Hugging Face's logo

aractingi
/
groot-libero-latest-30k

Safetensors
Model card Files
xet
Community
aractingi HF Staff commited on
Commit
ff59ce9
·
verified ·
1 Parent(s): d38f726

Upload folder using huggingface_hub

Browse files
Files changed (7) hide show
  1. config.json +87 -0
  2. model.safetensors +3 -0
  3. policy_postprocessor.json +20 -0
  4. policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors +3 -0
  5. policy_preprocessor.json +52 -0
  6. policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors +3 -0
  7. train_config.json +250 -0
config.json ADDED
@@ -0,0 +1,87 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "groot",
3
+ "n_obs_steps": 1,
4
+ "input_features": {
5
+ "observation.images.image": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 256,
10
+ 256
11
+ ]
12
+ },
13
+ "observation.images.image2": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 256,
18
+ 256
19
+ ]
20
+ },
21
+ "observation.state": {
22
+ "type": "STATE",
23
+ "shape": [
24
+ 8
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 7
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "use_amp": false,
38
+ "push_to_hub": true,
39
+ "repo_id": "aractingi/groot-libero-latest",
40
+ "private": null,
41
+ "tags": null,
42
+ "license": null,
43
+ "pretrained_path": null,
44
+ "chunk_size": 50,
45
+ "n_action_steps": 50,
46
+ "max_state_dim": 64,
47
+ "max_action_dim": 32,
48
+ "normalization_mapping": {
49
+ "VISUAL": "IDENTITY",
50
+ "STATE": "MEAN_STD",
51
+ "ACTION": "MEAN_STD"
52
+ },
53
+ "image_size": [
54
+ 224,
55
+ 224
56
+ ],
57
+ "base_model_path": "nvidia/GR00T-N1.5-3B",
58
+ "embodiment_tag": "new_embodiment",
59
+ "tune_llm": false,
60
+ "tune_visual": false,
61
+ "tune_projector": true,
62
+ "tune_diffusion_model": false,
63
+ "lora_rank": 0,
64
+ "lora_alpha": 16,
65
+ "lora_dropout": 0.1,
66
+ "lora_full_model": false,
67
+ "optimizer_lr": 0.0001,
68
+ "optimizer_betas": [
69
+ 0.95,
70
+ 0.999
71
+ ],
72
+ "optimizer_eps": 1e-08,
73
+ "optimizer_weight_decay": 1e-05,
74
+ "warmup_ratio": 0.05,
75
+ "use_bf16": true,
76
+ "video_backend": "decord",
77
+ "balance_dataset_weights": true,
78
+ "balance_trajectory_weights": true,
79
+ "dataset_paths": null,
80
+ "output_dir": "./tmp/gr00t",
81
+ "save_steps": 1000,
82
+ "max_steps": 10000,
83
+ "batch_size": 32,
84
+ "dataloader_num_workers": 8,
85
+ "report_to": "wandb",
86
+ "resume": false
87
+ }
model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4f9d075ecb553fabaa38a8b157e8cffafd09799768bd261b49314f7bc462d078
3
+ size 6964802952
policy_postprocessor.json ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "groot_action_unpack_unnormalize_v1",
6
+ "config": {
7
+ "env_action_dim": 7,
8
+ "normalize_min_max": true
9
+ },
10
+ "state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors"
11
+ },
12
+ {
13
+ "registry_name": "device_processor",
14
+ "config": {
15
+ "device": "cpu",
16
+ "float_dtype": null
17
+ }
18
+ }
19
+ ]
20
+ }
policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:72b548b3362a05182c0db4350d5e728c45fae83bf93fe0539520a73ef369c29b
3
+ size 8648
policy_preprocessor.json ADDED
