update g0tiny handover

G0Tiny_handover/config.yaml

@@ -0,0 +1,315 @@
+tags: null
+seed: 7
+resume_ckpt: null
+output_dir: ${hydra:runtime.output_dir}
+dataset_stats_cache_dir: ${oc.env:GALAXEA_FM_DATASET_STATS_CACHE_DIR}
+min_batch_size: 1
+max_batch_size: 256
+num_test_steps: 3
+checkpointing_steps: 5000
+logger:
+  type: swanlab
+  log_steps: 10
+  task: ${hydra:runtime.choices.task}
+  project: ${split:${logger.task},0}
+  experiment_name: ${split:${logger.task},-1}
+  mode: cloud
+  workspace: Galaxea-AI
+  dir: null
+batch_size_val: 16
+eval_episodes_num: 1
+ckpt_path: null
+env: R1ProBlocksStackEasy
+target_controller_type: bimanual_relaxed_ik
+edp:
+  card: null
+  training_time: ${now:%Y-%m-%d}_${now:%H-%M-%S}
+  git_branch: null
+  git_commit: null
+  root: null
+  repo_ids: null
+  save_dir: ${output_dir}
+  tags: ${tags}
+  max_steps: ${model.max_steps}
+  batch_size: ${model.batch_size}
+EVALUATION:
+  task_suite_names:
+  - libero_10
+  - libero_spatial
+  - libero_object
+  - libero_goal
+  num_steps_wait: 10
+  replan_steps: 5
+  num_trials: 50
+  output_dir: ${output_dir}
+  run_id_note: null
+  env_num: 50
+data:
+  dataset:
+    _target_: galaxea_fm.data.galaxea_lerobot_dataset.GalaxeaLerobotDataset
+    dataset_dirs:
+    - /efm-nas/efm-nas/group-pxj/hairui.ren/dataset/gift/data_1225/Beijing_Demo_Handover_Gift_And_Box_Delay_Hands_v2.0_251224_6011_B1_007/Beijing_Demo_Handover_Gift_And_Box_Delay_Hands_v2.0_251224_6011_B1_007
+    - /efm-nas/efm-nas/group-pxj/hairui.ren/dataset/gift/data_1225/Beijing_Demo_Handover_Gift_And_Box_Normal_Grab_Gifts_251224_v2.0_6011_B1_007/Beijing_Demo_Handover_Gift_And_Box_Normal_Grab_Gifts_251224_v2.0_6011_B1_007
+    - /efm-nas/efm-nas/group-pxj/hairui.ren/dataset/gift/data1225/Beijing_Demo_Handover_Gift_And_Box_Delay_Hands_v2.0_251225_6011_B1_007_v20251226_101622
+    - /efm-nas/efm-nas/group-pxj/hairui.ren/dataset/gift/data1225/Beijing_Demo_Handover_Gift_And_Box_Moving_Hands_251225_v2.0_6011_B1_007_v20251226_101627
+    - /efm-nas/efm-nas/group-pxj/hairui.ren/dataset/gift/data_1226/Beijing_Demo_Handover_Gift_And_Box_Moving_Gifts_251226_v2.0_6011_B1_007/Beijing_Demo_Handover_Gift_And_Box_Moving_Gifts_251226_v2.0_6011_B1_007
+    - /efm-nas/efm-nas/group-pxj/hairui.ren/dataset/gift/data_1227/Beijing_Demo_Handover_Gift_And_Box_Fallen_Gifts_251227_v2.0_6011_B1_007/Beijing_Demo_Handover_Gift_And_Box_Fallen_Gifts_251227_v2.0_6011_B1_007
+    - /efm-nas/efm-nas/group-pxj/hairui.ren/dataset/gift/data_1229/Beijing_Demo_Handover_Gift_And_Box_Normal_Grab_Gifts_251229_v2.0_6011_B1_007/Beijing_Demo_Handover_Gift_And_Box_Normal_Grab_Gifts_251229_v2.0_6011_B1_007
+    - /efm-nas/efm-nas/group-pxj/hairui.ren/dataset/gift/data_1230/Beijing_Demo_Handover_Gift_And_Box_Normal_Grab_Gifts_251230_v2.0_6011_B1_007/Beijing_Demo_Handover_Gift_And_Box_Normal_Grab_Gifts_251230_v2.0_6011_B1_007
+    - /efm-nas/efm-nas/group-pxj/hairui.ren/dataset/gift/data_1230/Beijing_Demo_Handover_Gift_And_Box_Normal_Grab_Gifts_251230_v2.0_6011_B1_007-2/Beijing_Demo_Handover_Gift_And_Box_Normal_Grab_Gifts_251230_v2.0_6011_B1_007-2
+    shape_meta:
+      action:
+      - key: left_ee_pose
+        raw_shape: 7
+        shape: 9
+      - key: left_gripper
+        raw_shape: 1
+        shape: 1
+      - key: right_ee_pose
+        raw_shape: 7
+        shape: 9
+      - key: right_gripper
+        raw_shape: 1
+        shape: 1
+      - key: torso
+        raw_shape: 4
+        shape: 4
+      state:
+      - key: left_ee_pose
+        raw_shape: 7
+        shape: 9
+      - key: left_gripper
+        raw_shape: 1
+        shape: 1
+      - key: right_ee_pose
+        raw_shape: 7
+        shape: 9
+      - key: right_gripper
+        raw_shape: 1
