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groot1.7_fold_tea_towel

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Upload GR00T N1.7 checkpoint step 6000

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Files changed (14) hide show
  1. checkpoints/6000/pretrained_model/config.json +88 -0
  2. checkpoints/6000/pretrained_model/embodiment_id.json +57 -0
  3. checkpoints/6000/pretrained_model/experiment_cfg/conf.yaml +231 -0
  4. checkpoints/6000/pretrained_model/experiment_cfg/config.yaml +229 -0
  5. checkpoints/6000/pretrained_model/experiment_cfg/dataset_statistics.json +1638 -0
  6. checkpoints/6000/pretrained_model/experiment_cfg/final_model_config.json +56 -0
  7. checkpoints/6000/pretrained_model/experiment_cfg/final_processor_config.json +0 -0
  8. checkpoints/6000/pretrained_model/model-00001-of-00003.safetensors +3 -0
  9. checkpoints/6000/pretrained_model/model-00002-of-00003.safetensors +3 -0
  10. checkpoints/6000/pretrained_model/model-00003-of-00003.safetensors +3 -0
  11. checkpoints/6000/pretrained_model/model.safetensors.index.json +0 -0
  12. checkpoints/6000/pretrained_model/processor_config.json +1140 -0
  13. checkpoints/6000/pretrained_model/statistics.json +0 -0
  14. checkpoints/6000/pretrained_model/wandb_config.json +1 -0
checkpoints/6000/pretrained_model/config.json ADDED
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+ {
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+ "model_dtype": "bfloat16",
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+ "model_name": "nvidia/Cosmos-Reason2-2B",
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+ "select_layer": 16,
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+ "shortest_image_edge": 256,
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+ "transformers_version": "4.57.3",
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checkpoints/6000/pretrained_model/embodiment_id.json ADDED
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+ {
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+ "real_r1_pro_sharpa_relative_eef_egodex": 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_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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+ "xdof_relative_eef_relative_joint_subtask": 27,
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+ "robocasa_gr1_tabletop": 10,
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+ "unitree_g1_sonic": 11
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+ }
checkpoints/6000/pretrained_model/experiment_cfg/conf.yaml ADDED
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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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+ 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
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+ load_bf16: false
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+ image_crop_size:
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+ - 230
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+ - 256
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+ - 256
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+ formalize_language: true
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+ apply_sincos_state_encoding: false
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+ max_action_dim: 132
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+ add_pos_embed: true
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+ attn_dropout: 0.2
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+ use_vlln: true
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+ max_seq_len: 1024
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+ use_alternate_vl_dit: true
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+ attend_text_every_n_blocks: 2
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+ diffusion_model_cfg:
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+ positional_embeddings: null
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+ num_layers: 16
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+ num_attention_heads: 32
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+ attention_head_dim: 48
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+ norm_type: ada_norm
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+ dropout: 0.2
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+ final_dropout: true
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+ output_dim: 1024
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+ interleave_self_attention: true
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+ num_inference_timesteps: 4
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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_timestep_buckets: 1000
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+ tune_projector: true
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+ tune_diffusion_model: true
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+ tune_vlln: true
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+ state_dropout_prob: 0.2
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+ exclude_state: false
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+ use_mean_std: false
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+ max_num_embodiments: 32
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+ data:
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+ datasets:
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+ - dataset_paths:
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+ - /scratch/u6kr/pravsels.u6kr/groot/datasets/fold_tea_towel
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+ embodiment_tag: new_embodiment
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+ mix_ratio: 1.0
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+ dataset_type: physical_embodiment
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+ val_dataset_path: null
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+ modality_configs:
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+ new_embodiment:
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+ video:
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+ delta_indices:
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+ - 0
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+ state:
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+ - annotation.human.task_description
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+ mean_std_embedding_keys: null
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+ download_cache: false
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+ shard_size: 1024
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+ episode_sampling_rate: 0.1
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+ num_shards_per_epoch: 100000
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+ override_pretraining_statistics: true
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+ mode: single_turn
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+ random_chop: 0.0
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+ mock_dataset_mode: false
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+ shuffle: true
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+ seed: 42
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+ multiprocessing_context: fork
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+ allow_padding: false
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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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+ training:
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+ output_dir: /scratch/u6kr/pravsels.u6kr/groot/checkpoints/groot_fold_tea_towel
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+ experiment_name: groot_fold_tea_towel
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+ max_steps: 30000
