usr256864 commited on
Commit
f5350f9
·
verified ·
1 Parent(s): 56b0780

Upload folder using huggingface_hub

Browse files
config.json ADDED
@@ -0,0 +1,81 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "groot",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.image": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 256,
10
+ 256
11
+ ]
12
+ },
13
+ "observation.state": {
14
+ "type": "STATE",
15
+ "shape": [
16
+ 32
17
+ ]
18
+ }
19
+ },
20
+ "output_features": {
21
+ "action": {
22
+ "type": "ACTION",
23
+ "shape": [
24
+ 32
25
+ ]
26
+ }
27
+ },
28
+ "device": "cuda",
29
+ "use_amp": false,
30
+ "use_peft": false,
31
+ "push_to_hub": false,
32
+ "repo_id": "usr256864/pi0",
33
+ "private": null,
34
+ "tags": null,
35
+ "license": null,
36
+ "pretrained_path": "usr256864/grt",
37
+ "chunk_size": 50,
38
+ "n_action_steps": 50,
39
+ "max_state_dim": 64,
40
+ "max_action_dim": 32,
41
+ "normalization_mapping": {
42
+ "VISUAL": "IDENTITY",
43
+ "STATE": "MEAN_STD",
44
+ "ACTION": "MEAN_STD"
45
+ },
46
+ "image_size": [
47
+ 224,
48
+ 224
49
+ ],
50
+ "base_model_path": "nvidia/GR00T-N1.5-3B",
51
+ "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
52
+ "embodiment_tag": "new_embodiment",
53
+ "tune_llm": false,
54
+ "tune_visual": false,
55
+ "tune_projector": true,
56
+ "tune_diffusion_model": true,
57
+ "lora_rank": 0,
58
+ "lora_alpha": 16,
59
+ "lora_dropout": 0.1,
60
+ "lora_full_model": false,
61
+ "optimizer_lr": 0.0001,
62
+ "optimizer_betas": [
63
+ 0.95,
64
+ 0.999
65
+ ],
66
+ "optimizer_eps": 1e-08,
67
+ "optimizer_weight_decay": 1e-05,
68
+ "warmup_ratio": 0.05,
69
+ "use_bf16": true,
70
+ "video_backend": "decord",
71
+ "balance_dataset_weights": true,
72
+ "balance_trajectory_weights": true,
73
+ "dataset_paths": null,
74
+ "output_dir": "./tmp/gr00t",
75
+ "save_steps": 1000,
76
+ "max_steps": 10000,
77
+ "batch_size": 32,
78
+ "dataloader_num_workers": 8,
79
+ "report_to": "wandb",
80
+ "resume": false
81
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e44d16b8ddf1095168812c67e2245c1e16e40b46dd9b57076812090d83ffa3fc
3
+ size 6964802952
policy_postprocessor.json ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "groot_action_unpack_unnormalize_v1",
6
+ "config": {
7
+ "env_action_dim": 32,
8
+ "normalize_min_max": true
9
+ },
10
+ "state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors"
11
+ },
12
+ {
13
+ "registry_name": "device_processor",
14
+ "config": {
15
+ "device": "cpu",
16
+ "float_dtype": null
17
+ }
18
+ }
19
+ ]
20
+ }
policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:575e3e54c59eb5e1f1f6deae68caadca0e5bfe6e9404055d322bc2a942330ac9
3
+ size 11088
policy_preprocessor.json ADDED
@@ -0,0 +1,52 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "groot_pack_inputs_v3",
16
+ "config": {
17
+ "state_horizon": 1,
18
+ "action_horizon": 16,
19
+ "max_state_dim": 64,
20
+ "max_action_dim": 32,
21
+ "language_key": "task",
22
+ "formalize_language": false,
23
