Add files using upload-large-folder tool
Browse files
config.json
ADDED
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{
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"type": "groot",
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| 3 |
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"n_obs_steps": 1,
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| 4 |
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"input_features": {
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| 5 |
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"observation.images.wrist_image": {
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"type": "VISUAL",
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"shape": [
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256,
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256,
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3
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]
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},
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| 13 |
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"observation.images.image": {
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"type": "VISUAL",
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| 15 |
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"shape": [
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256,
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256,
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3
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]
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},
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| 21 |
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"observation.state": {
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| 22 |
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"type": "STATE",
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| 23 |
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"shape": [
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8
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| 25 |
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]
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| 26 |
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}
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},
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| 28 |
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"output_features": {
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| 29 |
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"action": {
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"type": "ACTION",
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| 31 |
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"shape": [
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7
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]
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}
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},
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| 36 |
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"device": "cuda",
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| 37 |
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"use_amp": false,
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| 38 |
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"use_peft": false,
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| 39 |
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"push_to_hub": false,
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| 40 |
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"repo_id": null,
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| 41 |
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"private": null,
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| 42 |
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"tags": null,
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| 43 |
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"license": null,
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| 44 |
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"pretrained_path": null,
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| 45 |
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"pretrained_revision": null,
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| 46 |
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"chunk_size": 16,
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| 47 |
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"n_action_steps": 16,
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| 48 |
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"max_state_dim": 132,
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| 49 |
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"max_action_dim": 132,
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| 50 |
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"normalization_mapping": {
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| 51 |
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"VISUAL": "IDENTITY",
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| 52 |
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"STATE": "IDENTITY",
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| 53 |
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"ACTION": "IDENTITY"
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| 54 |
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},
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| 55 |
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"base_model_path": "/cache/huggingface/models--nvidia--GR00T-N1.7-3B/snapshots/2fc962b973bccdd5d8ce4f67cc63b264d6886495",
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| 56 |
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"action_decode_transform": "libero",
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| 57 |
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"embodiment_tag": "libero_sim",
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| 58 |
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"tune_llm": false,
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| 59 |
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"tune_visual": false,
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| 60 |
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"tune_projector": true,
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| 61 |
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"tune_diffusion_model": true,
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| 62 |
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"tune_vlln": true,
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| 63 |
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"tune_top_llm_layers": 0,
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| 64 |
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"num_inference_timesteps": 4,
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| 65 |
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"rtc_ramp_rate": 6.0,
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| 66 |
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"use_flash_attention": false,
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| 67 |
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"use_relative_actions": false,
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| 68 |
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"relative_exclude_joints": [],
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| 69 |
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"optimizer_lr": 0.0001,
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| 70 |
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"optimizer_betas": [
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| 71 |
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0.9,
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| 72 |
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0.999
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| 73 |
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],
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| 74 |
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"optimizer_eps": 1e-08,
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| 75 |
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"optimizer_weight_decay": 1e-05,
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| 76 |
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"warmup_ratio": 0.05,
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| 77 |
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"use_bf16": true,
|
| 78 |
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"model_params_fp32": true,
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| 79 |
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"image_size": [
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| 80 |
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256,
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| 81 |
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256
