Add vlmfreeze_loc_h15_16k

vlmfreeze_loc_h15_16k/config.json

@@ -0,0 +1,80 @@
+{
+  "action_horizon": 15,
+  "add_pos_embed": true,
+  "apply_sincos_state_encoding": true,
+  "architectures": [
+    "Gr00tN1d6"
+  ],
+  "attn_dropout": 0.2,
+  "attn_implementation": null,
+  "backbone_embedding_dim": 2048,
+  "backbone_model_type": "eagle",
+  "backbone_trainable_params_fp32": true,
+  "boundary_jitter_prob": 0.5,
+  "collator_overwrite_image_inputs": false,
+  "color_jitter_params": {
+    "brightness": 0.1,
+    "contrast": 0.1,
+    "hue": 0.1,
+    "saturation": 0.1
+  },
+  "crop_fraction": 0.95,
+  "diffusion_model_cfg": {
+    "attention_head_dim": 48,
+    "dropout": 0.2,
+    "final_dropout": true,
+    "interleave_self_attention": true,
+    "norm_type": "ada_norm",
+    "num_attention_heads": 32,
+    "num_layers": 32,
+    "output_dim": 1024,
+    "positional_embeddings": null
+  },
+  "eagle_collator": true,
+  "formalize_language": true,
+  "gemma_collator": false,
+  "hidden_size": 1024,
+  "image_crop_size": null,
+  "image_target_size": null,
+  "input_embedding_dim": 1536,
+  "load_bf16": true,
+  "loc_loss_weight": 0.05,
+  "max_action_dim": 128,
+  "max_num_embodiments": 32,
+  "max_seq_len": 1024,
+  "max_state_dim": 128,
+  "model_dtype": "bfloat16",
+  "model_name": "nvidia/Eagle-Block2A-2B-v2",
+  "model_type": "Gr00tN1d6",
+  "noise_beta_alpha": 1.5,
+  "noise_beta_beta": 1.0,
+  "noise_s": 0.999,
+  "num_inference_timesteps": 4,
+  "num_timestep_buckets": 1000,
+  "phase_class_weights": [
+    0.602,
+    2.285,
+    0.671,
+    2.435
+  ],
+  "phase_loss_weight": 0.05,
+  "random_rotation_angle": null,
+  "reproject_vision": false,
+  "select_layer": 16,
+  "shortest_image_edge": 256,
+  "state_dropout_prob": 0.0,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3",
+  "tune_diffusion_model": true,
+  "tune_llm": false,
+  "tune_projector": true,
+  "tune_top_llm_layers": 0,
+  "tune_visual": false,
+  "tune_vlln": true,
+  "use_albumentations_transforms": true,
+  "use_alternate_vl_dit": true,
+  "use_flash_attention": true,
+  "use_phase_loc": true,
+  "use_relative_action": true,
+  "use_vlln": true
+}

vlmfreeze_loc_h15_16k/embodiment_id.json

@@ -0,0 +1,11 @@
+{
+  "robocasa_panda_omron": 13,
+  "gr1": 20,
+  "behavior_r1_pro": 24,
+  "unitree_g1": 8,
+  "oxe_google": 0,
+  "oxe_widowx": 1,
+  "libero_panda": 2,
+  "new_embodiment": 10,
+  "oxe_droid": 16
+}

