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Robotics
Transformers
Safetensors
LeRobot
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Gr00tN1d6
vision-language-action
manipulation
gr00t
nvidia
physical-ai
humanoid
reachy2
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  1. checkpoint-30000/config.json +70 -0
  2. checkpoint-30000/embodiment_id.json +12 -0
  3. checkpoint-30000/experiment_cfg/conf.yaml +203 -0
  4. checkpoint-30000/experiment_cfg/config.yaml +237 -0
  5. checkpoint-30000/experiment_cfg/dataset_statistics.json +1020 -0
  6. checkpoint-30000/experiment_cfg/final_model_config.json +53 -0
  7. checkpoint-30000/experiment_cfg/final_processor_config.json +0 -0
  8. checkpoint-30000/model-00001-of-00002.safetensors +3 -0
  9. checkpoint-30000/model-00002-of-00002.safetensors +3 -0
  10. checkpoint-30000/model.safetensors.index.json +0 -0
  11. checkpoint-30000/optimizer.pt +3 -0
  12. checkpoint-30000/processor_config.json +453 -0
  13. checkpoint-30000/rng_state.pth +3 -0
  14. checkpoint-30000/scheduler.pt +3 -0
  15. checkpoint-30000/statistics.json +0 -0
  16. checkpoint-30000/trainer_state.json +0 -0
  17. checkpoint-30000/training_args.bin +3 -0
  18. checkpoint-30000/wandb_config.json +1 -0
  19. model-00001-of-00002.safetensors +1 -1
  20. model-00002-of-00002.safetensors +1 -1
  21. training_args.bin +1 -1
checkpoint-30000/config.json ADDED
@@ -0,0 +1,70 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "action_horizon": 50,
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+ "add_pos_embed": true,
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+ "apply_sincos_state_encoding": true,
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+ "architectures": [
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+ "Gr00tN1d6"
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+ ],
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+ "attn_dropout": 0.2,
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+ "attn_implementation": null,
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+ "backbone_embedding_dim": 2048,
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+ "backbone_model_type": "eagle",
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+ "backbone_trainable_params_fp32": true,
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+ "collator_overwrite_image_inputs": false,
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+ "contrast": 0.1,
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+ "hue": 0.1,
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+ "saturation": 0.1
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+ },
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+ "crop_fraction": 0.95,
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+ "diffusion_model_cfg": {
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+ "attention_head_dim": 48,
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+ "dropout": 0.2,
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+ "final_dropout": true,
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+ "interleave_self_attention": true,
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+ "norm_type": "ada_norm",
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+ "num_attention_heads": 32,
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+ "num_layers": 32,
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+ "output_dim": 1024,
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+ "positional_embeddings": null
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+ },
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+ "eagle_collator": true,
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+ "formalize_language": true,
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+ "hidden_size": 1024,
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+ "image_crop_size": null,
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+ "image_target_size": null,
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+ "input_embedding_dim": 1536,
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+ "load_bf16": true,
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+ "max_action_dim": 128,
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+ "max_num_embodiments": 32,
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+ "max_seq_len": 1024,
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+ "max_state_dim": 128,
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+ "model_dtype": "bfloat16",
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+ "model_name": "nvidia/Eagle-Block2A-2B-v2",
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+ "model_type": "Gr00tN1d6",
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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_inference_timesteps": 4,
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+ "num_timestep_buckets": 1000,
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+ "random_rotation_angle": null,
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+ "reproject_vision": false,
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+ "select_layer": 16,
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+ "shortest_image_edge": 256,
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+ "state_dropout_prob": 0.0,
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+ "torch_dtype": "bfloat16",
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+ "transformers_version": "4.51.3",
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+ "tune_diffusion_model": true,
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+ "tune_llm": false,
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+ "tune_projector": true,
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+ "tune_top_llm_layers": 4,
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+ "tune_visual": false,
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+ "use_albumentations_transforms": true,
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+ "use_alternate_vl_dit": true,
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+ "use_flash_attention": true,
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+ "use_relative_action": true,
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+ "use_vlln": true
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+ }
checkpoint-30000/embodiment_id.json ADDED
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+ {
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+ "robocasa_panda_omron": 13,
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+ "gr1": 20,
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+ "behavior_r1_pro": 24,
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+ "unitree_g1": 8,
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+ "oxe_google": 0,
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+ "oxe_widowx": 1,
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+ "libero_panda": 2,
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+ "oxe_droid": 16,
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+ "new_embodiment": 10,
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+ "reachy2": 11
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+ }
checkpoint-30000/experiment_cfg/conf.yaml ADDED
@@ -0,0 +1,203 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ load_config_path: null
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+ model:
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+ model_type: Gr00tN1d6
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+ model_dtype: bfloat16
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+ tune_llm: false
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+ tune_visual: false