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| 82 |
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],
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| 83 |
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"tokenizer_assets_repo": null,
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| 84 |
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"lora_rank": 0,
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| 85 |
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"lora_alpha": 16,
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| 86 |
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"lora_dropout": 0.1,
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| 87 |
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"lora_full_model": false,
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| 88 |
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"video_backend": "decord",
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| 89 |
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"balance_dataset_weights": true,
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| 90 |
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"balance_trajectory_weights": true,
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| 91 |
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"dataset_paths": null,
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| 92 |
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"output_dir": "./tmp/gr00t",
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| 93 |
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"save_steps": 1000,
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| 94 |
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"max_steps": 20000,
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| 95 |
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"batch_size": 32,
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| 96 |
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"dataloader_num_workers": 8,
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| 97 |
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"report_to": "wandb",
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| 98 |
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"resume": false
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| 99 |
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}
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model.safetensors
ADDED
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:45e2ba39d5358ad9bbf72a43766441c4fab9aeefe0a05e5d617151c977755221
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| 3 |
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size 12576215296
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policy_postprocessor.json
ADDED
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{
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"name": "policy_postprocessor",
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"input_image_format": "float32_0_1",
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| 4 |
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"steps": [
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| 5 |
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{
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| 6 |
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"registry_name": "groot_action_unpack_unnormalize_v2",
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| 7 |
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"config": {
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| 8 |
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"env_action_dim": 7,
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| 9 |
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"normalize_min_max": true,
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| 10 |
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"clip_normalized_action": true,
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| 11 |
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"libero_gripper_action": true,
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| 12 |
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"libero_gripper_binarize": true
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| 13 |
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},
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| 14 |
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"state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors"
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| 15 |
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},
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| 16 |
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{
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| 17 |
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"registry_name": "device_processor",
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| 18 |
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"config": {
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| 19 |
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"device": "cpu",
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| 20 |
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"float_dtype": null
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| 21 |
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}
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| 22 |
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}
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| 23 |
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]
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| 24 |
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}
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policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors
ADDED
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:f9d98298bc6eb073d56d087fcd681447ff2d74c4769ad2fa1ec15b4bbc0baec2
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| 3 |
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size 4224
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policy_preprocessor.json
ADDED
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{
|
| 2 |
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"name": "policy_preprocessor",
|
| 3 |
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"input_image_format": "uint8_0_255",
|
| 4 |
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"steps": [
|
| 5 |
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{
|
| 6 |
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"registry_name": "rename_observations_processor",
|
| 7 |
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"config": {
|
| 8 |
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"rename_map": {}
|
| 9 |
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}
|
| 10 |
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},
|
| 11 |
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{
|
| 12 |
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"registry_name": "to_batch_processor",
|
| 13 |
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"config": {}
|
| 14 |
+
},
|
| 15 |
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{
|
| 16 |
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"registry_name": "groot_n1_7_pack_inputs_v1",
|
| 17 |
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"config": {
|
| 18 |
+
"state_horizon": 1,
|
| 19 |
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"action_horizon": 40,
|
| 20 |
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"valid_action_horizon": 40,
|
| 21 |
+
"video_horizon": null,
|
| 22 |
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"max_state_dim": 132,
|
| 23 |
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"max_action_dim": 132,
|
| 24 |
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"language_key": "task",
|
| 25 |
+
"formalize_language": true,
|
| 26 |
+
"embodiment_tag": "libero_sim",
|
| 27 |
+
"embodiment_mapping": {
|
| 28 |
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"robocasa_panda_omron": 13,
|
| 29 |
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"oxe_droid": 17,
|
| 30 |
+
"oxe_fractal": 18,
|
| 31 |
+
"oxe_language_table": 19,
|
| 32 |
+
"oxe_bridge": 20,
|
| 33 |
+
"unknown": 22,
|
| 34 |
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"gr1_unified": 20,
|
| 35 |
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"agibot": 26,
|
| 36 |
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"sim_behavior_r1_pro": 23,
|
| 37 |
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"xdof": 24,
|
| 38 |
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"xdof_oss_data": 25,
|
| 39 |
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"unitree_g1_full_body_with_waist_height_nav_cmd": 25,
|
| 40 |
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"real_r1_pro_sharpa": 27,
|
| 41 |
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"real_r1_pro_sharpa_add_view": 27,
|
| 42 |
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"real_r1_pro_sharpa_relative_arm_joint": 26,
|
| 43 |
