 0.2,
|
| 63 |
+
"state_gaussian_noise_std": 0.0,
|
| 64 |
+
"transformers_version": "4.57.3",
|
| 65 |
+
"tune_diffusion_model": true,
|
| 66 |
+
"tune_linear": true,
|
| 67 |
+
"tune_llm": false,
|
| 68 |
+
"tune_projector": true,
|
| 69 |
+
"tune_top_llm_layers": 0,
|
| 70 |
+
"tune_visual": false,
|
| 71 |
+
"tune_vlln": true,
|
| 72 |
+
"use_albumentations": true,
|
| 73 |
+
"use_alternate_vl_dit": true,
|
| 74 |
+
"use_flash_attention": true,
|
| 75 |
+
"use_future_tokens": false,
|
| 76 |
+
"use_mean_std": false,
|
| 77 |
+
"use_percentiles": true,
|
| 78 |
+
"use_vl_self_attention": true,
|
| 79 |
+
"use_vlln": true,
|
| 80 |
+
"vl_self_attention_cfg": {
|
| 81 |
+
"attention_head_dim": 64,
|
| 82 |
+
"dropout": 0.2,
|
| 83 |
+
"final_dropout": true,
|
| 84 |
+
"num_attention_heads": 32,
|
| 85 |
+
"num_layers": 4,
|
| 86 |
+
"positional_embeddings": null
|
| 87 |
+
}
|
| 88 |
+
}
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experiment_cfg/conf.yaml
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
load_config_path: null
|
| 2 |
+
model:
|
| 3 |
+
model_type: Gr00tN1d7
|
| 4 |
+
model_dtype: bfloat16
|
| 5 |
+
model_name: nvidia/Cosmos-Reason2-2B
|
| 6 |
+
backbone_model_type: qwen
|
| 7 |
+
model_revision: null
|
| 8 |
+
tune_top_llm_layers: 0
|
| 9 |
+
backbone_embedding_dim: 2048
|
| 10 |
+
tune_llm: false
|
| 11 |
+
tune_visual: false
|
| 12 |
+
select_layer: 12
|
| 13 |
+
reproject_vision: false
|
| 14 |
+
use_flash_attention: true
|
| 15 |
+
load_bf16: false
|
| 16 |
+
backbone_trainable_params_fp32: true
|
| 17 |
+
image_crop_size:
|
| 18 |
+
- 230
|
| 19 |
+
- 230
|
| 20 |
+
image_target_size:
|
| 21 |
+
- 256
|
| 22 |
+
- 256
|
| 23 |
+
shortest_image_edge: null
|
| 24 |
+
crop_fraction: null
|
| 25 |
+
random_rotation_angle: null
|
| 26 |
+
color_jitter_params: null
|
| 27 |
+
use_albumentations_transforms: true
|
| 28 |
+
extra_augmentation_config: null
|
| 29 |
+
formalize_language: true
|
| 30 |
+
apply_sincos_state_encoding: false
|
| 31 |
+
use_percentiles: true
|
| 32 |
+
use_relative_action: true
|
| 33 |
+
max_state_dim: 132
|
| 34 |
+
max_action_dim: 132
|
| 35 |
+
action_horizon: 40
|
| 36 |
+
hidden_size: 1024
|
| 37 |
+
input_embedding_dim: 1536
|
| 38 |
+
state_history_length: 1
|
| 39 |
+
add_pos_embed: true
|
| 40 |
+
attn_dropout: 0.2
|
| 41 |
+
use_vlln: true
|
| 42 |
+
max_seq_len: 1024
|
| 43 |
+
use_alternate_vl_dit: true
|
| 44 |
+
attend_text_every_n_blocks: 2
|
| 45 |
+
diffusion_model_cfg:
|
| 46 |
+
positional_embeddings: null
|
| 47 |
+
num_layers: 16
|
| 48 |
+
num_attention_heads: 32
|
| 49 |
+
attention_head_dim: 48
|
| 50 |
+
norm_type: ada_norm
|
| 51 |
+
dropout: 0.2
|
| 52 |
+
final_dropout: true
|
| 53 |
+
output_dim: 1024
|
| 54 |
+
interleave_self_attention: true
|
| 55 |
+
num_inference_timesteps: 4
|
| 56 |
+
noise_beta_alpha: 1.5
|
| 57 |
+
noise_beta_beta: 1.0
|
| 58 |
+
noise_s: 0.999
|
| 59 |
+
num_timestep_buckets: 1000
|
| 60 |
+
tune_projector: true
|
| 61 |
+
tune_diffusion_model: true
|
| 62 |
+
tune_vlln: true
|
| 63 |
+
state_dropout_prob: 0.2
|
| 64 |
+
exclude_state: false
|
| 65 |
+
use_mean_std: false
|
| 66 |
+
max_num_embodiments: 32
|
| 67 |
+
data:
|
| 68 |
+
datasets:
|
| 69 |
+
- dataset_paths:
|
| 70 |
+
- /data2/davoud/dexmate/datasets/pick_0624-0702/pick
|
| 71 |
+
embodiment_tag: new_embodiment
|
| 72 |
+
mix_ratio: 1.0
|
| 73 |
+
dataset_type: physical_embodiment
|
| 74 |
+
val_dataset_path: null
|
| 75 |
+
modality_configs:
|
| 76 |
+
new_embodiment:
|
| 77 |
+
video:
|
| 78 |
+
delta_indices:
|
| 79 |
+
- 0
|
| 80 |
+
modality_keys:
|
| 81 |
+
- head_left_rgb
|
| 82 |
+
- head_right_rgb
|
| 83 |
+
- left_wrist_rgb
|
| 84 |
+
- right_wrist_rgb
|
| 85 |
+
sin_cos_embedding_keys: null
|
| 86 |
+
mean_std_embedding_keys: null
|
| 87 |
+
action_configs: null
|
| 88 |
+
state:
|
| 89 |
+
delta_indices:
|
| 90 |
+
- 0
|
| 91 |
+
modality_keys:
|
| 92 |
+
- left_arm
|
| 93 |
+
- right_arm
|
| 94 |
+
- torso
|
| 95 |
+
- head
|
| 96 |
+
- left_hand
|
| 97 |
+
- right_hand
|
| 98 |
+
sin_cos_embedding_keys: null
|
| 99 |
+
mean_std_embedding_keys: null
|
| 100 |
+
action_configs: null
|
| 101 |
+
action:
|
| 102 |
+
delta_indices:
|
| 103 |
+
- 0
|
| 104 |
+
- 1
|
| 105 |
+
- 2
|
| 106 |
+
- 3
|
| 107 |
+
- 4
|
| 108 |
+
- 5
|
| 109 |
+
- 6
|
| 110 |
+
- 7
|
| 111 |
+
- 8
|
| 112 |
+
- 9
|
| 113 |
+
- 10
|
| 114 |
+
- 11
|
| 115 |
+
- 12
|
| 116 |
+
- 13
|
| 117 |
+
- 14
|
| 118 |
+
- 15
|
| 119 |
+
- 16
|
| 120 |
+
- 17
|
| 121 |
+
- 18
|
| 122 |
+
- 19
|
| 123 |
+
- 20
|
| 124 |
+
- 21
|
| 125 |
+
- 22
|
| 126 |
+
- 23
|
| 127 |
+
- 24
|
| 128 |
+
- 25
|
| 129 |
+
- 26
|
| 130 |
+
- 27
|
| 131 |
+
- 28
|
| 132 |
+
- 29
|
| 133 |
+
- 30
|
| 134 |
+
- 31
|
| 135 |
+
- 32
|
| 136 |
+
- 33
|
| 137 |
+
- 34
|
| 138 |
+
- 35
|
| 139 |
+
- 36
|
| 140 |
+
- 37
|
| 141 |
+
- 38
|
| 142 |
+
- 39
|
| 143 |
+
modality_keys:
|
| 144 |
+
- left_arm
|
| 145 |
+
- right_arm
|
| 146 |
+
- torso
|
| 147 |
+
- head
|
| 148 |
+
- left_hand
|
| 149 |
+
- right_hand
|
| 150 |
+
sin_cos_embedding_keys: null
|
| 151 |
+
mean_std_embedding_keys: null
|
| 152 |
+
action_configs:
|
| 153 |
+
- rep: ABSOLUTE
|
| 154 |
+
type: NON_EEF
|
| 155 |
+
format: DEFAULT
|
| 156 |
+
state_key: null
|
| 157 |
+
- rep: ABSOLUTE
|
| 158 |
+
type: NON_EEF
|
