Back up N1.5 Baseline_FullVision_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K run_root
Browse files- n1.5/vision-ft/Baseline_FullVision_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K/run_root/config.json +69 -0
- n1.5/vision-ft/Baseline_FullVision_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K/run_root/experiment_cfg/clvla_contract.yaml +51 -0
- n1.5/vision-ft/Baseline_FullVision_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K/run_root/experiment_cfg/metadata.json +807 -0
- n1.5/vision-ft/Baseline_FullVision_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K/run_root/model-00001-of-00002.safetensors +3 -0
- n1.5/vision-ft/Baseline_FullVision_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K/run_root/model-00002-of-00002.safetensors +3 -0
- n1.5/vision-ft/Baseline_FullVision_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K/run_root/model.safetensors.index.json +0 -0
- n1.5/vision-ft/Baseline_FullVision_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K/run_root/trainer_state.json +0 -0
- n1.5/vision-ft/Baseline_FullVision_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K/run_root/training_args.bin +3 -0
n1.5/vision-ft/Baseline_FullVision_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K/run_root/config.json
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{
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"action_dim": 32,
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| 3 |
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"action_head_cfg": {
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| 4 |
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"action_dim": 32,
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| 5 |
+
"action_horizon": 16,
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| 6 |
+
"add_pos_embed": true,
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| 7 |
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"backbone_embedding_dim": 2048,
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| 8 |
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"diffusion_model_cfg": {
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| 9 |
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"attention_head_dim": 48,
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| 10 |
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"cross_attention_dim": 2048,
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| 11 |
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"dropout": 0.2,
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| 12 |
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"final_dropout": true,
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| 13 |
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"interleave_self_attention": true,
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| 14 |
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"norm_type": "ada_norm",
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| 15 |
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"num_attention_heads": 32,
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| 16 |
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"num_layers": 16,
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| 17 |
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"output_dim": 1024,
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| 18 |
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"positional_embeddings": null
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| 19 |
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},
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| 20 |
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"hidden_size": 1024,
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| 21 |
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"input_embedding_dim": 1536,
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| 22 |
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"max_action_dim": 32,
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| 23 |
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"max_state_dim": 64,
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| 24 |
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"model_dtype": "float32",
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| 25 |
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"noise_beta_alpha": 1.5,
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| 26 |
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"noise_beta_beta": 1.0,
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| 27 |
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"noise_s": 0.999,
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| 28 |
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"num_inference_timesteps": 4,
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| 29 |
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"num_target_vision_tokens": 32,
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| 30 |
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"num_timestep_buckets": 1000,
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| 31 |
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"tune_diffusion_model": true,
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| 32 |
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"tune_projector": true,
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| 33 |
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"use_vlln": true,
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| 34 |
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"vl_self_attention_cfg": {
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| 35 |
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"attention_head_dim": 64,
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| 36 |
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"dropout": 0.2,
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| 37 |
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"final_dropout": true,
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| 38 |
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"num_attention_heads": 32,
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| 39 |
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"num_layers": 4,
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| 40 |
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"positional_embeddings": null
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}
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| 42 |
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},
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| 43 |
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"action_horizon": 16,
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| 44 |
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"architectures": [
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"GR00T_N1_5"
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| 46 |
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],
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| 47 |
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"attn_implementation": null,
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| 48 |
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"backbone_cfg": {
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| 49 |
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"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
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| 50 |
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"load_bf16": false,
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| 51 |
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"project_to_dim": null,
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| 52 |
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"reproject_vision": false,
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| 53 |
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"select_layer": 12,
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| 54 |
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"tune_llm": false,
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| 55 |
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"tune_visual": true,
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| 56 |
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"use_flash_attention": true
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| 57 |
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},
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| 58 |
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"clvla_vision_last_n_layers": 27,
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| 59 |
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"clvla_vision_lr_multiplier": 0.1,
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| 60 |
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"clvla_vision_total_layers": 27,
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| 61 |
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"clvla_vision_train_connector": true,
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| 62 |
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"clvla_vision_tuning_mode": "full",
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| 63 |
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"compute_dtype": "bfloat16",
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| 64 |
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"hidden_size": 2048,
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| 65 |
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"model_dtype": "float32",
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| 66 |
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"model_type": "gr00t_n1_5",
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| 67 |
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"torch_dtype": "bfloat16",
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| 68 |
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"transformers_version": "4.51.3"
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| 69 |
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}
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n1.5/vision-ft/Baseline_FullVision_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K/run_root/experiment_cfg/clvla_contract.yaml
ADDED
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schema_version: clvla_n15_v1
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| 2 |
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variant: baseline
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| 3 |
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relation_mode: null
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| 4 |
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future_token_mode: checkpoint_weight
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| 5 |
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vision_tuning:
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| 6 |
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mode: full
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| 7 |
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train_connector: true
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| 8 |
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lr_multiplier: 0.1
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| 9 |
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auxiliary: {}
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relation_mismatch: {}
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| 11 |
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objective: {}
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input_cache: {}
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episode_shard: {}
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n17_official_shard: {}
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training:
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dataset_path:
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| 17 |
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- /home/work/workspace/test/seonho/robocasa_mg_gr00t_300
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output_dir: /home/work/workspace/test/seonho/groot_robocasa-kitchen/train_ckpt/n15/Baseline_FullVision_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K
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| 19 |
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experiment_name: Baseline_FullVision_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K
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| 20 |
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wandb_project: finetune-gr00t-n1d5
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| 21 |
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data_config: single_panda_gripper
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| 22 |
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base_model_path: nvidia/GR00T-N1.5-3B
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| 23 |
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embodiment_tag: new_embodiment
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| 24 |
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video_backend: torchcodec
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| 25 |
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batch_size: 32
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| 26 |
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max_steps: 60000
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| 27 |
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num_gpus: 1
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| 28 |
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save_steps: 5000
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| 29 |
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save_total_limit: 1
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| 30 |
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tune_llm: false
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| 31 |
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tune_visual: true
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| 32 |
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tune_projector: true
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| 33 |
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tune_diffusion_model: true
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| 34 |
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learning_rate: 0.0001
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| 35 |
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gradient_accumulation_steps: 2
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| 36 |
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weight_decay: 1.0e-05
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| 37 |
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warmup_ratio: 0.05
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| 38 |
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lora_rank: 0
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| 39 |
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lora_alpha: 16
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| 40 |
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lora_dropout: 0.1
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| 41 |
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lora_full_model: false
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| 42 |
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dataloader_num_workers: 8
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| 43 |
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dataloader_prefetch_factor: 4
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| 44 |
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report_to: wandb
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| 45 |
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resume: false
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| 46 |
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balance_dataset_weights: true
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| 47 |
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balance_trajectory_weights: true
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| 48 |
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n15_commit: d1ccca163c96639ddc677dae3f4f14d05cbc63fd
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| 49 |
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config_path: /home/work/workspace/test/seonho/clvla/Isaac-GR00T-N1.5/clvla/cfg/vision_enc/baseline/baseline_full_vision_connector_fm_vlr0p1.yaml
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| 50 |
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config_sha256: ecfaea898d548605de762855e1451ffc35683fe8cf042cc046dcbd45db46195a
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| 51 |
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data_contract: single_panda_gripper_v1
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n1.5/vision-ft/Baseline_FullVision_Connector_FMOnly_VisionLR0p1_RoboCasaKitchen_N1d5_Full_BS64_60K/run_root/experiment_cfg/metadata.json
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