diff --git a/checkpoint-1000/config.json b/checkpoint-1000/config.json new file mode 100644 index 0000000000000000000000000000000000000000..4357a8edfcf080c80beaee90f6fc0ea0bad73a20 --- /dev/null +++ b/checkpoint-1000/config.json @@ -0,0 +1,70 @@ +{ + "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-1000/embodiment_id.json b/checkpoint-1000/embodiment_id.json new file mode 100644 index 0000000000000000000000000000000000000000..32b3a253eb50c40bde24c3a0c013073b10757bdc --- /dev/null +++ b/checkpoint-1000/embodiment_id.json @@ -0,0 +1,10 @@ +{ + "robocasa_panda_omron": 13, + "gr1": 20, + "behavior_r1_pro": 24, + "unitree_g1": 8, + "oxe_google": 0, + "oxe_widowx": 1, + "libero_panda": 2, + "new_embodiment": 10 +} \ No newline at end of file diff --git a/checkpoint-1000/experiment_cfg/conf.yaml b/checkpoint-1000/experiment_cfg/conf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2af2ad3769b19b2e1271208ba77fcd400c10db8f --- /dev/null +++ b/checkpoint-1000/experiment_cfg/conf.yaml @@ -0,0 +1,204 @@ +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 + 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: + - /workspaces/isaaclab_arena/train_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: + - ego_view + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: null + state: + delta_indices: + - 0 + modality_keys: + - single_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: + - single_arm + - gripper + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: + - rep: RELATIVE + type: NON_EEF + format: DEFAULT + state_key: single_arm + - 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: torchcodec +training: + output_dir: /home/ubuntu/.cache/gr00t_franka_finetune + experiment_name: null + max_steps: 2000 + 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: nvidia/GR00T-N1.6-3B + tf32: true + fp16: false + bf16: true + eval_bf16: true + logging_steps: 10 + save_steps: 500 + save_total_limit: 4 + 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: 32 + 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: 2000 +save_steps: 500 diff --git a/checkpoint-1000/experiment_cfg/config.yaml b/checkpoint-1000/experiment_cfg/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7c48faa3122363ababf505fb54d9f91d6d97f49c --- /dev/null +++ b/checkpoint-1000/experiment_cfg/config.yaml @@ -0,0 +1,238 @@ +!!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: + - /workspaces/isaaclab_arena/train_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: !!python/object/apply:gr00t.data.types.ActionRepresentation + - relative + state_key: single_arm + type: &id002 !!python/object/apply:gr00t.data.types.ActionType + - non_eef + - !!python/object:gr00t.data.types.ActionConfig + format: *id001 + rep: !!python/object/apply:gr00t.data.types.ActionRepresentation + - absolute + state_key: null + type: *id002 + 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: + - single_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: + - single_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: + - ego_view + 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: torchcodec +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 + 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: 32 + 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: 2000 + 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: /home/ubuntu/.cache/gr00t_franka_finetune + remove_unused_columns: false + save_best_eval_metric_greater_is_better: true + save_best_eval_metric_name: '' + save_steps: 500 + save_total_limit: 4 + save_vl_model: false + start_from_checkpoint: nvidia/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-1000/experiment_cfg/dataset_statistics.json b/checkpoint-1000/experiment_cfg/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..f9f7a1c014f902729473d0a04674bacafb088cdb --- /dev/null +++ b/checkpoint-1000/experiment_cfg/dataset_statistics.json @@ -0,0 +1,1046 @@ +{ + "new_embodiment": { + "state": { + "single_arm": { + "min": [ + -0.1016506552696228, + 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file diff --git a/checkpoint-1000/experiment_cfg/final_processor_config.json b/checkpoint-1000/experiment_cfg/final_processor_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e2bf2a70851b112b7e325f64c3faa977868c7745 --- /dev/null +++ b/checkpoint-1000/experiment_cfg/final_processor_config.json @@ -0,0 +1,27 @@ +{ + "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=['ego_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['single_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=['single_arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='single_arm'), 