| 159 |
+
format: DEFAULT
|
| 160 |
+
state_key: null
|
| 161 |
+
- rep: ABSOLUTE
|
| 162 |
+
type: NON_EEF
|
| 163 |
+
format: DEFAULT
|
| 164 |
+
state_key: null
|
| 165 |
+
- rep: ABSOLUTE
|
| 166 |
+
type: NON_EEF
|
| 167 |
+
format: DEFAULT
|
| 168 |
+
state_key: null
|
| 169 |
+
- rep: ABSOLUTE
|
| 170 |
+
type: NON_EEF
|
| 171 |
+
format: DEFAULT
|
| 172 |
+
state_key: null
|
| 173 |
+
- rep: ABSOLUTE
|
| 174 |
+
type: NON_EEF
|
| 175 |
+
format: DEFAULT
|
| 176 |
+
state_key: null
|
| 177 |
+
language:
|
| 178 |
+
delta_indices:
|
| 179 |
+
- 0
|
| 180 |
+
modality_keys:
|
| 181 |
+
- annotation.human.action.task_description
|
| 182 |
+
sin_cos_embedding_keys: null
|
| 183 |
+
mean_std_embedding_keys: null
|
| 184 |
+
action_configs: null
|
| 185 |
+
download_cache: false
|
| 186 |
+
shard_size: 1024
|
| 187 |
+
episode_sampling_rate: 0.1
|
| 188 |
+
num_shards_per_epoch: 100000
|
| 189 |
+
split: train
|
| 190 |
+
override_pretraining_statistics: true
|
| 191 |
+
mode: single_turn
|
| 192 |
+
random_chop: 0.0
|
| 193 |
+
mock_dataset_mode: false
|
| 194 |
+
shuffle: true
|
| 195 |
+
seed: 42
|
| 196 |
+
multiprocessing_context: fork
|
| 197 |
+
allow_padding: false
|
| 198 |
+
subsample_ratio: 1.0
|
| 199 |
+
image_crop_size:
|
| 200 |
+
- 244
|
| 201 |
+
- 244
|
| 202 |
+
image_target_size:
|
| 203 |
+
- 224
|
| 204 |
+
- 224
|
| 205 |
+
video_backend: torchcodec
|
| 206 |
+
training:
|
| 207 |
+
output_dir: /data2/davoud/dexmate/checkpoints/groot_pick0624-0702_20260707
|
| 208 |
+
experiment_name: null
|
| 209 |
+
max_steps: 10000
|
| 210 |
+
global_batch_size: 40
|
| 211 |
+
batch_size: null
|
| 212 |
+
gradient_accumulation_steps: 1
|
| 213 |
+
learning_rate: 0.0001
|
| 214 |
+
lr_scheduler_type: cosine
|
| 215 |
+
weight_decay: 1.0e-05
|
| 216 |
+
warmup_ratio: 0.05
|
| 217 |
+
warmup_steps: 0
|
| 218 |
+
max_grad_norm: 1.0
|
| 219 |
+
optim: adamw_torch
|
| 220 |
+
start_from_checkpoint: /home/davoud/vega/gr00t/base_model/GR00T-N1.7-3B
|
| 221 |
+
skip_weight_loading: false
|
| 222 |
+
tf32: true
|
| 223 |
+
fp16: false
|
| 224 |
+
bf16: true
|
| 225 |
+
eval_bf16: true
|
| 226 |
+
logging_steps: 10
|
| 227 |
+
save_steps: 1000
|
| 228 |
+
save_total_limit: 5
|
| 229 |
+
save_vl_model: false
|
| 230 |
+
save_only_model: false
|
| 231 |
+
upload_checkpoints: false
|
| 232 |
+
upload_every: 1000
|
| 233 |
+
upload_last_n_checkpoints: 5
|
| 234 |
+
max_concurrent_uploads: 2
|
| 235 |
+
eval_strategy: 'no'
|
| 236 |
+
eval_steps: 500
|
| 237 |
+
eval_set_split_ratio: 0.1
|
| 238 |
+
eval_batch_size: 2
|
| 239 |
+
save_best_eval_metric_name: ''
|
| 240 |
+
save_best_eval_metric_greater_is_better: true
|
| 241 |
+
deepspeed_stage: 2
|
| 242 |
+
gradient_checkpointing: false
|
| 243 |
+
transformers_trust_remote_code: true
|
| 244 |
+
transformers_local_files_only: false
|
| 245 |
+
transformers_cache_dir: null
|
| 246 |
+
transformers_access_token: null
|
| 247 |
+
use_ddp: false
|
| 248 |
+
ddp_bucket_cap_mb: 100
|
| 249 |
+
num_gpus: 4
|
| 250 |
+
dataloader_num_workers: 2
|
| 251 |
+
remove_unused_columns: false
|
| 252 |
+
use_wandb: false
|
| 253 |
+
wandb_project: finetune-gr00t-n1d7
|
| 254 |
+
enable_profiling: false
|
| 255 |
+
max_retries: 3
|
| 256 |
+
assert_loss_less_than: null
|
| 257 |
+
add_rl_callback: false
|
| 258 |
+
enable_open_loop_eval: false
|
| 259 |
+
open_loop_eval_traj_ids:
|
| 260 |
+
- 0
|
| 261 |
+
open_loop_eval_steps_per_traj: 100
|
| 262 |
+
open_loop_eval_plot_indices: null
|
| 263 |
+
max_steps: 10000
|
| 264 |
+
save_steps: 1000
|
experiment_cfg/config.yaml
ADDED
|
@@ -0,0 +1,293 @@
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
|
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|
|
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|
|
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|
|
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|
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|
|
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|
|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
| 1 |
+
!!python/object:gr00t.configs.base_config.Config
|
| 2 |
+
data: !!python/object:gr00t.configs.data.data_config.DataConfig
|
| 3 |
+
allow_padding: false
|
| 4 |
+
datasets:
|
| 5 |
+
- !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
|
| 6 |
+
dataset_paths:
|
| 7 |
+
- /data2/davoud/dexmate/datasets/pick_0624-0702/pick
|
| 8 |
+
dataset_type: physical_embodiment
|
| 9 |
+
embodiment_tag: new_embodiment
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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mock_dataset_mode: false
|
| 21 |
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modality_configs:
|
| 22 |
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new_embodiment:
|
| 23 |
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action: !!python/object:gr00t.data.types.ModalityConfig
|
| 24 |
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action_configs:
|
| 25 |
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- !!python/object:gr00t.data.types.ActionConfig
|
| 26 |
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format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
|
| 27 |
+
- default
|
| 28 |
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rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation
|
| 29 |
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|
| 30 |
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state_key: null
|
| 31 |
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type: &id003 !!python/object/apply:gr00t.data.types.ActionType
|
| 32 |
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- non_eef
|
| 33 |
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- !!python/object:gr00t.data.types.ActionConfig
|
| 34 |
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format: *id001
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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format: *id001
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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state_key: null
|
| 57 |
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|
| 58 |
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delta_indices:
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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- 7
|
| 67 |
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- 8
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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- 13
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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- 21
|
| 81 |
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- 22
|
| 82 |
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- 23
|
| 83 |
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- 24
|
| 84 |
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- 25
|
| 85 |
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- 26
|
| 86 |
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|
| 87 |
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- 28
|
| 88 |
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- 29
|
| 89 |
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- 30
|
| 90 |
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- 31
|
| 91 |
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|
| 92 |
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- 33
|
| 93 |
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|
| 94 |
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|
| 95 |
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- 36
|
| 96 |
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- 37
|
| 97 |
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- 38
|
| 98 |
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- 39
|
| 99 |
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mean_std_embedding_keys: null
|
| 100 |
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modality_keys:
|
| 101 |
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- left_arm
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
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| 108 |
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language: !!python/object:gr00t.data.types.ModalityConfig
|
| 109 |
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action_configs: null
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delta_indices:
|
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|
| 112 |
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|
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modality_keys:
|
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|
| 115 |
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| 116 |
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state: !!python/object:gr00t.data.types.ModalityConfig
|
| 117 |
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action_configs: null
|
| 118 |
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delta_indices:
|
| 119 |
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- 0
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| 120 |
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mean_std_embedding_keys: null
|
| 121 |
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modality_keys:
|
| 122 |
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| 123 |
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| 124 |
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|
| 125 |
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|
| 127 |
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| 128 |
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sin_cos_embedding_keys: null
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video: !!python/object:gr00t.data.types.ModalityConfig
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| 130 |
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action_configs: null
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delta_indices:
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modality_keys:
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sin_cos_embedding_keys: null
|
| 140 |
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mode: single_turn
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multiprocessing_context: fork
|
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num_shards_per_epoch: 100000
|
| 143 |
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override_pretraining_statistics: true
|
| 144 |
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random_chop: 0.0
|