vlmfreeze_loc_h15_16k/experiment_cfg/conf.yaml

@@ -0,0 +1,248 @@
+load_config_path: null
+model:
+  model_type: Gr00tN1d6
+  model_dtype: bfloat16
+  model_name: nvidia/Eagle-Block2A-2B-v2
+  backbone_model_type: eagle
+  model_revision: null
+  tune_top_llm_layers: 4
+  backbone_embedding_dim: 2048
+  tune_llm: false
+  tune_visual: false
+  select_layer: 16
+  reproject_vision: false
+  use_flash_attention: true
+  load_bf16: false
+  collator_overwrite_image_inputs: false
+  eagle_collator: true
+  backbone_trainable_params_fp32: true
+  image_crop_size: null
+  image_target_size: null
+  shortest_image_edge: 256
+  crop_fraction: 0.95
+  random_rotation_angle: null
+  color_jitter_params: null
+  use_albumentations_transforms: true
+  extra_augmentation_config: null
+  formalize_language: true
+  apply_sincos_state_encoding: false
+  use_relative_action: true
+  max_state_dim: 29
+  max_action_dim: 29
+  action_horizon: 15
+  hidden_size: 1024
+  input_embedding_dim: 1536
+  add_pos_embed: true
+  attn_dropout: 0.2
+  use_vlln: true
+  max_seq_len: 1024
+  use_alternate_vl_dit: true
+  attend_text_every_n_blocks: 2
+  diffusion_model_cfg:
+    positional_embeddings: null
+    num_layers: 32
+    num_attention_heads: 32
+    attention_head_dim: 48
+    norm_type: ada_norm
+    dropout: 0.2
+    final_dropout: true
+    output_dim: 1024
+    interleave_self_attention: true
+  num_inference_timesteps: 4
+  noise_beta_alpha: 1.5
+  noise_beta_beta: 1.0
+  noise_s: 0.999
+  num_timestep_buckets: 1000
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+  state_dropout_prob: 0.0
+  state_additive_noise_scale: 0.0
+  use_phase_loc: false
+  num_phases: 4
+  phase_loss_weight: 0.05
+  phase_class_weights: null
+  loc_loss_weight: 0.05
+  loc_none_weight: 0.3
+  loc_temp: 1.0
+  boundary_jitter_prob: 0.5
+  phase_pool_heads: 8
+  phase_mlp_hidden: 1024
+  max_num_embodiments: 32
+data:
+  datasets:
+  - dataset_paths:
+    - /NHNHOME/WORKSPACE/0526040012_A/Isaac-GR00T-n1.6.1/datasets_libero/libero_spatial_no_noops_1.0.0_lerobot
+    - /NHNHOME/WORKSPACE/0526040012_A/Isaac-GR00T-n1.6.1/datasets_libero/libero_object_no_noops_1.0.0_lerobot
+    - /NHNHOME/WORKSPACE/0526040012_A/Isaac-GR00T-n1.6.1/datasets_libero/libero_goal_no_noops_1.0.0_lerobot
+    - /NHNHOME/WORKSPACE/0526040012_A/Isaac-GR00T-n1.6.1/datasets_libero/libero_10_no_noops_1.0.0_lerobot
+    embodiment_tag: libero_panda
+    mix_ratio: 1.0
+    dataset_type: physical_embodiment
+    val_dataset_path: null
+  modality_configs:
+    libero_panda:
+      video:
+        delta_indices:
+        - 0
+        modality_keys:
+        - image
+        - wrist_image
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+      state:
+        delta_indices:
+        - 0
+        modality_keys:
+        - x
+        - 'y'
+        - z
+        - roll
+        - pitch
+        - yaw
+        - gripper
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+      action:
+        delta_indices:
+        - 0
+        - 1
+        - 2
+        - 3
+        - 4
+        - 5
+        - 6
+        - 7
+        - 8
+        - 9
+        - 10
+        - 11
+        - 12
+        - 13
+        - 14
+        modality_keys:
+        - x
+        - 'y'
+        - z
+        - roll
+        - pitch
+        - yaw
+        - gripper
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs:
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+      language:
+        delta_indices:
+        - 0
+        modality_keys:
+        - annotation.human.action.task_description
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+  download_cache: false
+  shard_size: 1024
+  episode_sampling_rate: 0.1
+  num_shards_per_epoch: 100000
+  override_pretraining_statistics: false
+  mode: single_turn
+  random_chop: 0.0
+  mock_dataset_mode: false
+  shuffle: true
+  seed: 42
+  multiprocessing_context: fork
+  allow_padding: false
+  subsample_ratio: 1.0
+  image_crop_size:
+  - 244
+  - 244
+  image_target_size:
+  - 224
+  - 224
+  video_backend: torchcodec
+training:
+  output_dir: checkpoints/phase_loc_vlmfreeze_h15
+  experiment_name: run1
+  max_steps: 20000
+  global_batch_size: 16
+  batch_size: null
+  gradient_accumulation_steps: 1
+  learning_rate: 0.0001
+  lr_scheduler_type: cosine
+  weight_decay: 1.0e-05
+  warmup_ratio: 0.05
+  warmup_steps: 0
+  max_grad_norm: 1.0
+  optim: adamw_torch
+  start_from_checkpoint: checkpoints/GR00T-N1.6-LIBERO
+  tf32: true
+  fp16: false
+  bf16: true
+  eval_bf16: true
+  logging_steps: 10
+  save_steps: 1000
+  save_total_limit: 25
+  save_vl_model: false
+  upload_checkpoints: false
+  upload_every: 1000
+  upload_last_n_checkpoints: 5
+  max_concurrent_uploads: 2
+  eval_strategy: 'no'
+  eval_steps: 500
+  eval_set_split_ratio: 0.1
+  eval_batch_size: 2
+  save_best_eval_metric_name: ''
+  save_best_eval_metric_greater_is_better: true
+  deepspeed_stage: 2
+  gradient_checkpointing: false
+  transformers_trust_remote_code: true
+  transformers_local_files_only: false
+  transformers_cache_dir: null
+  transformers_access_token: null
+  use_ddp: false
+  ddp_bucket_cap_mb: 100
+  num_gpus: 1
+  dataloader_num_workers: 8
+  remove_unused_columns: false
+  use_wandb: false
+  wandb_project: finetune-gr00t-n1d6
+  enable_profiling: false
+  max_retries: 3
+  assert_loss_less_than: null
+  add_rl_callback: false
+  enable_open_loop_eval: false
+  open_loop_eval_traj_ids:
+  - 0
+  open_loop_eval_steps_per_traj: 100
+  open_loop_eval_plot_indices: null
+max_steps: 20000
+save_steps: 1000