+ "embodiment_tag": "new_embodiment",
24
+ "embodiment_mapping": {
25
+ "new_embodiment": 31,
26
+ "oxe_droid": 17,
27
+ "agibot_genie1": 26,
28
+ "gr1": 24,
29
+ "so100": 2,
30
+ "unitree_g1": 3
31
+ },
32
+ "normalize_min_max": true
33
+ },
34
+ "state_file": "policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors"
35
+ },
36
+ {
37
+ "registry_name": "groot_eagle_encode_v3",
38
+ "config": {}
39
+ },
40
+ {
41
+ "registry_name": "groot_eagle_collate_v3",
42
+ "config": {}
43
+ },
44
+ {
45
+ "registry_name": "device_processor",
46
+ "config": {
47
+ "device": "cuda",
48
+ "float_dtype": null
49
+ }
50
+ }
51
+ ]
52
+ }
policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:575e3e54c59eb5e1f1f6deae68caadca0e5bfe6e9404055d322bc2a942330ac9
3
+ size 11088
train_config.json ADDED
@@ -0,0 +1,279 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "usr256864/lr_ds",
4
+ "root": "../datasets/RH5_dataset_old_ss_ds_merged/",
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ },
61
+ "affine": {
62
+ "weight": 1.0,
63
+ "type": "RandomAffine",
64
+ "kwargs": {
65
+ "degrees": [
66
+ -5.0,
67
+ 5.0
68
+ ],
69
+ "translate": [
70
+ 0.05,
71
+ 0.05
72
+ ]
73
+ }
74
+ }
75
+ }
76
+ },
77
+ "revision": null,
78
+ "use_imagenet_stats": true,
79
+ "video_backend": "torchcodec",
80
+ "streaming": false
81
+ },
82
+ "env": {
83
+ "type": "rh5",
84
+ "task": "walk",
85
+ "fps": 30,
86
+ "features": {
87
+ "action": {
88
+ "type": "ACTION",
89
+ "shape": [
90
+ 32
91
+ ]
92
+ },
93
+ "agent_pos": {
94
+ "type": "STATE",
95
+ "shape": [
96
+ 63
97
+ ]
98
+ },
99
+ "pixels/top": {
100
+ "type": "VISUAL",
101
+ "shape": [
102
+ 480,
103
+ 640,
104
+ 3
105
+ ]
106
+ }
107
+ },
108
+ "features_map": {
109
+ "action": "action",
110
+ "agent_pos": "observation.state",
111
+ "top": "observation.image",
112
+ "pixels/top": "observation.image"
113
+ },
114
+ "max_parallel_tasks": 1,
115
+ "disable_env_checker": true,
116
+ "num_envs": 1,
117
+ "config": {
118
+ "eval_ds": "../datasets/RH5_dataset_old_ss_ds_merged/",
119
+ "episode_idx": 0,
120
+ "absolute": false,
121
+ "has_distractor": true,
122
+ "use_velocity": false,
123
+ "num_eval_samples": 1
124
+ },
125
+ "episode_length": 2000,
126
+ "obs_type": "pixels_agent_pos",
127
+ "render_mode": "rgb_array",
128
+ "use_velocity": false,
129
+ "task_description": "rh5 task",
130
+ "tasks": null,
131
+ "horizons": null,
132
+ "add_distractor": false,
133
+ "seed": 42,
134
+ "ablation": null
135
+ },
136
+ "policy": {
137
+ "type": "groot",
138
+ "n_obs_steps": 1,
139
+ "input_features": {
140
+ "observation.image": {
141
+ "type": "VISUAL",
142
+ "shape": [
143
+ 3,
144
+ 256,
145
+ 256
146
+ ]
147
+ },
148
+ "observation.state": {
149
+ "type": "STATE",
150
+ "shape": [
151
+ 32
152
+ ]
153
+ }
154
+ },
155
+ "output_features": {
156
+ "action": {
157
+ "type": "ACTION",
158
+ "shape": [
159
+ 32
160
+ ]
161
+ }
162
+ },
163
+ "device": "cuda",
164
+ "use_amp": false,
165
+ "use_peft": false,
166