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=['ego_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['single_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=['single_arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='single_arm'), 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, 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[\n 0.5,\n 0.5,\n 0.5\n ],\n \"image_processor_type\": \"Eagle3_VLImageProcessorFast\",\n \"image_std\": [\n 0.5,\n 0.5,\n 0.5\n ],\n \"input_data_format\": null,\n \"processor_class\": \"Eagle3_VLProcessor\",\n \"resample\": 3,\n \"rescale_factor\": 0.00392156862745098,\n \"return_tensors\": null,\n \"size\": {\n \"height\": 448,\n \"width\": 448\n }\n}\n\n- tokenizer: Qwen2TokenizerFast(name_or_path='/workspaces/isaaclab_arena/submodules/Isaac-GR00T/gr00t/model/gr00t_n1d6/../modules/nvidia/Eagle-Block2A-2B-v2', vocab_size=151643, model_max_length=32768, is_fast=True, padding_side='left', truncation_side='right', special_tokens={'eos_token': '<|im_end|>', 'pad_token': '<|endoftext|>', 'additional_special_tokens': ['<|im_start|>', '<|im_end|>', '<|object_ref_start|>', '<|object_ref_end|>', '<|box_start|>', '<|box_end|>', '<|quad_start|>', '<|quad_end|>', '<|vision_start|>', '<|vision_end|>', '<|vision_pad|>', '<|image_pad|>', '<|video_pad|>', '', '', '', '', '', '', '', '', '', '', 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rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151668: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151669: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151670: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151671: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151672: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151673: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151674: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151675: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151676: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151677: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151678: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151679: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n}\n)\n\n{\n \"auto_map\": {\n \"AutoProcessor\": \"processing_eagle3_vl.Eagle3_VLProcessor\"\n },\n \"image_end_token\": \"\",\n \"image_placeholder\": \"image\",\n \"image_start_token\": \"\",\n \"image_token\": \"\",\n \"pixels_per_token\": 784,\n \"processor_class\": \"Eagle3_VLProcessor\",\n \"video_placeholder\": \"video\",\n \"video_token\": \"\",\n \"vision_feature_select_strategy\": null\n}\n", + "embodiment_id_mapping": "{'robocasa_panda_omron': 13, 'gr1': 20, 'behavior_r1_pro': 24, 'unitree_g1': 8, 'oxe_google': 0, 'oxe_widowx': 1, 'libero_panda': 2, 'new_embodiment': 10}", + 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shortest_image_edge: 256 + crop_fraction: 0.95 + random_rotation_angle: null + color_jitter_params: null + use_albumentations_transforms: true + 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: + - /workspaces/isaaclab_arena/train_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: + - ego_view + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: null + state: + delta_indices: + - 0 + modality_keys: + - single_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: + - single_arm + - gripper + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: + - rep: RELATIVE + type: NON_EEF + format: DEFAULT + state_key: single_arm + - 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: torchcodec +training: + output_dir: /home/ubuntu/.cache/gr00t_franka_finetune + experiment_name: null + max_steps: 2000 + 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: nvidia/GR00T-N1.6-3B + tf32: true + fp16: false + bf16: true + eval_bf16: true + logging_steps: 10 + save_steps: 500 + save_total_limit: 4 + 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: 32 + 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: 2000 +save_steps: 500 diff --git a/checkpoint-1500/experiment_cfg/config.yaml b/checkpoint-1500/experiment_cfg/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7c48faa3122363ababf505fb54d9f91d6d97f49c --- /dev/null +++ b/checkpoint-1500/experiment_cfg/config.yaml @@ -0,0 +1,238 @@ +!!