vlmfreeze_loc_h15_16k/experiment_cfg/config.yaml

@@ -0,0 +1,265 @@
+!!python/object:gr00t.configs.base_config.Config
+data: !!python/object:gr00t.configs.data.data_config.DataConfig
+  allow_padding: false
+  datasets:
+  - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
+    dataset_paths:
+    - /NHNHOME/WORKSPACE/0526040012_A/Isaac-GR00T-n1.6.1/datasets_libero/libero_spatial_no_noops_1.0.0_lerobot
+    - /NHNHOME/WORKSPACE/0526040012_A/Isaac-GR00T-n1.6.1/datasets_libero/libero_object_no_noops_1.0.0_lerobot
+    - /NHNHOME/WORKSPACE/0526040012_A/Isaac-GR00T-n1.6.1/datasets_libero/libero_goal_no_noops_1.0.0_lerobot
+    - /NHNHOME/WORKSPACE/0526040012_A/Isaac-GR00T-n1.6.1/datasets_libero/libero_10_no_noops_1.0.0_lerobot
+    dataset_type: physical_embodiment
+    embodiment_tag: libero_panda
+    mix_ratio: 1.0
+    val_dataset_path: null
+  download_cache: false
+  episode_sampling_rate: 0.1
+  image_crop_size:
+  - 244
+  - 244
+  image_target_size:
+  - 224
+  - 224
+  mock_dataset_mode: false
+  modality_configs:
+    libero_panda:
+      action: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs:
+        - &id001 !!python/object:gr00t.data.types.ActionConfig
+          format: !!python/object/apply:gr00t.data.types.ActionFormat
+          - default
+          rep: !!python/object/apply:gr00t.data.types.ActionRepresentation
+          - absolute
+          state_key: null
+          type: !!python/object/apply:gr00t.data.types.ActionType
+          - non_eef
+        - *id001
+        - *id001
+        - *id001
+        - *id001
+        - *id001
+        - *id001
+        delta_indices:
+        - 0
+        - 1
+        - 2
+        - 3
+        - 4
+        - 5
+        - 6
+        - 7
+        - 8
+        - 9
+        - 10
+        - 11
+        - 12
+        - 13
+        - 14
+        mean_std_embedding_keys: null
+        modality_keys:
+        - x
+        - y
+        - z
+        - roll
+        - pitch
+        - yaw
+        - gripper
+        sin_cos_embedding_keys: null
+      language: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - annotation.human.action.task_description
+        sin_cos_embedding_keys: null
+      state: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - x
+        - y
+        - z
+        - roll
+        - pitch
+        - yaw
+        - gripper
+        sin_cos_embedding_keys: null
+      video: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - image
+        - wrist_image
+        sin_cos_embedding_keys: null
+  mode: single_turn
+  multiprocessing_context: fork
+  num_shards_per_epoch: 100000
+  override_pretraining_statistics: false
+  random_chop: 0.0
+  seed: 42
+  shard_size: 1024
+  shuffle: true
+  subsample_ratio: 1.0
+  video_backend: torchcodec
+load_config_path: null
+model: !!python/object:gr00t.configs.model.gr00t_n1d6.Gr00tN1d6Config
+  _attn_implementation_autoset: false
+  _attn_implementation_internal: null
+  _commit_hash: null
+  _name_or_path: ''
+  action_horizon: 15
+  add_cross_attention: false
+  architectures: null
+  backbone_model_type: eagle
+  backbone_trainable_params_fp32: true
+  bad_words_ids: null
+  begin_suppress_tokens: null
+  bos_token_id: null
+  chunk_size_feed_forward: 0
+  color_jitter_params: null
+  cross_attention_hidden_size: null
+  decoder_start_token_id: null
+  diffusion_model_cfg:
+    attention_head_dim: 48
+    dropout: 0.2
+    final_dropout: true
+    interleave_self_attention: true
