File size: 6,431 Bytes
91c8ba9 | 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 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 | {
"action_dim": 32,
"action_head_cfg": {
"action_dim": 32,
"action_horizon": 16,
"add_pos_embed": true,
"backbone_embedding_dim": 2048,
"diffusion_model_cfg": {
"attention_head_dim": 48,
"cross_attention_dim": 2048,
"dropout": 0.2,
"final_dropout": true,
"interleave_self_attention": true,
"norm_type": "ada_norm",
"num_attention_heads": 32,
"num_layers": 16,
"output_dim": 1024,
"positional_embeddings": null
},
"hidden_size": 1024,
"input_embedding_dim": 1536,
"max_action_dim": 32,
"max_state_dim": 64,
"model_dtype": "float32",
"noise_beta_alpha": 1.5,
"noise_beta_beta": 1.0,
"noise_s": 0.999,
"num_inference_timesteps": 4,
"num_target_vision_tokens": 32,
"num_timestep_buckets": 1000,
"tune_diffusion_model": true,
"tune_projector": true,
"use_vlln": true,
"vl_self_attention_cfg": {
"attention_head_dim": 64,
"dropout": 0.2,
"final_dropout": true,
"num_attention_heads": 32,
"num_layers": 4,
"positional_embeddings": null
}
},
"action_horizon": 16,
"architectures": [
"GR00T_N1_5"
],
"attn_implementation": null,
"backbone_cfg": {
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
"load_bf16": false,
"project_to_dim": null,
"reproject_vision": false,
"select_layer": 12,
"tune_llm": false,
"tune_visual": true,
"use_flash_attention": true
},
"clvla_auxiliary": {
"action_loss_weight": 0.0,
"action_teacher_enabled": false,
"cross_attention_mode": "stock_h_context",
"direct_q_supervision": true,
"gradient_clip_max_norm": 1.0,
"gradient_clipping": "joint_main_policy",
"h_token_bottleneck": false,
"isolated_query_initialization": true,
"loss_weight": 1.0,
"loss_weight_end": 1.0,
"loss_weight_schedule": "constant",
"policy_query_stop_gradient": false,
"query_count": 1,
"query_dim": 1536,
"query_init_seed": 10042,
"query_init_std": 0.02,
"query_location": "after_future_before_action",
"query_norm_mode": "stock_ada_norm",
"relation_projector": false,
"relation_tap_block": 7,
"self_attention_mode": "stock_all_to_all",
"source": "h_stock",
"state_loss_weight": 1.0,
"train_seed": 42
},
"clvla_inference_only_patch": false,
"clvla_query_order": [
"state"
],
"clvla_relation_mode": "state_only",
"clvla_schema_version": "clvla_n15_internal_state_relation_query_v1",
"clvla_state_teacher": {
"combine": "weighted_rms_of_mean_normalized_component_distances",
"component_normalization": {
"checkpoint_embed_statistics_and_dataset_hashes": true,
"degenerate_component_policy": "error",
"fit_before_training": true,
"fit_pair_count": 200000,
"fit_pair_sampling": "uniform_unique_unordered_frame_pairs",
"fit_pair_scope": "all_tasks_all_episodes",
"fit_seed": 42,
"fit_source": "training_dataset_only",
"include_zero_component_distances": true,
"method": "fixed_training_pair_mean",
"minimum_mean_distance": 1e-08,
"recompute_per_minibatch": false,
"same_pairs_for_all_components": true,
"statistics_path": "/home/work/workspace/test/seonho/groot_libero/teacher_stats/stateq_balanced_so3_all_pairs_seed42.json"
},
"component_weights": {
"gripper": 0.3333333333333333,
"position": 0.3333333333333333,
"rotation": 0.3333333333333333
},
"coordinate_statistics_path": "/home/work/workspace/test/seonho/libero/meta/stats.json",
"coordinate_statistics_sha256": "1fe6c2d548a7998394488ae68bc2be46a51c8cd3798af6ab74fff79f8b20e293",
"gripper_distance": "rms",
"gripper_normalization": "train_minmax_minus1_plus1_no_clip",
"gripper_slice": [
6,
8
],
"mode": "balanced_so3",
"position_distance": "rms",
"position_normalization": "train_minmax_minus1_plus1_no_clip",
"position_slice": [
0,
3
],
"raw_column": "state",
"resolved_component_means": [
0.568242500099925,
0.7094815580930915,
0.7129484886172952
],
"resolved_component_statistics": {
"component_means": [
0.568242500099925,
0.7094815580930915,
0.7129484886172952
],
"component_order": [
"position",
"rotation",
"gripper"
],
"dataset_hashes": {
"episodes.jsonl": "0479a2ced6117700e4638a1da54dccd9f60ae5f47485ea6d91390c869befcf08",
"info.json": "77c0da93c67960bac803a8ea25dabf380d752c26c1d91c54151121dd10e7d82f",
"stats.json": "1fe6c2d548a7998394488ae68bc2be46a51c8cd3798af6ab74fff79f8b20e293",
"tasks.jsonl": "e72ef3cf7ca7a3abe70b3e142a0d1acf2719d2a3f27598869092cc4f1762bb99"
},
"fit_contract": {
"fit_pair_count": 200000,
"fit_pair_sampling": "uniform_unique_unordered_frame_pairs",
"fit_pair_scope": "all_tasks_all_episodes",
"fit_seed": 42,
"include_zero_component_distances": true,
"same_pairs_for_all_components": true
},
"format": "libero_stateq_balanced_so3_v1",
"frames": 273465,
"pairs_sha256": "8b6ed0da15f4978101dce99e0f3406bd50cb7c6c94a01bbfae6a7b8f26042a6f",
"raw_state_sha256": "93184ae0b189aa9dc3dee021060e24c5d86eebb07b72df0ce21ea9a9fee33efb"
},
"resolved_coordinate_statistics": {
"max": [
0.21031762659549713,
0.39128610491752625,
1.3660105466842651,
3.6714255809783936,
3.560650587081909,
1.386339545249939,
0.04233968257904053,
0.0013633022317662835
],
"min": [
-0.4828203022480011,
-0.3255046010017395,
0.008128180168569088,
0.35277295112609863,
-3.641430377960205,
-1.842738389968872,
-0.0013586411951109767,
-0.042040832340717316
]
},
"rotation_distance": "so3_geodesic_radians",
"rotation_slice": [
3,
6
],
"rotation_source_representation": "axis_angle",
"source": "raw_libero_state_before_policy_transform"
},
"clvla_variant": "internal_state_relation_query",
"compute_dtype": "bfloat16",
"hidden_size": 2048,
"model_dtype": "float32",
"model_type": "gr00t_n1_5",
"torch_dtype": "bfloat16",
"transformers_version": "4.51.3"
}
|