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"real_r1_pro_sharpa_delta_eef": 26,
|
| 44 |
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"real_r1_pro_sharpa_absolute_eef": 26,
|
| 45 |
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"real_r1_pro_sharpa_meanstd": 26,
|
| 46 |
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"real_r1_pro_sharpa_relative_eef": 26,
|
| 47 |
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"real_r1_pro_sharpa_relative_eef_add_view": 26,
|
| 48 |
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"real_r1_pro_sharpa_relative_eef_relative_hand": 26,
|
| 49 |
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"real_r1_pro_sharpa_relative_eef_human": 26,
|
| 50 |
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"real_r1_pro_sharpa_relative_eef_human_add_view": 26,
|
| 51 |
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"real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
|
| 52 |
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"real_r1_pro_sharpa_relative_eef_egodex": 26,
|
| 53 |
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"real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
|
| 54 |
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"real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
|
| 55 |
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"real_r1_pro_sharpa_relative_eef_maxinsights": 26,
|
| 56 |
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"real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
|
| 57 |
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"real_r1_pro_sharpa_relative_eef_mecka": 26,
|
| 58 |
+
"real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
|
| 59 |
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"real_g1_relative_eef_absolute_joints": 25,
|
| 60 |
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"real_g1_relative_eef_absolute_joints_wrist_cam": 25,
|
| 61 |
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"real_g1_relative_eef_relative_joints": 25,
|
| 62 |
+
"real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
|
| 63 |
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"real_r1_pro_sharpa_relative_joint": 29,
|
| 64 |
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"oxe_droid_relative_eef_relative_joint": 24,
|
| 65 |
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"oxe_droid_relative_eef_relative_joint_swapped": 24,
|
| 66 |
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"oxe_droid_relative_eef_relative_joint_upweight_z": 24,
|
| 67 |
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"oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
|
| 68 |
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"oxe_droid_relative_eef_relative_joint_3view": 24,
|
| 69 |
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"oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
|
| 70 |
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"oxe_droid_relative_eef": 24,
|
| 71 |
+
"oxe_droid_joint_position_relative": 24,
|
| 72 |
+
"xdof_relative_eef_relative_joint": 27,
|
| 73 |
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"xdof_relative_eef_relative_joint_subtask": 27,
|
| 74 |
+
"xdof_relative_eef": 27,
|
| 75 |
+
"xdof_relative_joint": 28,
|
| 76 |
+
"simpler_env_google": 0,
|
| 77 |
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"simpler_env_widowx": 1,
|
| 78 |
+
"libero_sim": 2,
|
| 79 |
+
"droid_sim": 3
|
| 80 |
+
},
|
| 81 |
+
"normalize_min_max": true,
|
| 82 |
+
"state_dropout_prob": 0.2,
|
| 83 |
+
"clip_outliers": true,
|
| 84 |
+
"use_percentiles": true,
|
| 85 |
+
"video_modality_keys": null,
|
| 86 |
+
"raw_stats": {},
|
| 87 |
+
"modality_config": {}
|
| 88 |
+
},
|
| 89 |
+
"state_file": "policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors"
|
| 90 |
+
},
|
| 91 |
+
{
|
| 92 |
+
"registry_name": "groot_n1_7_vlm_encode_v1",
|
| 93 |
+
"config": {
|
| 94 |
+
"model_name": "nvidia/Cosmos-Reason2-2B",
|
| 95 |
+
"image_crop_size": [
|
| 96 |
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230,
|
| 97 |
+
230
|
| 98 |
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],
|
| 99 |
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"image_target_size": [
|
| 100 |
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256,
|
| 101 |
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256
|
| 102 |
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],
|
| 103 |
+
"shortest_image_edge": 256,
|
| 104 |
+
"crop_fraction": 0.95,
|
| 105 |
+
"use_albumentations": true,
|
| 106 |
+
"letter_box_transform": false,
|
| 107 |
+
"device": "cuda"
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
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{
|
| 111 |
+
"registry_name": "device_processor",
|
| 112 |
+
"config": {
|
| 113 |
+
"device": "cuda",
|
| 114 |
+
"float_dtype": null
|
| 115 |
+
}
|
| 116 |
+
}
|
| 117 |
+
]
|
| 118 |
+
}
|
policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f9d98298bc6eb073d56d087fcd681447ff2d74c4769ad2fa1ec15b4bbc0baec2
|
| 3 |
+
size 4224
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train_config.json
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|
| 1 |
+
{
|
| 2 |
+
"dataset": {
|
| 3 |
+
"repo_id": "IPEC-COMMUNITY/libero_object_no_noops_1.0.0_lerobot",
|
| 4 |
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"root": "/datasets/libero_object",
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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],
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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],
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| 23 |
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"saturation": [
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| 24 |
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0.5,
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| 25 |
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1.5
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| 26 |
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],
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| 27 |
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"hue": [
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| 28 |
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| 29 |
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| 30 |
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]
|
| 31 |
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}
|
| 32 |
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}
|
| 33 |
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}
|
| 34 |
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},
|
| 35 |
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"revision": "main",
|
| 36 |
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"use_imagenet_stats": true,
|
| 37 |
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"video_backend": "torchcodec",
|
| 38 |
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"return_uint8": true,
|
| 39 |
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"depth_output_unit": "mm",
|
| 40 |
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"streaming": false,
|
| 41 |
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| 42 |
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},
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| 43 |
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"env": null,
|
| 44 |
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"policy": {
|
| 45 |
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"type": "groot",
|
| 46 |
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"n_obs_steps": 1,
|
| 47 |
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"input_features": {
|
| 48 |
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"observation.images.wrist_image": {
|
| 49 |
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"type": "VISUAL",
|
| 50 |
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| 51 |
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256,
|
| 52 |
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|
| 53 |
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3
|
| 54 |
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]
|
| 55 |
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},
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| 56 |
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"observation.images.image": {
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| 57 |
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"type": "VISUAL",
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| 58 |
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"shape": [
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| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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]
|
| 63 |
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},
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| 64 |
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"observation.state": {
|
| 65 |
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"type": "STATE",
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| 66 |