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: + - /workspaces/isaaclab_arena/train_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: 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0000000000000000000000000000000000000000..546b4c37891d2641237c7ac1a1df7afa124be809 --- /dev/null +++ b/checkpoint-1500/experiment_cfg/final_model_config.json @@ -0,0 +1,53 @@ +{ + "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, + "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, + 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"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'], 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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, 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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=['ego_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['single_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=['single_arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='single_arm'), 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, 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index 0000000000000000000000000000000000000000..2af2ad3769b19b2e1271208ba77fcd400c10db8f --- /dev/null +++ b/checkpoint-2000/experiment_cfg/conf.yaml @@ -0,0 +1,204 @@ +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 + 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: + - /workspaces/isaaclab_arena/train_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: + - ego_view + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: null + state: + delta_indices: + - 0 + modality_keys: + - single_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: + - single_arm + - gripper + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: + - rep: RELATIVE + type: NON_EEF + format: DEFAULT + state_key: single_arm + - 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: torchcodec +training: + output_dir: /home/ubuntu/.cache/gr00t_franka_finetune + experiment_name: null + max_steps: 2000 + 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: nvidia/GR00T-N1.6-3B + tf32: true + fp16: false + bf16: true + eval_bf16: true + logging_steps: 10 + save_steps: 500 + save_total_limit: 4 + 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: 32 + 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: 2000 +save_steps: 500 diff --git a/checkpoint-2000/experiment_cfg/config.yaml b/checkpoint-2000/experiment_cfg/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7c48faa3122363ababf505fb54d9f91d6d97f49c --- /dev/null +++ b/checkpoint-2000/experiment_cfg/config.yaml @@ -0,0 +1,238 @@ 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!!python/object:gr00t.data.types.ActionConfig + format: *id001 + rep: !!python/object/apply:gr00t.data.types.ActionRepresentation + - absolute + state_key: null + type: *id002 + 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: + - single_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: + - single_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: + - ego_view + 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: torchcodec +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: 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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: 32 + 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 + 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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'], 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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=['ego_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['single_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=['single_arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='single_arm'), 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=['ego_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['single_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=['single_arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='single_arm'), 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, 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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': [-0.4264371317264002, -0.05465836284551001, 0.05346223672976269, -0.5054683183348891, -0.1918360835051923, 0.14340329014491734, 0.0357940903426538], 'std': [0.31494887556161716, 0.1549590719500001, 0.34120127397829, 0.3770451917413771, 0.4156889711075758, 0.4753151693382749, 0.4020068446524755], 'q01': [-0.9999332284927368, -0.9014628958702088, -0.9949211800098419, -0.9999994039535522, -0.9999218583106995, -0.8649518489837646, -1.0], 'q99': [0.3853125, 0.17361578345298767, 0.9979434013366699, 0.0854596658796072, 0.9979422092437744, 0.8660256862640381, 0.9999933242797852]}, 