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groot-bs32

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Gr00tN1d7
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humanoid
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LucaFrat commited on
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Wipe repo for fresh run

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Files changed (38) hide show
  1. checkpoint-3000/config.json +0 -88
  2. checkpoint-3000/embodiment_id.json +0 -57
  3. checkpoint-3000/experiment_cfg/conf.yaml +0 -251
  4. checkpoint-3000/experiment_cfg/config.yaml +0 -277
  5. checkpoint-3000/experiment_cfg/dataset_statistics.json +0 -907
  6. checkpoint-3000/experiment_cfg/final_model_config.json +0 -55
  7. checkpoint-3000/experiment_cfg/final_processor_config.json +0 -0
  8. checkpoint-3000/model-00001-of-00003.safetensors +0 -3
  9. checkpoint-3000/model-00002-of-00003.safetensors +0 -3
  10. checkpoint-3000/model-00003-of-00003.safetensors +0 -3
  11. checkpoint-3000/model.safetensors.index.json +0 -0
  12. checkpoint-3000/optimizer.pt +0 -3
  13. checkpoint-3000/processor_config.json +0 -1159
  14. checkpoint-3000/rng_state.pth +0 -3
  15. checkpoint-3000/scheduler.pt +0 -3
  16. checkpoint-3000/statistics.json +0 -0
  17. checkpoint-3000/trainer_state.json +0 -1834
  18. checkpoint-3000/training_args.bin +0 -3
  19. checkpoint-3000/wandb_config.json +0 -1
  20. checkpoint-600/config.json +0 -88
  21. checkpoint-600/embodiment_id.json +0 -57
  22. checkpoint-600/experiment_cfg/conf.yaml +0 -251
  23. checkpoint-600/experiment_cfg/config.yaml +0 -277
  24. checkpoint-600/experiment_cfg/dataset_statistics.json +0 -907
  25. checkpoint-600/experiment_cfg/final_model_config.json +0 -55
  26. checkpoint-600/experiment_cfg/final_processor_config.json +0 -0
  27. checkpoint-600/model-00001-of-00003.safetensors +0 -3
  28. checkpoint-600/model-00002-of-00003.safetensors +0 -3
  29. checkpoint-600/model-00003-of-00003.safetensors +0 -3
  30. checkpoint-600/model.safetensors.index.json +0 -0
  31. checkpoint-600/optimizer.pt +0 -3
  32. checkpoint-600/processor_config.json +0 -1159
  33. checkpoint-600/rng_state.pth +0 -3
  34. checkpoint-600/scheduler.pt +0 -3
  35. checkpoint-600/statistics.json +0 -0
  36. checkpoint-600/trainer_state.json +0 -394
  37. checkpoint-600/training_args.bin +0 -3
  38. checkpoint-600/wandb_config.json +0 -1
checkpoint-3000/config.json DELETED
@@ -1,88 +0,0 @@
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- {
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- "action_horizon": 40,
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- "add_pos_embed": true,
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- "apply_sincos_state_encoding": false,
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- "architectures": [
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- "Gr00tN1d7"
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- ],
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- "attn_dropout": 0.2,
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- "attn_implementation": null,
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- "backbone_embedding_dim": 2048,
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- "backbone_trainable_params_fp32": true,
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- "color_jitter_params": {
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- "brightness": 0.3,
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- "contrast": 0.4,
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- "hue": 0.08,
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- "saturation": 0.5
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- },
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- "crop_fraction": 0.95,
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- "diffusion_model_cfg": {
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- "attention_head_dim": 48,
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- "dropout": 0.2,
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- "final_dropout": true,
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- "interleave_self_attention": true,
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- "norm_type": "ada_norm",
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- "num_attention_heads": 32,
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- "num_layers": 32,
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- "output_dim": 1024,
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- "positional_embeddings": null
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- },
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- "dtype": "float32",
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- "exclude_state": false,
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- "formalize_language": true,
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- "hidden_size": 1024,
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- "image_crop_size": [
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- 230,
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- 230
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- ],
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- "image_target_size": [
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- 256,
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- 256
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- ],
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- "letter_box_transform": false,
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- "load_bf16": false,
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- "max_action_dim": 132,
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- "max_num_embodiments": 32,
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- "max_seq_len": 1024,
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- "max_state_dim": 132,
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- "model_dtype": "bfloat16",
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- "model_name": "nvidia/Cosmos-Reason2-2B",
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- "model_type": "Gr00tN1d7",
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- "noise_beta_alpha": 1.5,
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- "noise_beta_beta": 1.0,
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- "noise_s": 0.999,
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- "num_inference_timesteps": 4,
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- "num_timestep_buckets": 1000,
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- "random_history_crop": true,
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- "random_rotation_angle": 0,
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- "reproject_vision": false,
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- "rtc_ramp_rate": 6.0,
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- "select_layer": 16,
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- "shortest_image_edge": 256,
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- "state_dropout_prob": 0.2,
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- "state_gaussian_noise_std": 0.0,
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- "transformers_version": "4.57.3",
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- "tune_diffusion_model": true,
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- "tune_linear": true,