@@ -0,0 +1,52 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "groot_pack_inputs_v3",
16
+ "config": {
17
+ "state_horizon": 1,
18
+ "action_horizon": 16,
19
+ "max_state_dim": 64,
20
+ "max_action_dim": 32,
21
+ "language_key": "task",
22
+ "formalize_language": false,
23
+ "embodiment_tag": "new_embodiment",
24
+ "embodiment_mapping": {
25
+ "new_embodiment": 31,
26
+ "oxe_droid": 17,
27
+ "agibot_genie1": 26,
28
+ "gr1": 24,
29
+ "so100": 2,
30
+ "unitree_g1": 3
31
+ },
32
+ "normalize_min_max": true
33
+ },
34
+ "state_file": "policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors"
35
+ },
36
+ {
37
+ "registry_name": "groot_eagle_encode_v3",
38
+ "config": {}
39
+ },
40
+ {
41
+ "registry_name": "groot_eagle_collate_v3",
42
+ "config": {}
43
+ },
44
+ {
45
+ "registry_name": "device_processor",
46
+ "config": {
47
+ "device": "cuda",
48
+ "float_dtype": null
49
+ }
50
+ }
51
+ ]
52
+ }
policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:72b548b3362a05182c0db4350d5e728c45fae83bf93fe0539520a73ef369c29b
3
+ size 8648
train_config.json ADDED
@@ -0,0 +1,250 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "HuggingFaceVLA/libero",
4
+ "root": null,
5
+ "episodes": null,
6
+ "image_transforms": {
7
+ "enable": false,
8
+ "max_num_transforms": 3,
9
+ "random_order": false,
10
+ "tfs": {
11
+ "brightness": {
12
+ "weight": 1.0,
13
+ "type": "ColorJitter",
14
+ "kwargs": {
15
+ "brightness": [
16
+ 0.8,
17
+ 1.2
18
+ ]
19
+ }
20
+ },
21
+ "contrast": {
22
+ "weight": 1.0,
23
+ "type": "ColorJitter",
24
+ "kwargs": {
25
+ "contrast": [
26
+ 0.8,
27
+ 1.2
28
+ ]
29
+ }
30
+ },
31
+ "saturation": {
32
+ "weight": 1.0,
33
+ "type": "ColorJitter",
34
+ "kwargs": {
35
+ "saturation": [
36
+ 0.5,
37
+ 1.5
38
+ ]
39
+ }
40
+ },
41
+ "hue": {
42
+ "weight": 1.0,
43
+ "type": "ColorJitter",
44
+ "kwargs": {
45
+ "hue": [
46
+ -0.05,
47
+ 0.05
48
+ ]
49
+ }
50
+ },
51
+ "sharpness": {
52
+ "weight": 1.0,
53
+ "type": "SharpnessJitter",
54
+ "kwargs": {
55
+ "sharpness": [
56
+ 0.5,
57
+ 1.5
58
+ ]
59
+ }
60
+ }
61
+ }
62
+ },
63
+ "revision": null,
64
+ "use_imagenet_stats": true,
65
+ "video_backend": "torchcodec",
66
+ "streaming": false
67
+ },
68
+ "env": {
69
+ "type": "libero",
70
+ "task": "libero_spatial,libero_object,libero_goal,libero_10",
71
+ "fps": 30,
72
+ "features": {
73
+ "action": {
74
+ "type": "ACTION",
75
+ "shape": [
76
+ 7
77
+ ]
78
+ },
79
+ "agent_pos": {
80
+ "type": "STATE",
81
+ "shape": [
82
+ 8
83
+ ]
84
+ },
85
+ "pixels/agentview_image": {
86
+ "type": "VISUAL",
87
+ "shape": [
88
+ 360,
89
+ 360,
90
+ 3
91
+ ]
92
+ },
93
+ "pixels/robot0_eye_in_hand_image": {
94
+ "type": "VISUAL",
95
+ "shape": [
96
+ 360,
97
+ 360,
98
+ 3
99
+ ]
100
+ }
101
+ },
102
+ "features_map": {
103
+ "action": "action",
104
+ "agent_pos": "observation.state",
105
+ "pixels/agentview_image": "observation.images.image",
106
+ "pixels/robot0_eye_in_hand_image": "observation.images.image2"
107
+ },
108
+ "max_parallel_tasks": 1,
109
+ "disable_env_checker": true,
110
+ "episode_length": 520,
111
+ "obs_type": "pixels_agent_pos",
112
+ "render_mode": "rgb_array",
113
+ "camera_name": "agentview_image,robot0_eye_in_hand_image",