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"shape": [
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| 67 |
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|
| 68 |
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|
| 69 |
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}
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| 70 |
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},
|
| 71 |
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"output_features": {
|
| 72 |
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"action": {
|
| 73 |
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"type": "ACTION",
|
| 74 |
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"shape": [
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| 75 |
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7
|
| 76 |
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]
|
| 77 |
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}
|
| 78 |
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},
|
| 79 |
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"device": "cuda",
|
| 80 |
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"use_amp": false,
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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"private": null,
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| 85 |
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"tags": null,
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| 86 |
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"license": null,
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| 87 |
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"pretrained_path": null,
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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"max_action_dim": 132,
|
| 93 |
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"normalization_mapping": {
|
| 94 |
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"VISUAL": "IDENTITY",
|
| 95 |
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"STATE": "IDENTITY",
|
| 96 |
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"ACTION": "IDENTITY"
|
| 97 |
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},
|
| 98 |
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"base_model_path": "/cache/huggingface/models--nvidia--GR00T-N1.7-3B/snapshots/2fc962b973bccdd5d8ce4f67cc63b264d6886495",
|
| 99 |
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"action_decode_transform": "libero",
|
| 100 |
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"embodiment_tag": "libero_sim",
|
| 101 |
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"tune_llm": false,
|
| 102 |
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"tune_visual": false,
|
| 103 |
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"tune_projector": true,
|
| 104 |
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"tune_diffusion_model": true,
|
| 105 |
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"tune_vlln": true,
|
| 106 |
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"tune_top_llm_layers": 0,
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| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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"relative_exclude_joints": [],
|
| 112 |
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|
| 113 |
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| 114 |
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|
| 115 |
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| 116 |
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],
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| 117 |
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"optimizer_eps": 1e-08,
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| 118 |
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|
| 119 |
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| 120 |
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|
| 121 |
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|
| 122 |
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"image_size": [
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| 123 |
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|
| 124 |
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|
| 125 |
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],
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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"output_dir": "./tmp/gr00t",
|
| 136 |
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"save_steps": 1000,
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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},
|
| 143 |
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|
| 144 |
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"output_dir": "/checkpoints/gr00t-n17-libero-oss-h16-adamw-gbs640-20k-head9adea3f9/20260705-214215/libero_object",
|
| 145 |
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"job_name": "libero-object-n17-oss-h16-adamw-gbs640-s42-head9adea3f9-20260705-214215",
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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|
| 159 |
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| 160 |
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|
| 161 |
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|
| 162 |
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"optimizer": {
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| 163 |
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"type": "adamw",
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| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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],
|
| 171 |
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"eps": 1e-08,
|
| 172 |
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"fused": false
|
| 173 |
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},
|
| 174 |
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"scheduler": {
|
| 175 |
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"type": "diffuser",
|
| 176 |
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"num_warmup_steps": 1000,
|
| 177 |
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"name": "cosine"
|
| 178 |
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},
|
| 179 |
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"eval": {
|
| 180 |
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"n_episodes": 50,
|
| 181 |
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"batch_size": 50,
|
| 182 |
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"use_async_envs": true,
|
| 183 |
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"recording": false,
|
| 184 |
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"recording_repo_id": null,
|
| 185 |
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"recording_private": false
|
| 186 |
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},
|
| 187 |
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"wandb": {
|
| 188 |
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"enable": true,
|
| 189 |
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"disable_artifact": true,
|
| 190 |
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"project": "lerobot-gr00t-17n-train",
|
| 191 |
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"entity": "nvidia",
|
| 192 |
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"notes": "source_commit=9adea3f9638551112a370bdc7b3538b2a6055adf;oss_source_commit=ab88b50c718f6528e1df9dcbaf75865d1b604760;recipe=published-oss-libero-h16-adamw-20k-gbs640;layout=2x320;actions=absolute-libero-no-relative-groups;accepted_jitter=torchvision",
|
| 193 |
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"run_id": "libero-object-n17-oss-h16-adamw-gbs640-s42-head9adea3f9-20260705-214215",
|
| 194 |
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"mode": "online",
|
| 195 |
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"add_tags": true
|
| 196 |
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},
|
| 197 |
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"peft": null,
|
| 198 |
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"job": {
|
| 199 |
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"target": null,
|
| 200 |
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"image": "huggingface/lerobot-gpu:latest",
|
| 201 |
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"timeout": "2d",
|
| 202 |
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"detach": false,
|
| 203 |
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"tags": []
|
| 204 |
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},
|
| 205 |
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"save_checkpoint_to_hub": false,
|
| 206 |
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"sample_weighting": null,
|
| 207 |
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"rename_map": {},
|
| 208 |
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"checkpoint_path": null
|
| 209 |
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}
|