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- "tune_llm": false,
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- "tune_projector": true,
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- "tune_top_llm_layers": 0,
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- "tune_visual": false,
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- "tune_vlln": true,
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- "use_albumentations": true,
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- "use_alternate_vl_dit": true,
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- "use_flash_attention": true,
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- "use_future_tokens": false,
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- "use_mean_std": false,
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- "use_percentiles": true,
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- "use_vl_self_attention": true,
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- "use_vlln": true,
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- "vl_self_attention_cfg": {
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- "attention_head_dim": 64,
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- "dropout": 0.2,
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- "final_dropout": true,
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- "num_attention_heads": 32,
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- "num_layers": 4,
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- "positional_embeddings": null
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- }
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- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
checkpoint-3000/embodiment_id.json DELETED
@@ -1,57 +0,0 @@
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- {
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- "robocasa_panda_omron": 13,
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- "oxe_droid": 17,
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- "oxe_fractal": 18,
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- "oxe_language_table": 19,
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- "oxe_bridge": 20,
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- "unknown": 22,
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- "gr1_unified": 20,
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- "agibot": 26,
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- "sim_behavior_r1_pro": 23,
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- "xdof": 24,
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- "xdof_oss_data": 25,
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- "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
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- "real_r1_pro_sharpa": 27,
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- "real_r1_pro_sharpa_add_view": 27,
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- "real_r1_pro_sharpa_relative_arm_joint": 26,
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- "real_r1_pro_sharpa_delta_eef": 26,
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- "real_r1_pro_sharpa_absolute_eef": 26,
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- "real_r1_pro_sharpa_meanstd": 26,
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- "real_r1_pro_sharpa_relative_eef": 26,
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- "real_r1_pro_sharpa_relative_eef_add_view": 26,
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- "real_r1_pro_sharpa_relative_eef_relative_hand": 26,
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- "real_r1_pro_sharpa_relative_eef_human": 26,
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- "real_r1_pro_sharpa_relative_eef_human_add_view": 26,
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- "real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
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- "real_r1_pro_sharpa_relative_eef_egodex": 26,
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- "real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
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- "real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
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- "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
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- "real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
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- "real_r1_pro_sharpa_relative_eef_mecka": 26,
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- "real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
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- "real_g1_relative_eef_absolute_joints": 25,
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- "real_g1_relative_eef_absolute_joints_wrist_cam": 25,
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- "real_g1_relative_eef_relative_joints": 25,
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- "real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
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- "real_r1_pro_sharpa_relative_joint": 29,
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- "oxe_droid_relative_eef_relative_joint": 24,
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- "oxe_droid_relative_eef_relative_joint_swapped": 24,
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- "oxe_droid_relative_eef_relative_joint_upweight_z": 24,
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- "oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
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- "oxe_droid_relative_eef_relative_joint_3view": 24,
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- "oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
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- "oxe_droid_relative_eef": 24,
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- "oxe_droid_joint_position_relative": 24,
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- "xdof_relative_eef_relative_joint": 27,
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- "xdof_relative_eef_relative_joint_subtask": 27,
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- "xdof_relative_eef": 27,
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- "xdof_relative_joint": 28,
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- "simpler_env_google": 0,
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- "simpler_env_widowx": 1,
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- "libero_sim": 2,
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- "droid_sim": 3,
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- "unitree_g1_sonic": 11,
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- "new_embodiment": 10,
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- "robocasa_gr1_tabletop": 10
57
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
checkpoint-3000/experiment_cfg/conf.yaml DELETED
@@ -1,251 +0,0 @@
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- load_config_path: null
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- model:
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- model_type: Gr00tN1d7
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- model_dtype: bfloat16
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- model_name: nvidia/Cosmos-Reason2-2B
