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@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+trainer_state.json filter=lfs diff=lfs merge=lfs -text

config.json

@@ -0,0 +1,92 @@
+{
+  "action_horizon": 40,
+  "action_space_prompt": false,
+  "add_pos_embed": true,
+  "apply_sincos_state_encoding": false,
+  "architectures": [
+    "Gr00tN1d7"
+  ],
+  "attn_dropout": 0.2,
+  "attn_implementation": null,
+  "backbone_embedding_dim": 2048,
+  "color_jitter_params": {
+    "brightness": 0.3,
+    "contrast": 0.4,
+    "hue": 0.08,
+    "saturation": 0.5
+  },
+  "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
+  },
+  "do_human_interpolation": false,
+  "dtype": "bfloat16",
+  "exclude_state": false,
+  "formalize_language": true,
+  "hidden_size": 1024,
+  "human_embodiment_tags": null,
+  "image_crop_size": [
+    230,
+    230
+  ],
+  "image_target_size": [
+    256,
+    256
+  ],
+  "interpolation_steps": 20,
+  "language_dropout_prob": 0.0,
+  "letter_box_transform": false,
+  "load_bf16": false,
+  "max_action_dim": 132,
+  "max_num_embodiments": 32,
+  "max_seq_len": 1024,
+  "max_state_dim": 132,
+  "model_dtype": "bfloat16",
+  "model_type": "Gr00tN1d7",
+  "noise_beta_alpha": 1.5,
+  "noise_beta_beta": 1.0,
+  "noise_s": 0.999,
+  "num_inference_timesteps": 4,
+  "num_timestep_buckets": 1000,
+  "random_history_crop": true,
+  "random_rotation_angle": 0,
+  "reproject_vision": false,
+  "rtc_ramp_rate": 6.0,
+  "select_layer": 16,
+  "shortest_image_edge": 256,
+  "state_dropout_prob": 0.2,
+  "state_gaussian_noise_std": 0.0,
+  "transformers_version": "4.57.1",
+  "tune_diffusion_model": true,
+  "tune_linear": true,
+  "tune_llm": false,
+  "tune_projector": true,
+  "tune_top_llm_layers": 0,
+  "tune_visual": false,
+  "tune_vlln": true,
+  "use_albumentations": true,
+  "use_alternate_vl_dit": true,
+  "use_flash_attention": true,
+  "use_future_tokens": false,
+  "use_mean_std": false,
+  "use_percentiles": true,
+  "use_vl_self_attention": true,
+  "use_vlln": true,
+  "vl_self_attention_cfg": {
+    "attention_head_dim": 64,
+    "dropout": 0.2,
+    "final_dropout": true,
+    "num_attention_heads": 32,
+    "num_layers": 4,
+    "positional_embeddings": null
+  },
+  "model_name": "nvidia/Cosmos-Reason2-2B"
+}