| 145 |
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seed: 42
|
| 146 |
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shard_size: 1024
|
| 147 |
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shuffle: true
|
| 148 |
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split: train
|
| 149 |
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subsample_ratio: 1.0
|
| 150 |
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video_backend: torchcodec
|
| 151 |
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load_config_path: null
|
| 152 |
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model: !!python/object:gr00t.configs.model.gr00t_n1d7.Gr00tN1d7Config
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cross_attention_hidden_size: null
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decoder_start_token_id: null
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| 167 |
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diffusion_model_cfg:
|
| 168 |
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attention_head_dim: 48
|
| 169 |
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dropout: 0.2
|
| 170 |
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final_dropout: true
|
| 171 |
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interleave_self_attention: true
|
| 172 |
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norm_type: ada_norm
|
| 173 |
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num_attention_heads: 32
|
| 174 |
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num_layers: 16
|
| 175 |
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output_dim: 1024
|
| 176 |
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positional_embeddings: null
|
| 177 |
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diversity_penalty: 0.0
|
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do_sample: false
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dtype: null
|
| 180 |
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early_stopping: false
|
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encoder_no_repeat_ngram_size: 0
|
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eos_token_id: null
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exponential_decay_length_penalty: null
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extra_augmentation_config: null
|
| 185 |
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finetuning_task: null
|
| 186 |
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forced_bos_token_id: null
|
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forced_eos_token_id: null
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id2label:
|
| 189 |
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0: LABEL_0
|
| 190 |
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1: LABEL_1
|
| 191 |
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is_decoder: false
|
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is_encoder_decoder: false
|
| 193 |
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label2id:
|
| 194 |
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LABEL_0: 0
|
| 195 |
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LABEL_1: 1
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load_bf16: false
|
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max_length: 20
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min_length: 0
|
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model_name: nvidia/Cosmos-Reason2-2B
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no_repeat_ngram_size: 0
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num_beam_groups: 1
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num_beams: 1
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output_hidden_states: false
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pad_token_id: null
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problem_type: null
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random_rotation_angle: null
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remove_invalid_values: false
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reproject_vision: false
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training: !!python/object:gr00t.configs.training.training_config.TrainingConfig
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batch_size: null
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ddp_bucket_cap_mb: 100
|
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eval_batch_size: 2
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eval_bf16: true
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eval_set_split_ratio: 0.1
|
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eval_steps: 500
|
| 251 |
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eval_strategy: 'no'
|
| 252 |
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experiment_name: null
|
| 253 |
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fp16: false
|
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global_batch_size: 40
|
| 255 |
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gradient_accumulation_steps: 1
|
| 256 |
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gradient_checkpointing: false