'arm_right_qpos_cos': {'min': [-1.0, -0.9906989336013794, -0.7071099877357483, -0.17380644381046295, -0.7071226239204407, 0.4999977946281433, -0.26061707735061646], 'max': [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], 'mean': [0.8152685176486311, 0.9903730380535329, 0.9322938999891098, 0.6996053660469064, 0.8519093439110083, 0.8568433553286315, 0.9001080903351859], 'std': [0.2440489014640611, 0.05598231053460137, 0.15457119672371283, 0.3419510653279641, 0.2698112779261797, 0.15797425577490556, 0.19258703108145175], 'q01': [-0.7578012096881866, -0.7939684128761292, -0.5924126744270325, -0.05850065127015114, -0.6734705185890197, 0.499999463558197, -3.739199428309803e-06], 'q99': [1.0, 1.0, 1.0, 1.0, 1.0, 0.9999990463256836, 1.0]}, 'eef_right_pos': {'min': [-0.3725128173828125, -1.0382061004638672, -0.0025070905685424805], 'max': [1.2326364517211914, 0.26436495780944824, 2.054759979248047], 'mean': [0.5586481590001344, -0.2622612647007511, 0.7113525060273301], 'std': [0.20198244627461825, 0.12248826183145507, 0.2887044106083767], 'q01': [-0.1481202507019043, -0.8345400273799897, 0.03438965082168579], 'q99': [1.0937080383300781, 0.16088378429412842, 1.8588311290740953]}, 'eef_right_quat': {'min': 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100644 index 0000000000000000000000000000000000000000..4357a8edfcf080c80beaee90f6fc0ea0bad73a20 --- /dev/null +++ b/checkpoint-500/config.json @@ -0,0 +1,70 @@ +{ + "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": 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a/checkpoint-500/embodiment_id.json b/checkpoint-500/embodiment_id.json new file mode 100644 index 0000000000000000000000000000000000000000..32b3a253eb50c40bde24c3a0c013073b10757bdc --- /dev/null +++ b/checkpoint-500/embodiment_id.json @@ -0,0 +1,10 @@ +{ + "robocasa_panda_omron": 13, + "gr1": 20, + "behavior_r1_pro": 24, + "unitree_g1": 8, + "oxe_google": 0, + "oxe_widowx": 1, + "libero_panda": 2, + "new_embodiment": 10 +} \ No newline at end of file diff --git a/checkpoint-500/experiment_cfg/conf.yaml b/checkpoint-500/experiment_cfg/conf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2af2ad3769b19b2e1271208ba77fcd400c10db8f --- /dev/null +++ b/checkpoint-500/experiment_cfg/conf.yaml @@ -0,0 +1,204 @@ +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 + 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: + - /workspaces/isaaclab_arena/train_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: + - ego_view + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: null + state: + delta_indices: + - 0 + modality_keys: + - single_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: + - single_arm + - gripper + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: + - rep: RELATIVE + type: NON_EEF + format: DEFAULT + state_key: single_arm + - 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: torchcodec +training: + output_dir: /home/ubuntu/.cache/gr00t_franka_finetune + experiment_name: null + max_steps: 2000 + 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: nvidia/GR00T-N1.6-3B + tf32: true + fp16: false + bf16: true + eval_bf16: true + logging_steps: 10 + save_steps: 500 + save_total_limit: 4 + 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: 32 + 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: 2000 +save_steps: 500 diff --git a/checkpoint-500/experiment_cfg/config.yaml b/checkpoint-500/experiment_cfg/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7c48faa3122363ababf505fb54d9f91d6d97f49c --- /dev/null +++ b/checkpoint-500/experiment_cfg/config.yaml @@ -0,0 +1,238 @@ +!!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: + - /workspaces/isaaclab_arena/train_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: !!python/object/apply:gr00t.data.types.ActionRepresentation + - relative + state_key: single_arm + type: &id002 !!python/object/apply:gr00t.data.types.ActionType + - non_eef + - !!python/object:gr00t.data.types.ActionConfig + format: *id001 + rep: !!python/object/apply:gr00t.data.types.ActionRepresentation + - absolute + state_key: null + type: *id002 + 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: + - single_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: + - single_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: + - ego_view + 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: torchcodec +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 + 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: 32 + 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: 2000 + 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: /home/ubuntu/.cache/gr00t_franka_finetune + remove_unused_columns: false + save_best_eval_metric_greater_is_better: true + save_best_eval_metric_name: '' + 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"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-500/experiment_cfg/final_processor_config.json b/checkpoint-500/experiment_cfg/final_processor_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e2bf2a70851b112b7e325f64c3faa977868c7745 --- /dev/null +++ b/checkpoint-500/experiment_cfg/final_processor_config.json @@ -0,0 +1,27 @@ +{ + "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=['ego_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['single_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=['single_arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='single_arm'), 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=['ego_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['single_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=['single_arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='single_arm'), 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, 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'end_effector_rotation_relative': {'min': [-0.9999996423721313, -0.9978545904159546, -0.9934196472167969, 1.742676403182486e-08], 'max': [0.9999980926513672, 0.998063862323761, 0.9959006905555725, 0.9754553437232971], 'mean': [-0.15473764518557107, 0.12101395845738246, 0.0073096656754604705, 0.2104693596511956], 'std': [0.7736194572934442, 0.3664192841252171, 0.35939577411124457, 0.23468805469193338], 'q01': [-0.9992718696594238, -0.8802546286582946, -0.849177440404892, 0.00044487909326562663], 'q99': [0.9993162155151367, 0.9301677179336548, 0.8556861239671707, 0.8709038305282593]}, 'gripper_qpos': {'min': [-0.034708939492702484, -0.12887509167194366], 'max': [0.0993952602148056, 0.12181679159402847], 'mean': [0.03069615761615002, -0.03064145469186576], 'std': [0.01341022480320407, 0.01341680128053526], 'q01': [-0.0012123542837798595, -0.041020282991230485], 'q99': [0.04147526852786541, 0.0008036484662443376]}, 'base_position': {'min': [0.31250813603401184, -5.110836982727051, 0.6947912573814392], 'max': [5.60412073135376, -0.4872598946094513, 0.8319682478904724], 'mean': [2.521760290175412, -1.522186060467389, 0.6947690310137987], 'std': [1.4554554979381333, 0.8552189250023587, 0.006658629060373585], 'q01': [0.3898392152786255, -4.600230164527893, 0.6998904347419739], 'q99': [5.600037574768066, -0.4999887862801552, 0.7121779525279999]}, 'base_rotation': {'min': [0.0, 0.0, -1.0, 0.0], 'max': [0.0, 0.0, 1.0, 1.0], 'mean': [0.0, 0.0, 0.27055757164716127, 0.6369820581221606], 'std': [0.0, 0.0, 0.6259934713321293, 0.359605980888475], 'q01': [0.0, 0.0, -1.0, 1.0776068290851981e-06], 'q99': [0.0, 0.0, 1.0, 1.0]}}, 'action': {'end_effector_position': {'min': [-1.0, -1.0, -1.0], 'max': [1.0, 1.0, 1.0], 'mean': [0.029800773273887676, 0.0035913945088653434, -0.03968289347218177], 'std': [0.4175582986687833, 0.40810836358753827, 0.3724136058768564], 'q01': [-1.0, -1.0, -1.0], 'q99': [1.0, 1.0, 1.0]}, 'end_effector_rotation': {'min': [-1.0, -1.0, -1.0], 'max': [1.0, 1.0, 1.0], 'mean': [0.006613481004255726, -0.02273008039346597, -0.0026965937721805723], 'std': [0.14524735843782446, 0.1520585068917666, 0.1391378440576292], 'q01': [-0.620814083814621, -0.7757885468006134, -0.7125183200836182], 'q99': [0.86768774271011, 0.8982121348381038, 0.6413099694252014]}, 'gripper_close': {'min': [0.0], 'max': [1.0], 'mean': [0.3555581543825369], 'std': [0.47875685759087344], 'q01': [0.0], 'q99': [1.0]}, 'base_motion': {'min': [0.0, 0.0, 0.0, 0.0], 'max': [0.0, 0.0, 0.0, 0.0], 'mean': [0.0, 0.0, 0.0, 0.0], 'std': [0.0, 0.0, 0.0, 0.0], 'q01': [0.0, 0.0, 0.0, 0.0], 'q99': [0.0, 0.0, 0.0, 0.0]}, 'control_mode': {'min': [0.0], 'max': [0.0], 'mean': [0.0], 'std': [0.0], 'q01': [0.0], 'q99': [0.0]}}}}, use_percentiles=False, clip_outliers=True, apply_sincos_state_encoding=True, use_relative_action=True)", + "use_percentiles": "False", + "clip_outliers": "True", + "apply_sincos_state_encoding": "True", + "use_relative_action": "True", + "formalize_language": "True", + "model_name": "nvidia/Eagle-Block2A-2B-v2", + "model_type": "eagle", + "max_state_dim": "128", + "max_action_dim": "128", + "max_action_horizon": "50", + "image_crop_size": "None", + "image_target_size": "None", + "random_rotation_angle": "None", + "color_jitter_params": "{'brightness': 0.3, 'contrast': 0.4, 'saturation': 0.5, 'hue': 0.08}", + "processor": "Eagle3_VLProcessor:\n- image_processor: Eagle3_VLImageProcessorFast {\n \"auto_map\": {\n \"AutoImageProcessor\": \"image_processing_eagle3_vl_fast.Eagle3_VLImageProcessorFast\",\n \"AutoProcessor\": \"processing_eagle3_vl.Eagle3_VLProcessor\"\n },\n \"crop_size\": null,\n \"data_format\": \"channels_first\",\n \"default_to_square\": false,\n \"device\": null,\n \"do_center_crop\": null,\n \"do_convert_rgb\": true,\n \"do_normalize\": true,\n \"do_pad\": false,\n \"do_rescale\": true,\n \"do_resize\": false,\n \"image_mean\": [\n 0.5,\n 0.5,\n 0.5\n ],\n \"image_processor_type\": \"Eagle3_VLImageProcessorFast\",\n \"image_std\": [\n 0.5,\n 0.5,\n 0.5\n ],\n \"input_data_format\": null,\n \"processor_class\": \"Eagle3_VLProcessor\",\n \"resample\": 3,\n \"rescale_factor\": 0.00392156862745098,\n \"return_tensors\": null,\n \"size\": {\n \"height\": 448,\n \"width\": 448\n }\n}\n\n- tokenizer: Qwen2TokenizerFast(name_or_path='/workspaces/isaaclab_arena/submodules/Isaac-GR00T/gr00t/model/gr00t_n1d6/../modules/nvidia/Eagle-Block2A-2B-v2', vocab_size=151643, model_max_length=32768, is_fast=True, padding_side='left', truncation_side='right', special_tokens={'eos_token': '<|im_end|>', 'pad_token': '<|endoftext|>', 'additional_special_tokens': ['<|im_start|>', '<|im_end|>', '<|object_ref_start|>', '<|object_ref_end|>', '<|box_start|>', '<|box_end|>', '<|quad_start|>', '<|quad_end|>', '<|vision_start|>', '<|vision_end|>', '<|vision_pad|>', '<|image_pad|>', '<|video_pad|>', '', '', '', '', '', '', '', '', '', '', '']}, clean_up_tokenization_spaces=False, added_tokens_decoder={\n\t151643: AddedToken(\"<|endoftext|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151644: AddedToken(\"<|im_start|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151645: AddedToken(\"<|im_end|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151646: AddedToken(\"<|object_ref_start|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151647: AddedToken(\"<|object_ref_end|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151648: AddedToken(\"<|box_start|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151649: AddedToken(\"<|box_end|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151650: AddedToken(\"<|quad_start|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151651: AddedToken(\"<|quad_end|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151652: AddedToken(\"<|vision_start|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151653: AddedToken(\"<|vision_end|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151654: AddedToken(\"<|vision_pad|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151655: AddedToken(\"<|image_pad|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151656: AddedToken(\"<|video_pad|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151657: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151658: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151659: AddedToken(\"<|fim_prefix|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151660: AddedToken(\"<|fim_middle|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151661: AddedToken(\"<|fim_suffix|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151662: AddedToken(\"<|fim_pad|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151663: AddedToken(\"<|repo_name|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151664: AddedToken(\"<|file_sep|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151665: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151666: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151667: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151668: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151669: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151670: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151671: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151672: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151673: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151674: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151675: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151676: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151677: AddedToken(\"\", rstrip=False, lstrip=False, 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+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 + 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: + - /workspaces/isaaclab_arena/train_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: + - ego_view + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: null + state: + delta_indices: + - 0 + modality_keys: + - single_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: + - single_arm + - gripper + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: + - rep: RELATIVE + type: NON_EEF + format: DEFAULT + state_key: single_arm + - 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: torchcodec +training: + output_dir: /home/ubuntu/.cache/gr00t_franka_finetune + experiment_name: null + max_steps: 2000 + 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: nvidia/GR00T-N1.6-3B + tf32: true + fp16: false + bf16: true + eval_bf16: true + logging_steps: 10 + save_steps: 500 + save_total_limit: 4 + 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: 32 + 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: 2000 +save_steps: 500 diff --git a/experiment_cfg/config.yaml b/experiment_cfg/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7c48faa3122363ababf505fb54d9f91d6d97f49c --- /dev/null +++ b/experiment_cfg/config.yaml @@ -0,0 +1,238 @@ +!!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: + - /workspaces/isaaclab_arena/train_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: !!python/object/apply:gr00t.data.types.ActionRepresentation + - relative + state_key: single_arm + type: &id002 !!python/object/apply:gr00t.data.types.ActionType + - non_eef + - !!python/object:gr00t.data.types.ActionConfig + format: *id001 + rep: !!python/object/apply:gr00t.data.types.ActionRepresentation + - absolute + state_key: null + type: *id002 + 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: + - single_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: + - single_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: + - ego_view + 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: torchcodec +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 + 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: 32 + 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: 2000 + 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: /home/ubuntu/.cache/gr00t_franka_finetune + remove_unused_columns: false + save_best_eval_metric_greater_is_better: true + save_best_eval_metric_name: '' + save_steps: 500 + save_total_limit: 4 + save_vl_model: false + start_from_checkpoint: nvidia/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/experiment_cfg/dataset_statistics.json b/experiment_cfg/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..f9f7a1c014f902729473d0a04674bacafb088cdb --- /dev/null +++ b/experiment_cfg/dataset_statistics.json @@ -0,0 +1,1046 @@ +{ + "new_embodiment": { + "state": { + 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"collator_overwrite_image_inputs": false, + "eagle_collator": true, + "backbone_trainable_params_fp32": true, + "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/experiment_cfg/final_processor_config.json b/experiment_cfg/final_processor_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e2bf2a70851b112b7e325f64c3faa977868c7745 --- /dev/null +++ b/experiment_cfg/final_processor_config.json @@ -0,0 +1,27 @@ +{ + "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=['ego_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['single_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=['single_arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='single_arm'), 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=['ego_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['single_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=['single_arm', 'gripper'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, 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"use_percentiles": "False", + "clip_outliers": "True", + "apply_sincos_state_encoding": "True", + "use_relative_action": "True", + "formalize_language": "True", + "model_name": "nvidia/Eagle-Block2A-2B-v2", + "model_type": "eagle", + "max_state_dim": "128", + "max_action_dim": "128", + "max_action_horizon": "50", + "image_crop_size": "None", + "image_target_size": "None", + "random_rotation_angle": "None", + "color_jitter_params": "{'brightness': 0.3, 'contrast': 0.4, 'saturation': 0.5, 'hue': 0.08}", + "processor": "Eagle3_VLProcessor:\n- image_processor: Eagle3_VLImageProcessorFast {\n \"auto_map\": {\n \"AutoImageProcessor\": \"image_processing_eagle3_vl_fast.Eagle3_VLImageProcessorFast\",\n \"AutoProcessor\": \"processing_eagle3_vl.Eagle3_VLProcessor\"\n },\n \"crop_size\": null,\n \"data_format\": \"channels_first\",\n \"default_to_square\": false,\n \"device\": null,\n \"do_center_crop\": null,\n \"do_convert_rgb\": true,\n \"do_normalize\": true,\n \"do_pad\": false,\n 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