+ "push_to_hub": false,
167
+ "repo_id": "usr256864/pi0",
168
+ "private": null,
169
+ "tags": null,
170
+ "license": null,
171
+ "pretrained_path": "usr256864/grt",
172
+ "chunk_size": 50,
173
+ "n_action_steps": 50,
174
+ "max_state_dim": 64,
175
+ "max_action_dim": 32,
176
+ "normalization_mapping": {
177
+ "VISUAL": "IDENTITY",
178
+ "STATE": "MEAN_STD",
179
+ "ACTION": "MEAN_STD"
180
+ },
181
+ "image_size": [
182
+ 224,
183
+ 224
184
+ ],
185
+ "base_model_path": "nvidia/GR00T-N1.5-3B",
186
+ "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
187
+ "embodiment_tag": "new_embodiment",
188
+ "tune_llm": false,
189
+ "tune_visual": false,
190
+ "tune_projector": true,
191
+ "tune_diffusion_model": true,
192
+ "lora_rank": 0,
193
+ "lora_alpha": 16,
194
+ "lora_dropout": 0.1,
195
+ "lora_full_model": false,
196
+ "optimizer_lr": 0.0001,
197
+ "optimizer_betas": [
198
+ 0.95,
199
+ 0.999
200
+ ],
201
+ "optimizer_eps": 1e-08,
202
+ "optimizer_weight_decay": 1e-05,
203
+ "warmup_ratio": 0.05,
204
+ "use_bf16": true,
205
+ "video_backend": "decord",
206
+ "balance_dataset_weights": true,
207
+ "balance_trajectory_weights": true,
208
+ "dataset_paths": null,
209
+ "output_dir": "./tmp/gr00t",
210
+ "save_steps": 1000,
211
+ "max_steps": 10000,
212
+ "batch_size": 32,
213
+ "dataloader_num_workers": 8,
214
+ "report_to": "wandb",
215
+ "resume": false
216
+ },
217
+ "output_dir": "outputs/train/2026-03-05/00-46-18_groot_training_delta",
218
+ "job_name": "groot_training_delta",
219
+ "resume": false,
220
+ "seed": 1000,
221
+ "num_workers": 4,
222
+ "batch_size": 32,
223
+ "steps": 200000,
224
+ "eval_freq": 2000,
225
+ "log_freq": 1000,
226
+ "tolerance_s": 0.0001,
227
+ "save_checkpoint": true,
228
+ "save_freq": 2000,
229
+ "use_policy_training_preset": true,
230
+ "optimizer": {
231
+ "type": "adamw",
232
+ "lr": 0.0001,
233
+ "weight_decay": 1e-05,
234
+ "grad_clip_norm": 10.0,
235
+ "betas": [
236
+ 0.95,
237
+ 0.999
238
+ ],
239
+ "eps": 1e-08
240
+ },
241
+ "scheduler": {
242
+ "type": "cosine_decay_with_warmup",
243
+ "num_warmup_steps": 500,
244
+ "num_decay_steps": 10000,
245
+ "peak_lr": 0.0001,
246
+ "decay_lr": 1e-05
247
+ },
248
+ "eval": {
249
+ "n_episodes": 5,
250
+ "batch_size": 5,
251
+ "use_async_envs": false
252
+ },
253
+ "wandb": {
254
+ "enable": false,
255
+ "disable_artifact": true,
256
+ "project": "lerobot",
257
+ "entity": null,
258
+ "notes": null,
259
+ "run_id": null,
260
+ "mode": null
261
+ },
262
+ "peft": null,
263
+ "use_rabc": false,
264
+ "rabc_progress_path": null,
265
+ "rabc_kappa": 0.01,
266
+ "rabc_epsilon": 1e-06,
267
+ "rabc_head_mode": "sparse",
268
+ "rename_map": {},
269
+ "checkpoint_path": null,
270
+ "eval_ds": "../datasets/RH5_dataset_old_ss_ds_merged/",
271
+ "episode_idx": 0,
272
+ "absolute": false,
273
+ "num_eval_samples": 1,
274
+ "use_velocity": false,
275
+ "play": false,
276
+ "max_episodes_rendered": 0,
277
+ "return_episode_data": true,
278
+ "ablation": null
279
+ }