|
| 257 |
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learning_rate: 0.0001
|
| 258 |
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logging_steps: 10
|
| 259 |
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lr_scheduler_type: cosine
|
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max_concurrent_uploads: 2
|
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max_grad_norm: 1.0
|
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max_retries: 3
|
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|
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open_loop_eval_steps_per_traj: 100
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open_loop_eval_traj_ids:
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|
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optim: adamw_torch
|
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output_dir: /data2/davoud/dexmate/checkpoints/groot_pick0624-0702_20260707
|
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remove_unused_columns: false
|
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save_best_eval_metric_greater_is_better: true
|
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save_best_eval_metric_name: ''
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save_only_model: false
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save_steps: 1000
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save_total_limit: 5
|
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save_vl_model: false
|
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skip_weight_loading: false
|
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start_from_checkpoint: /home/davoud/vega/gr00t/base_model/GR00T-N1.7-3B
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tf32: true
|
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| 282 |
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transformers_trust_remote_code: true
|
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upload_checkpoints: false
|
| 286 |
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upload_every: 1000
|
| 287 |
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upload_last_n_checkpoints: 5
|
| 288 |
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use_ddp: false
|
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|
| 290 |
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wandb_project: finetune-gr00t-n1d7
|
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warmup_ratio: 0.05
|
| 292 |
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warmup_steps: 0
|
| 293 |
+
weight_decay: 1.0e-05
|
experiment_cfg/dataset_statistics.json
ADDED
|
@@ -0,0 +1,441 @@
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experiment_cfg/final_model_config.json
ADDED
|
@@ -0,0 +1,55 @@
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{
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 55 |
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experiment_cfg/final_processor_config.json
ADDED
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The diff for this file is too large to render.
See raw diff
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model-00001-of-00002.safetensors
ADDED
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model.safetensors.index.json
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processor/embodiment_id.json
ADDED
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 36 |
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|
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|
| 38 |
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|
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|
| 40 |
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|
| 41 |
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|
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|
| 43 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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"xdof_relative_eef_relative_joint_subtask": 27,
|
| 48 |
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|
| 49 |
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|
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|
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|
| 55 |
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processor/processor_config.json
ADDED
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@@ -0,0 +1,1181 @@
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|
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|
| 859 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 1178 |
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|
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|
| 1180 |
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}
|
| 1181 |
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}
|
processor/processor_config.json.orig
ADDED
|
@@ -0,0 +1,1181 @@
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
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|
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| 1180 |
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| 1181 |
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|
processor/statistics.json
ADDED
|
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|
|
|