embodiment_id.json

@@ -0,0 +1,54 @@
+{
+  "robocasa_panda_omron": 13,
+  "oxe_droid": 17,
+  "oxe_fractal": 18,
+  "oxe_language_table": 19,
+  "oxe_bridge": 20,
+  "unknown": 22,
+  "gr1_unified": 20,
+  "agibot": 26,
+  "sim_behavior_r1_pro": 23,
+  "xdof": 24,
+  "xdof_oss_data": 25,
+  "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
+  "real_r1_pro_sharpa": 27,
+  "real_r1_pro_sharpa_add_view": 27,
+  "real_r1_pro_sharpa_relative_arm_joint": 26,
+  "real_r1_pro_sharpa_delta_eef": 26,
+  "real_r1_pro_sharpa_absolute_eef": 26,
+  "real_r1_pro_sharpa_meanstd": 26,
+  "real_r1_pro_sharpa_relative_eef": 26,
+  "real_r1_pro_sharpa_relative_eef_add_view": 26,
+  "real_r1_pro_sharpa_relative_eef_relative_hand": 26,
+  "real_r1_pro_sharpa_relative_eef_human": 26,
+  "real_r1_pro_sharpa_relative_eef_human_add_view": 26,
+  "real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
+  "real_r1_pro_sharpa_relative_eef_egodex": 26,
+  "real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
+  "real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
+  "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
+  "real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
+  "real_r1_pro_sharpa_relative_eef_mecka": 26,
+  "real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
+  "real_g1_relative_eef_absolute_joints": 25,
+  "real_g1_relative_eef_absolute_joints_wrist_cam": 25,
+  "real_g1_relative_eef_relative_joints": 25,
+  "real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
+  "real_r1_pro_sharpa_relative_joint": 29,
+  "oxe_droid_relative_eef_relative_joint": 24,
+  "oxe_droid_relative_eef_relative_joint_swapped": 24,
+  "oxe_droid_relative_eef_relative_joint_upweight_z": 24,
+  "oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
+  "oxe_droid_relative_eef_relative_joint_3view": 24,
+  "oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
+  "oxe_droid_relative_eef": 24,
+  "oxe_droid_joint_position_relative": 24,
+  "xdof_relative_eef_relative_joint": 27,
+  "xdof_relative_eef_relative_joint_subtask": 27,
+  "xdof_relative_eef": 27,
+  "xdof_relative_joint": 28,
+  "simpler_env_google": 0,
+  "simpler_env_widowx": 1,
+  "libero_sim": 2,
+  "droid_sim": 3
+}