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- backbone_model_type: qwen
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- model_revision: null
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- tune_top_llm_layers: 0
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- backbone_embedding_dim: 2048
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- tune_llm: false
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- tune_visual: false
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- select_layer: 12
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- reproject_vision: false
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- use_flash_attention: true
15
- load_bf16: false
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- backbone_trainable_params_fp32: true
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- image_crop_size:
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- - 230
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- - 230
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- image_target_size:
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- - 256
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- - 256
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- shortest_image_edge: null
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- crop_fraction: null
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- random_rotation_angle: null
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- color_jitter_params:
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- brightness: 0.3
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- contrast: 0.4
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- saturation: 0.5
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- hue: 0.08
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- use_albumentations_transforms: true
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- extra_augmentation_config: null
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- formalize_language: true
34
- apply_sincos_state_encoding: false
35
- use_percentiles: true
36
- use_relative_action: true
37
- max_state_dim: 132
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- max_action_dim: 132
39
- action_horizon: 40
40
- hidden_size: 1024
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- input_embedding_dim: 1536
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- state_history_length: 1
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- add_pos_embed: true
44
- attn_dropout: 0.2
45
- use_vlln: true
46
- max_seq_len: 1024
47
- use_alternate_vl_dit: true
48
- attend_text_every_n_blocks: 2
49
- diffusion_model_cfg:
50
- positional_embeddings: null
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- num_layers: 16
52
- num_attention_heads: 32
53
- attention_head_dim: 48
54
- norm_type: ada_norm
55
- dropout: 0.2
56
- final_dropout: true
57
- output_dim: 1024
58
- interleave_self_attention: true
59
- num_inference_timesteps: 4
60
- noise_beta_alpha: 1.5
61
- noise_beta_beta: 1.0
62
- noise_s: 0.999
63
- num_timestep_buckets: 1000
64
- tune_projector: true
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- tune_diffusion_model: true
66
- tune_vlln: true
67
- state_dropout_prob: 0.2
68
- exclude_state: false
69
- use_mean_std: false
70
- max_num_embodiments: 32
71
- data:
72
- datasets:
73
- - dataset_paths:
74
- - /home/ubuntu/groot-files/dataset
75
- embodiment_tag: unitree_g1_sonic
76
- mix_ratio: 1.0
77
- dataset_type: physical_embodiment
78
- val_dataset_path: null
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- modality_configs:
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- unitree_g1_sonic:
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- video:
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- delta_indices:
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- - 0
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- modality_keys:
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- - ego_view
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- sin_cos_embedding_keys: null
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- mean_std_embedding_keys: null
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- action_configs: null
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- state:
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- delta_indices:
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- - 0
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- modality_keys:
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- - left_leg
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- - right_leg
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- - waist
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- - left_arm
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- - right_arm
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- - left_hand
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- - right_hand
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- - projected_gravity
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- sin_cos_embedding_keys: null
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- mean_std_embedding_keys: null
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- action_configs: null
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- action:
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- delta_indices:
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- - 33
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- - 34
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- - 35
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- - 36
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- - 37
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- - 38
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- - 39
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- modality_keys:
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- - motion_token
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- - left_hand_joints
149
- - right_hand_joints
150
- sin_cos_embedding_keys: null
151
- mean_std_embedding_keys: null
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- action_configs:
153
- - rep: ABSOLUTE
154
- type: NON_EEF
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- format: DEFAULT
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- state_key: null
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- - rep: ABSOLUTE
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- type: NON_EEF
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- format: DEFAULT
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- state_key: null
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- - rep: ABSOLUTE
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- type: NON_EEF
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- format: DEFAULT
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- state_key: null
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- language:
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- delta_indices:
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- - 0
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- modality_keys:
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- - annotation.human.task_description
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- sin_cos_embedding_keys: null