+    norm_type: ada_norm
+    num_attention_heads: 32
+    num_layers: 32
+    output_dim: 1024
+    positional_embeddings: null
+  diversity_penalty: 0.0
+  do_sample: false
+  eagle_collator: true
+  early_stopping: false
+  encoder_no_repeat_ngram_size: 0
+  eos_token_id: null
+  exponential_decay_length_penalty: null
+  extra_augmentation_config: null
+  extra_from_pretrained_overrides:
+    action_horizon: 15
+    boundary_jitter_prob: 0.5
+    loc_loss_weight: 0.05
+    phase_class_weights:
+    - 0.602
+    - 2.285
+    - 0.671
+    - 2.435
+    phase_loss_weight: 0.05
+    tune_top_llm_layers: 0
+    use_phase_loc: true
+  finetuning_task: null
+  forced_bos_token_id: null
+  forced_eos_token_id: null
+  id2label:
+    0: LABEL_0
+    1: LABEL_1
+  is_decoder: false
+  is_encoder_decoder: false
+  label2id:
+    LABEL_0: 0
+    LABEL_1: 1
+  length_penalty: 1.0
+  load_bf16: false
+  max_length: 20
+  min_length: 0
+  model_name: nvidia/Eagle-Block2A-2B-v2
+  no_repeat_ngram_size: 0
+  num_beam_groups: 1
+  num_beams: 1
+  num_return_sequences: 1
+  output_attentions: false
+  output_hidden_states: false
+  output_scores: false
+  pad_token_id: null
+  prefix: null
+  problem_type: null
+  pruned_heads: {}
+  random_rotation_angle: null
+  remove_invalid_values: false
+  repetition_penalty: 1.0
+  reproject_vision: false
+  return_dict: true
+  return_dict_in_generate: false
+  sep_token_id: null
+  state_dropout_prob: 0.0
+  suppress_tokens: null
+  task_specific_params: null
+  temperature: 1.0
+  tf_legacy_loss: false
+  tie_encoder_decoder: false
+  tie_word_embeddings: true
+  tokenizer_class: null
+  top_k: 50
+  top_p: 1.0
+  torch_dtype: null
+  torchscript: false
+  transformers_version: null
+  tune_diffusion_model: true
+  tune_llm: false
+  tune_projector: true
+  tune_visual: false
+  typical_p: 1.0
+  use_bfloat16: false
+  use_relative_action: true
+training: !!python/object:gr00t.configs.training.training_config.TrainingConfig
+  add_rl_callback: false
+  assert_loss_less_than: null
+  batch_size: null
+  bf16: true
+  dataloader_num_workers: 8
+  ddp_bucket_cap_mb: 100
+  deepspeed_stage: 2
+  enable_open_loop_eval: false
+  enable_profiling: false
+  eval_batch_size: 2
+  eval_bf16: true
+  eval_set_split_ratio: 0.1
+  eval_steps: 500
+  eval_strategy: 'no'
+  experiment_name: run1
+  fp16: false
+  global_batch_size: 16
+  gradient_accumulation_steps: 1
+  gradient_checkpointing: false
+  learning_rate: 0.0001
+  logging_steps: 10
+  lr_scheduler_type: cosine
+  max_concurrent_uploads: 2
+  max_grad_norm: 1.0
+  max_retries: 3
+  max_steps: 20000
+  num_gpus: 1
+  open_loop_eval_plot_indices: null
+  open_loop_eval_steps_per_traj: 100
+  open_loop_eval_traj_ids:
+  - 0
+  optim: adamw_torch
+  output_dir: checkpoints/phase_loc_vlmfreeze_h15
+  remove_unused_columns: false
+  save_best_eval_metric_greater_is_better: true
+  save_best_eval_metric_name: ''
+  save_steps: 1000
+  save_total_limit: 25
+  save_vl_model: false
+  start_from_checkpoint: checkpoints/GR00T-N1.6-LIBERO
+  tf32: true
+  transformers_access_token: null
+  transformers_cache_dir: null
+  transformers_local_files_only: false
+  transformers_trust_remote_code: true
+  upload_checkpoints: false
+  upload_every: 1000
+  upload_last_n_checkpoints: 5
+  use_ddp: false
+  use_wandb: false
+  wandb_project: finetune-gr00t-n1d6
+  warmup_ratio: 0.05
+  warmup_steps: 0
+  weight_decay: 1.0e-05