114
+ "init_states": true,
115
+ "camera_name_mapping": null,
116
+ "observation_height": 360,
117
+ "observation_width": 360
118
+ },
119
+ "policy": {
120
+ "type": "groot",
121
+ "n_obs_steps": 1,
122
+ "input_features": {
123
+ "observation.images.image": {
124
+ "type": "VISUAL",
125
+ "shape": [
126
+ 3,
127
+ 256,
128
+ 256
129
+ ]
130
+ },
131
+ "observation.images.image2": {
132
+ "type": "VISUAL",
133
+ "shape": [
134
+ 3,
135
+ 256,
136
+ 256
137
+ ]
138
+ },
139
+ "observation.state": {
140
+ "type": "STATE",
141
+ "shape": [
142
+ 8
143
+ ]
144
+ }
145
+ },
146
+ "output_features": {
147
+ "action": {
148
+ "type": "ACTION",
149
+ "shape": [
150
+ 7
151
+ ]
152
+ }
153
+ },
154
+ "device": "cuda",
155
+ "use_amp": false,
156
+ "push_to_hub": true,
157
+ "repo_id": "aractingi/groot-libero-latest",
158
+ "private": null,
159
+ "tags": null,
160
+ "license": null,
161
+ "pretrained_path": null,
162
+ "chunk_size": 50,
163
+ "n_action_steps": 50,
164
+ "max_state_dim": 64,
165
+ "max_action_dim": 32,
166
+ "normalization_mapping": {
167
+ "VISUAL": "IDENTITY",
168
+ "STATE": "MEAN_STD",
169
+ "ACTION": "MEAN_STD"
170
+ },
171
+ "image_size": [
172
+ 224,
173
+ 224
174
+ ],
175
+ "base_model_path": "nvidia/GR00T-N1.5-3B",
176
+ "embodiment_tag": "new_embodiment",
177
+ "tune_llm": false,
178
+ "tune_visual": false,
179
+ "tune_projector": true,
180
+ "tune_diffusion_model": false,
181
+ "lora_rank": 0,
182
+ "lora_alpha": 16,
183
+ "lora_dropout": 0.1,
184
+ "lora_full_model": false,
185
+ "optimizer_lr": 0.0001,
186
+ "optimizer_betas": [
187
+ 0.95,
188
+ 0.999
189
+ ],
190
+ "optimizer_eps": 1e-08,
191
+ "optimizer_weight_decay": 1e-05,
192
+ "warmup_ratio": 0.05,
193
+ "use_bf16": true,
194
+ "video_backend": "decord",
195
+ "balance_dataset_weights": true,
196
+ "balance_trajectory_weights": true,
197
+ "dataset_paths": null,
198
+ "output_dir": "./tmp/gr00t",
199
+ "save_steps": 1000,
200
+ "max_steps": 10000,
201
+ "batch_size": 32,
202
+ "dataloader_num_workers": 8,
203
+ "report_to": "wandb",
204
+ "resume": false
205
+ },
206
+ "output_dir": "/fsx/michel_aractingi/outputs/new/groot-libero-latest",
207
+ "job_name": "groot-libero-latest",
208
+ "resume": false,
209
+ "seed": 1000,
210
+ "num_workers": 4,
211
+ "batch_size": 32,
212
+ "steps": 100000,
213
+ "eval_freq": 0,
214
+ "log_freq": 50,
215
+ "save_checkpoint": true,
216
+ "save_freq": 5000,
217
+ "use_policy_training_preset": true,
218
+ "optimizer": {
219
+ "type": "adamw",
220
+ "lr": 0.0001,
221
+ "weight_decay": 1e-05,
222
+ "grad_clip_norm": 10.0,
223
+ "betas": [
224
+ 0.95,
225
+ 0.999
226
+ ],
227
+ "eps": 1e-08
228
+ },
229
+ "scheduler": {
230
+ "type": "cosine_decay_with_warmup",
231
+ "num_warmup_steps": 500,
232
+ "num_decay_steps": 10000,
233
+ "peak_lr": 0.0001,
234
+ "decay_lr": 1e-05
235
+ },
236
+ "eval": {
237
+ "n_episodes": 1,
238
+ "batch_size": 1,
239
+ "use_async_envs": false
240
+ },
241
+ "wandb": {
242
+ "enable": true,
243
+ "disable_artifact": true,
244
+ "project": "groot",
245
+ "entity": null,
246
+ "notes": null,
247
+ "run_id": "4grvqy63",
248
+ "mode": null
249
+ }
250
+ }