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- mean_std_embedding_keys: null
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- action_configs: null
173
- download_cache: false
174
- shard_size: 1024
175
- episode_sampling_rate: 0.1
176
- num_shards_per_epoch: 100000
177
- override_pretraining_statistics: true
178
- mode: single_turn
179
- random_chop: 0.0
180
- mock_dataset_mode: false
181
- shuffle: true
182
- seed: 42
183
- multiprocessing_context: fork
184
- allow_padding: false
185
- subsample_ratio: 1.0
186
- image_crop_size:
187
- - 244
188
- - 244
189
- image_target_size:
190
- - 224
191
- - 224
192
- video_backend: torchcodec
193
- training:
194
- output_dir: /home/ubuntu/groot-files/checkpoints/g1_finetune
195
- experiment_name: null
196
- max_steps: 15000
197
- global_batch_size: 64
198
- batch_size: null
199
- gradient_accumulation_steps: 1
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- learning_rate: 0.0001
201
- lr_scheduler_type: cosine
202
- weight_decay: 1.0e-05
203
- warmup_ratio: 0.05
204
- warmup_steps: 0
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- max_grad_norm: 1.0
206
- optim: adamw_torch
207
- start_from_checkpoint: nvidia/GR00T-N1.7-3B
208
- skip_weight_loading: false
209
- tf32: true
210
- fp16: false
211
- bf16: true
212
- eval_bf16: true
213
- logging_steps: 10
214
- save_steps: 3000
215
- save_total_limit: 10
216
- save_vl_model: false
217
- save_only_model: false
218
- upload_checkpoints: false
219
- upload_every: 1000
220
- upload_last_n_checkpoints: 5
221
- max_concurrent_uploads: 2
222
- eval_strategy: 'no'
223
- eval_steps: 500
224
- eval_set_split_ratio: 0.1
225
- eval_batch_size: 2
226
- save_best_eval_metric_name: ''
227
- save_best_eval_metric_greater_is_better: true
228
- deepspeed_stage: 2
229
- gradient_checkpointing: false
230
- transformers_trust_remote_code: true
231
- transformers_local_files_only: false
232
- transformers_cache_dir: null
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- transformers_access_token: null
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- use_ddp: false
235
- ddp_bucket_cap_mb: 100
236
- num_gpus: 1
237
- dataloader_num_workers: 6
238
- remove_unused_columns: false
239
- use_wandb: true
240
- wandb_project: groot-finetune
241
- enable_profiling: false
242
- max_retries: 3
243
- assert_loss_less_than: null
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- add_rl_callback: false
245
- enable_open_loop_eval: false
246
- open_loop_eval_traj_ids:
247
- - 0
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- open_loop_eval_steps_per_traj: 100
249
- open_loop_eval_plot_indices: null
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- max_steps: 15000
251
- save_steps: 3000
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
checkpoint-3000/experiment_cfg/config.yaml DELETED
@@ -1,277 +0,0 @@
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- !!python/object:gr00t.configs.base_config.Config
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- data: !!python/object:gr00t.configs.data.data_config.DataConfig
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- allow_padding: false
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- datasets:
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- - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
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- dataset_paths:
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- - /home/ubuntu/groot-files/dataset
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- dataset_type: physical_embodiment
9
- embodiment_tag: unitree_g1_sonic
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- mix_ratio: 1.0
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- val_dataset_path: null
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- download_cache: false
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- episode_sampling_rate: 0.1
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- image_crop_size:
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- - 244
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- - 244
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- image_target_size:
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- - 224
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- - 224
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- mock_dataset_mode: false
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- modality_configs:
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- unitree_g1_sonic:
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- action: !!python/object:gr00t.data.types.ModalityConfig
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- action_configs:
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- - !!python/object:gr00t.data.types.ActionConfig
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- format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
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- - default
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- rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation
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- - absolute
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- state_key: null
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- type: &id003 !!python/object/apply:gr00t.data.types.ActionType
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- - non_eef
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- - !!python/object:gr00t.data.types.ActionConfig
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- format: *id001
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- rep: *id002
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- state_key: null
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- type: *id003
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- - !!python/object:gr00t.data.types.ActionConfig
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- format: *id001
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- state_key: null
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- - 36
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- - 37
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- - 38
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- - 39
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- mean_std_embedding_keys: null
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- modality_keys:
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- - motion_token
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- - left_hand_joints
88
- - right_hand_joints
89
- sin_cos_embedding_keys: null
90
- language: !!python/object:gr00t.data.types.ModalityConfig
91
- action_configs: null
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- delta_indices:
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- - 0
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- mean_std_embedding_keys: null
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- modality_keys:
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- - annotation.human.task_description
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- sin_cos_embedding_keys: null
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- state: !!python/object:gr00t.data.types.ModalityConfig
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- action_configs: null
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- delta_indices:
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