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+ select_layer: 16
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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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+ collator_overwrite_image_inputs: false
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+ eagle_collator: true
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+ backbone_trainable_params_fp32: true
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+ image_crop_size: null
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+ image_target_size: null
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+ shortest_image_edge: 256
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+ crop_fraction: 0.95
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+ random_rotation_angle: null
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+ color_jitter_params: null
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+ use_albumentations_transforms: true
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+ formalize_language: true
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+ apply_sincos_state_encoding: false
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+ use_relative_action: true
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+ max_state_dim: 29
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+ max_action_dim: 29
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+ action_horizon: 16
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+ hidden_size: 1024
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+ input_embedding_dim: 1536
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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: 32
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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: 0.0
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+ state_additive_noise_scale: 0.0
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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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+ - ./datasets/reachy2_100
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+ embodiment_tag: reachy2
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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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+ reachy2:
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+ video:
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+ - front_cam
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+ mean_std_embedding_keys: null
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+ action_configs: null
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+ state:
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+ delta_indices:
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+ override_pretraining_statistics: false
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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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+ subsample_ratio: 1.0
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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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+ video_backend: decord
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+ training:
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+ output_dir: /tmp/groot_output/reachy2
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+ experiment_name: null
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+ max_steps: 30000
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+ global_batch_size: 64
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+ 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-N1.6-3B
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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: 3000
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+ save_total_limit: 5
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+ save_vl_model: 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_wandb: false
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+ wandb_project: finetune-gr00t-n1d6
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+ assert_loss_less_than: null
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+ open_loop_eval_traj_ids:
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+ max_steps: 30000
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+ save_steps: 3000
checkpoint-30000/experiment_cfg/config.yaml ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ !!python/object:gr00t.configs.base_config.Config
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+ data: !!python/object:gr00t.configs.data.data_config.DataConfig
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+ allow_padding: false
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+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
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+ dataset_paths:
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+ - ./datasets/reachy2_100
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+ dataset_type: physical_embodiment
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+ reachy2:
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+ action: !!python/object:gr00t.data.types.ModalityConfig
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+ - !!python/object:gr00t.data.types.ActionConfig
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+ - default
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+ rep: !!python/object/apply:gr00t.data.types.ActionRepresentation
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+ - relative
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+ - non_eef
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+ language: !!python/object:gr00t.data.types.ModalityConfig
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+ action_configs: null
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+ delta_indices:
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+ - 0
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+ - annotation.human.task_description
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+ - 0
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+ action_configs: null
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+ - 0
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+ - front_cam
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+ seed: 42
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+ shuffle: true
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+ model: !!python/object:gr00t.configs.model.gr00t_n1d6.Gr00tN1d6Config
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+ add_rl_callback: false
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+ assert_loss_less_than: null
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+ bf16: true
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+ max_concurrent_uploads: 2
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+ - 0
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+ remove_unused_columns: false
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+ save_best_eval_metric_greater_is_better: true
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+ save_best_eval_metric_name: ''
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+ start_from_checkpoint: nvidia/GR00T-N1.6-3B
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+ tf32: true
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+ transformers_local_files_only: false
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+ upload_every: 1000
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