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+ global_batch_size: 64
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+ per_gpu_batch_size: null
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+ gradient_accumulation_steps: 1
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+ learning_rate: 0.0001
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+ lr_scheduler_type: cosine
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+ weight_decay: 1.0e-05
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+ warmup_ratio: 0.05
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+ warmup_steps: 0
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+ max_grad_norm: 1.0
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+ optim: adamw_torch
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+ start_from_checkpoint: nvidia/GR00T-N1.7-3B
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+ skip_weight_loading: false
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+ tf32: true
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+ fp16: false
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+ bf16: true
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+ eval_bf16: true
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+ logging_steps: 10
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+ save_steps: 2000
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+ save_total_limit: 5
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+ save_vl_model: false
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+ save_only_model: false
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+ resume_from_checkpoint: false
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+ upload_checkpoints: false
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+ upload_every: 1000
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+ upload_last_n_checkpoints: 5
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+ max_concurrent_uploads: 2
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+ eval_strategy: 'no'
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+ eval_steps: 500
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+ eval_set_split_ratio: 0.1
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+ eval_batch_size: 2
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+ save_best_eval_metric_name: ''
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+ save_best_eval_metric_greater_is_better: true
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+ deepspeed_stage: 2
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+ gradient_checkpointing: false
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+ transformers_trust_remote_code: true
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+ transformers_local_files_only: false
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+ transformers_cache_dir: null
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+ transformers_access_token: null
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+ use_ddp: false
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+ ddp_bucket_cap_mb: 100
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+ num_gpus: 1
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+ dataloader_num_workers: 8
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+ remove_unused_columns: false
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+ use_wandb: true
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+ wandb_project: groot_fold_tea_towel
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+ enable_profiling: false
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+ max_retries: 3
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+ assert_loss_less_than: null
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+ add_rl_callback: false
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+ enable_open_loop_eval: false
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+ open_loop_eval_traj_ids:
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+ - 0
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+ open_loop_eval_steps_per_traj: 100
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+ open_loop_eval_plot_indices: null
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+ max_steps: 30000
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+ save_steps: 2000
checkpoints/6000/pretrained_model/experiment_cfg/config.yaml ADDED
@@ -0,0 +1,229 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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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_visual: false
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+ select_layer: 12
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+ reproject_vision: false
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+ use_flash_attention: true
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+ 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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+ formalize_language: true
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+ use_percentiles: true
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+ use_relative_action: true
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+ max_action_dim: 132
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+ action_horizon: 40
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+ 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
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+ attn_dropout: 0.2
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+ use_vlln: true
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+ max_seq_len: 1024
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+ use_alternate_vl_dit: true
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+ attend_text_every_n_blocks: 2
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51
+ positional_embeddings: null
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+ num_layers: 16
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+ num_attention_heads: 32
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+ attention_head_dim: 48
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+ norm_type: ada_norm
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+ dropout: 0.2
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+ final_dropout: true
58
+ output_dim: 1024
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+ interleave_self_attention: true
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+ num_inference_timesteps: 4
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+ noise_beta_alpha: 1.5
62
+ noise_beta_beta: 1.0
63
+ noise_s: 0.999
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+ num_timestep_buckets: 1000
65
+ tune_projector: true
66
+ tune_diffusion_model: true
67
+ tune_vlln: true
68
+ state_dropout_prob: 0.2
69
+ exclude_state: false
70
+ use_mean_std: false
71
+ max_num_embodiments: 32
72
+ data:
73
+ datasets:
74
+ - dataset_paths:
75
+ - /scratch/u6kr/pravsels.u6kr/groot/datasets/fold_tea_towel
76
+ embodiment_tag: new_embodiment
77
+ mix_ratio: 1.0
78
+ dataset_type: physical_embodiment
79
+ val_dataset_path: null
80
+ modality_configs:
81
+ new_embodiment:
82
+ video:
83
+ delta_indices:
84
+ - 0
85
+ modality_keys:
86
+ - left_wrist
87
+ - right_wrist
88
+ - top
89
+ sin_cos_embedding_keys: null
90
+ mean_std_embedding_keys: null
91
+ action_configs: null
92
+ state:
93
+ delta_indices:
94
+ - 0
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+ modality_keys:
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+ - left_arm
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+ - right_arm
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+ - right_gripper
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101
+ mean_std_embedding_keys: null
102
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