File size: 4,791 Bytes
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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
formalize_language: true
apply_sincos_state_encoding: false
use_relative_action: true
max_state_dim: 29
max_action_dim: 29
action_horizon: 16
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
max_num_embodiments: 32
data:
datasets:
- dataset_paths:
- ./datasets/reachy2_100
embodiment_tag: reachy2
mix_ratio: 1.0
dataset_type: physical_embodiment
val_dataset_path: null
modality_configs:
reachy2:
video:
delta_indices:
- 0
modality_keys:
- front_cam
sin_cos_embedding_keys: null
mean_std_embedding_keys: null
action_configs: null
state:
delta_indices:
- 0
modality_keys:
- arm_joints
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
- 15
modality_keys:
- arm_joints
- gripper
sin_cos_embedding_keys: null
mean_std_embedding_keys: null
action_configs:
- rep: RELATIVE
type: NON_EEF
format: DEFAULT
state_key: arm_joints
- rep: ABSOLUTE
type: NON_EEF
format: DEFAULT
state_key: null
language:
delta_indices:
- 0
modality_keys:
- annotation.human.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: 10000
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: decord
training:
output_dir: /tmp/groot_output/reachy2
experiment_name: null
max_steps: 30000
global_batch_size: 64
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: nvidia/GR00T-N1.6-3B
tf32: true
fp16: false
bf16: true
eval_bf16: true
logging_steps: 10
save_steps: 3000
save_total_limit: 5
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: 30000
save_steps: 3000
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