vlmfreeze_loc_h15_16k/experiment_cfg/dataset_statistics.json

@@ -0,0 +1,295 @@
+{
+  "libero_panda": {
+    "state": {
+      "x": {
+        "min": [
+          -0.4828203022480011
+        ],
+        "max": [
+          0.21031762659549713
+        ],
+        "mean": [
+          -0.04624276933621388
+        ],
+        "std": [
+          0.10476299750643506
+        ],
+        "q01": [
+          -0.4240104854106903
+        ],
+        "q99": [
+          0.15302614867687225
+        ]
+      },
+      "y": {
+        "min": [
+          -0.3255046010017395
+        ],
+        "max": [
+          0.39128610491752625
+        ],
+        "mean": [
+          0.03413268207211276
+        ],
+        "std": [
+          0.151854201187533
+        ],
+        "q01": [
+          -0.28383004665374756
+        ],
+        "q99": [
+          0.3629165291786194
+        ]
+      },
+      "z": {
+        "min": [
+          0.008128180168569088
+        ],
+        "max": [
+          1.3660105466842651
+        ],
+        "mean": [
+          0.7615890140436133
+        ],
+        "std": [
+          0.37797879113995025
+        ],
+        "q01": [
+          0.009925739839673042
+        ],
+        "q99": [
+          1.2910678386688232
+        ]
+      },
+      "roll": {
+        "min": [
+          0.35277295112609863
+        ],
+        "max": [
+          3.6714255809783936
+        ],
+        "mean": [
+          2.97181462949636
+        ],
+        "std": [
+          0.3431648001775235
+        ],
+        "q01": [
+          1.3085840940475464
+        ],
+        "q99": [
+          3.303542375564575
+        ]
+      },
+      "pitch": {
+        "min": [
+          -3.641430377960205
+        ],
+        "max": [
+          3.560650587081909
+        ],
+        "mean": [
+          -0.22890296979826324
+        ],
+        "std": [
+          0.9147305335089927
+        ],
+        "q01": [
+          -2.8866775035858154
+        ],
+        "q99": [
+          2.749652862548828
+        ]
+      },
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