File size: 6,242 Bytes
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data: !!python/object:gr00t.configs.data.data_config.DataConfig
allow_padding: false
datasets:
- !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
dataset_paths:
- ./datasets/reachy2_100
dataset_type: physical_embodiment
embodiment_tag: reachy2
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:
reachy2:
action: !!python/object:gr00t.data.types.ModalityConfig
action_configs:
- !!python/object:gr00t.data.types.ActionConfig
format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
- default
rep: !!python/object/apply:gr00t.data.types.ActionRepresentation
- relative
state_key: arm_joints
type: &id002 !!python/object/apply:gr00t.data.types.ActionType
- non_eef
- !!python/object:gr00t.data.types.ActionConfig
format: *id001
rep: !!python/object/apply:gr00t.data.types.ActionRepresentation
- absolute
state_key: null
type: *id002
delta_indices:
- 0
- 1
- 2
- 3
- 4
- 5
- 6
- 7
- 8
- 9
- 10
- 11
- 12
- 13
- 14
- 15
mean_std_embedding_keys: null
modality_keys:
- arm_joints
- 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.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:
- arm_joints
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:
- front_cam
sin_cos_embedding_keys: null
mode: single_turn
multiprocessing_context: fork
num_shards_per_epoch: 10000
override_pretraining_statistics: false
random_chop: 0.0
seed: 42
shard_size: 1024
shuffle: true
subsample_ratio: 1.0
video_backend: decord
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: ''
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
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: null
fp16: false
global_batch_size: 64
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: 30000
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: /tmp/groot_output/reachy2
remove_unused_columns: false
save_best_eval_metric_greater_is_better: true
save_best_eval_metric_name: ''
save_steps: 3000
save_total_limit: 5
save_vl_model: false
start_from_checkpoint: nvidia/GR00T-N1.6-3B
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
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