+        shape: 1
+      - key: torso
+        raw_shape: 4
+        shape: 4
+      images:
+      - key: head_rgb
+        raw_shape:
+        - 3
+        - 360
+        - 640
+        shape:
+        - 3
+        - ${model.model_arch.input_image_size.0}
+        - ${model.model_arch.input_image_size.1}
+      - key: left_wrist_rgb
+        raw_shape:
+        - 3
+        - 480
+        - 640
+        shape:
+        - 3
+        - ${model.model_arch.input_image_size.0}
+        - ${model.model_arch.input_image_size.1}
+      - key: right_wrist_rgb
+        raw_shape:
+        - 3
+        - 480
+        - 640
+        shape:
+        - 3
+        - ${model.model_arch.input_image_size.0}
+        - ${model.model_arch.input_image_size.1}
+    action_size: 32
+    past_action_size: 0
+    obs_size: 1
+    ee_start_moving_thresh: 0.002
+    val_set_proportion: 0.05
+  processor:
+    _target_: galaxea_fm.processors.base_processor.BaseProcessor
+    shape_meta: ${data.dataset.shape_meta}
+    num_obs_steps: ${data.dataset.obs_size}
+    action_state_transforms:
+    - _target_: galaxea_fm.transforms.relative_action.RelativePoseTransform
+      keys:
+      - left_ee_pose
+      - right_ee_pose
+    - _target_: galaxea_fm.transforms.relative_action.RelativeJointTransform
+      keys:
+      - torso
+    - _target_: galaxea_fm.transforms.rotation.PoseRotationTransform
+      rotation_type: rotation_6d
+      category_keys:
+        action:
+        - left_ee_pose
+        - right_ee_pose
+        state:
+        - left_ee_pose
+        - right_ee_pose
+    use_stepwise_action_norm: true
+    norm_default_mode: q01/q99
+    norm_exception_mode:
+      action:
+        left_gripper: 0/100
+        right_gripper: 0/100
+    action_state_merger:
+      _target_: galaxea_fm.transforms.action_state_merger.ConcatLeftAlign
+    train_transforms:
+      head_rgb:
+      - _target_: torchvision.transforms.Resize
+        size: ${model.model_arch.input_image_size}
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      left_wrist_rgb: ${data.processor.train_transforms.head_rgb}
+      right_wrist_rgb: ${data.processor.train_transforms.head_rgb}
+    val_transforms:
+      head_rgb:
+      - _target_: torchvision.transforms.Resize
+        size: ${model.model_arch.input_image_size}
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      left_wrist_rgb: ${data.processor.val_transforms.head_rgb}
+      right_wrist_rgb: ${data.processor.val_transforms.head_rgb}
+    drop_high_level_prob: 1.0
+    use_zh_instruction: false
+    num_output_images: 3
+    action_output_dim: 24
+    proprio_output_dim: 24
+model:
+  pretrained_ckpt: /efm-nas/efm-nas/group-yaq/ziyang.jiao/model_res/real/r1pro_g0tiny_pretrain/2026-01-20_10-12-35/checkpoints/step_390000.pt
+  use_pretrained_norm_stats: true
+  model_weights_to_bf16: false
+  enable_bf16_training: true
+  use_torch_compile: false
+  find_unused_parameters: true
+  batch_size: 20
+  num_workers: 12
+  pin_memory: true
+  persistent_workers: true
+  max_epochs: null
+  max_steps: 50000
+  grad_accumulation_steps: 1
+  use_8bit_optimizer: false
+  learning_rate: 6.0e-05
+  weight_decay: 0.001
+  betas:
+  - 0.9
+  - 0.95
+  lr_scheduler_type: cosine
+  warmup_steps: 480
+  max_grad_norm: 1.0
+  use_ema: false
+  ema:
+    update_after_step: 0
+    power: 0.67
+  use_sync_bn: false
+  model_arch:
+    _target_: galaxea_fm.models.galaxea_zero.galaxea_zero_policy.GalaxeaZeroPolicy
+    model_name: galaxea_fm.models.galaxea_zero.galaxea_zero_policy.GalaxeaZero
+    tokenizer:
+      _target_: galaxea_fm.models.vla_tiny.smolvlm2.tokenizer.SmolVLM2Tokenizer
+      tokenizer_params:
+        pretrained_model_name_or_path: /efm-nas/efm-nas/efm-shared/pretrained_model/smolvlm2-500m-video-instruct
+        local_files_only: true
+      pad_token_id: ${model.model_arch.pad_token_id}
+      image_token_index: ${model.model_arch.image_token_index}
+      max_text_tokens: ${model.model_arch.max_text_tokens}
+      num_tokens_per_image: ${model.model_arch.vision.num_image_tokens}
+      num_input_images: ${model.model_arch.num_input_images}
+    pretrained_model_path: /efm-nas/efm-nas/efm-shared/pretrained_model/smolvlm2-500m-video-instruct
+    vla_training_strategy: vla-full-train
+    backbone_lr_multiplier: 0.1
+    image_token_index: 49190
+    pad_token_id: 2
+    vocab_size: 49280
+    fill_padded_with_token: true
+    embed_token_key_prefix: model.text_model.embed_tokens
+    cond_steps: ${data.dataset.obs_size}
+    horizon_steps: ${data.dataset.action_size}
+    max_text_tokens: 55
+    max_image_text_tokens: ${eval:'${model.model_arch.num_input_images} * (${model.model_arch.vision.num_image_tokens}
+      + 3) + ${model.model_arch.max_text_tokens}'}
+    num_input_images: ${eval:'${model.model_arch.cond_steps} * ${data.processor.num_output_images}'}
+    input_image_size:
+    - ${model.model_arch.vision.image_size}
+    - ${model.model_arch.vision.image_size}
+    final_action_clip_value: null
+    action_dim: ${data.processor.action_output_dim}
+    proprio_dim: ${data.processor.proprio_output_dim}
+    action_decoder_layers: 2
+    action_expert_adaptive_mode: null
+    flow_sampling: beta
+    num_inference_steps: 10
+    vision:
+      name: galaxea_fm.models.vla_tiny.smolvlm2.smolvlm2_vision.SmolVLMVisionTransformer
+      key_prefix: model.vision_model
+      hidden_size: 768
+      intermediate_size: 3072
+      num_hidden_layers: 12
+      num_attention_heads: 12
+      num_channels: 3
+      image_size: 512
+      patch_size: 16
+      layer_norm_eps: 1.0e-06
+      attention_dropout: 0.0
+      num_image_tokens: 64
+    vision_projector:
+      name: galaxea_fm.models.vla_tiny.smolvlm2.modules.SmolVLMConnector
+      key_prefix: model.connector
+      vision_config:
+        scale_factor: 4
+        hidden_size: 768
+        projection_dim: ${model.model_arch.joint.mixture.vlm.hidden_size}
+        num_input_images: ${model.model_arch.num_input_images}
+      text_config:
+        hidden_size: ${model.model_arch.joint.mixture.vlm.hidden_size}
+    joint:
+      name: galaxea_fm.models.galaxea_zero.joint_model.JointModel
+      key_prefix: model.text_model
+      action_expert_adaptive_mode: null
+      module_names:
+        mlp: galaxea_fm.models.vla_tiny.smolvlm2.modules.SmolVLMTextMLP
+        norm: galaxea_fm.models.vla_tiny.smolvlm2.modules.SmolVLMTextRMSNorm
+        rope: galaxea_fm.models.vla_tiny.smolvlm2.modules.SmolVLMTextRotaryEmbedding
+      mixture:
+        vlm:
+          hidden_size: 960
+          intermediate_size: 2560
+          use_final_norm: true
+          cache: true
+        proprio:
+          hidden_size: 720
+          intermediate_size: 2048
+          use_final_norm: true
+          cache: true
+          adaptive_mode: null
+        action:
+          hidden_size: 720
+          intermediate_size: 2048
+          use_final_norm: true
+          cache: false
+          adaptive_mode: null
+      time_hidden_size: 256
+      num_hidden_layers: 16
+      num_attention_heads: 15
+      num_key_value_heads: 5
+      head_dim: 64
+      max_position_embeddings: 8192
+      rms_norm_eps: 1.0e-05
+      rope_theta: 100000.0
+      attention_bias: false
+      attention_dropout: 0.0

G0Tiny_handover/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b59d254062860d20dc079f0d0a4262dfcf80d940cd50dbdaa00f8c5fe2379e0e
+size 1621350495