experiment_cfg/conf.yaml

@@ -0,0 +1,307 @@
+load_config_path: groot/vla/omni/configs/experiments/simpler_env_widowx.yaml
+model:
+  model_type: GrootN1d7
+  model_dtype: bfloat16
+  vlm_backend: qwen3
+  vlm_model_path: nvidia/Cosmos-Reason2-2B
+  eagle_path: NVEagle/eagle_er-qwen3_1.7B-Siglip2_400M_stage1_5_128gpu_er_v6_1mlp_nops
+  backbone_embedding_dim: 1536
+  tune_llm: false
+  tune_top_llm_layers: 0
+  tune_visual: false
+  tune_linear: true
+  select_layer: 12
+  reproject_vision: false
+  use_flash_attention: true
+  load_bf16: false
+  exclude_state: false
+  image_crop_size:
+  - 230
+  - 230
+  image_target_size:
+  - 256
+  - 256
+  random_rotation_angle: 0
+  color_jitter_params:
+    brightness: 0.3
+    contrast: 0.4
+    saturation: 0.5
+    hue: 0.08
+  formalize_language: true
+  action_space_prompt: false
+  apply_sincos_state_encoding: false
+  random_history_crop: true
+  letter_box_transform: true
+  use_percentiles: true
+  use_mean_std: false
+  state_gaussian_noise_std: 0.0
+  max_state_dim: 132
+  max_action_dim: 132
+  action_horizon: 40
+  hidden_size: 1024
+  input_embedding_dim: 1536
+  dit_latent_dim: null
+  state_dropout_prob: 0.2
+  add_pos_embed: true
+  attn_dropout: 0.2
+  use_vlln: true
+  use_vl_self_attention: false
+  max_seq_len: 1024
+  use_future_tokens: false
+  use_alternate_vl_dit: false
+  vl_self_attention_cfg:
+    positional_embeddings: null
+    num_layers: 4
+    num_attention_heads: 24
+    attention_head_dim: 64
+    dropout: 0.2
+    final_dropout: true
+  diffusion_model_cfg:
+    positional_embeddings: null
+    num_layers: 16
+    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
+    cross_attention_dim: 1536
+  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
+  max_num_embodiments: 32
+  unified_embodiment_id: false
+data:
+  datasets:
+  - dataset_paths:
+    - /mnt/amlfs-01/shared/datasets/bridge_orig_lerobot_fixed
+    embodiment_tag: simpler_env_widowx
+    mix_ratio: 1.0
+    dataset_type: physical_embodiment
+    val_dataset_path: null
+  modality_configs:
+    simpler_env_widowx:
+      video:
+        delta_indices:
+        - 0
+        modality_keys:
+        - image_0
+        normalization_mode: null
+        action_configs: null
+        normalize_rotation: true
+        exclude_state: false
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+      state:
+        delta_indices:
+        - 0
+        modality_keys:
+        - x
+        - 'y'
+        - z
+        - roll
+        - pitch
+        - yaw
+        - pad
+        - gripper
+        normalization_mode: null
+        action_configs: null
+        normalize_rotation: true
+        exclude_state: false
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+      action:
+        delta_indices:
+        - 0
+        - 1
+        - 2
+        - 3
+        - 4
+        - 5
+        - 6
+        - 7
+        modality_keys:
+        - x
+        - 'y'
+        - z
+        - roll
+        - pitch
+        - yaw
+        - gripper
+        normalization_mode: 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
+        normalize_rotation: true
+        exclude_state: false
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys:
+        - x
+        - 'y'
+        - z
+        - roll
+        - pitch
+        - yaw
+      language:
+        delta_indices:
+        - 0
+        modality_keys:
+        - annotation.human.action.task_description
+        normalization_mode: null
+        action_configs: null
+        normalize_rotation: true
+        exclude_state: false
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+  download_cache: false
+  shard_size: 1024
+  episode_sampling_rate: 0.1
+  num_shards_per_epoch: 100000
+  override_pretraining_statistics: true
+  mode: single_turn
+  random_chop: 0.0
+  mock_dataset_mode: false
+  num_prompt_trajectories: 2
+  variable_num_demos: false
+  max_prompt_trajectories: 5
+  shuffle: true
+  seed: 24
+  multiprocessing_context: fork
+  allow_padding: false
+  subsample_ratio: 1.0
+  image_crop_size:
+  - 244
+  - 244
+  image_target_size:
+  - 224
+  - 224
+  video_backend: torchcodec
+  resample_on_invalid_frames: false
+  use_lance_backend: false
+  lance_base_path: null
+  filter:
+    filter_type: SYS2
+    subtask_source_filter: null
+    language_mode: default
+    subtask_frac: 1.0
+  num_chunks: 1
+  use_reservoir_sampling: true
+training:
+  use_truncated_bptt: false
+  truncated_bptt_chunk_size: 300
+  output_dir: /mnt/amlfs-03/shared/yufa/smallbs_mg_checkpoints/ft_n17_20260312_232224_nvidia--Cosmos-Reason2-2B_simpler_env_widowx
+  experiment_name: train_n17final_simpler_env_widowx
+  max_steps: 40000
+  global_batch_size: 1024
+  batch_size: 64
+  gradient_accumulation_steps: 1
+  use_muon: false
+  muon_impl: dist
+  muon_lr: 0.005
+  use_legacy_wd_application: false
+  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: /mnt/amlfs-03/shared/yufa/checkpoints/cr2_pretrain_n17_egoscale_ft_200ksteps_lr2e-5
+  tf32: true
+  fp16: false
+  bf16: true
+  eval_bf16: true
+  logging_steps: 10
+  save_steps: 2000
+  save_total_limit: 10
+  save_final_model: true
+  save_vl_model: false
+  upload_checkpoints: true
+  upload_every: 2000
+  upload_last_n_checkpoints: 5
+  max_concurrent_uploads: 2
+  msc_checkpoint_url: null
+  msc_profile_url: msc://GearCheckpoints/profiles
+  msc_callback_mode: async
+  msc_execution_mode: local
+  msc_delete_checkpoint_after_upload: true
+  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
+  deepspeed_offload_optimizer: false
+  gradient_checkpointing: false
+  transformers_trust_remote_code: true
+  transformers_local_files_only: true
+  transformers_cache_dir: null
+  transformers_access_token: null
+  use_ddp: false
+  ddp_bucket_cap_mb: 100
+  num_gpus: 16
+  dataloader_num_workers: 6
+  dataloader_pin_memory: true
+  remove_unused_columns: false
+  use_wandb: true
+  wandb_project: n17_sim
+  enable_profiling: true
+  profile_skip_first: 50
+  profile_warmup_steps: 1
+  profile_active_steps: 3
+  profile_with_stack: false
+  profile_delete_after_upload: true
+  max_retries: 3
+  assert_loss_less_than: null
+  add_rl_callback: false
+  straggler:
+    enabled: true
+    report_time_interval_sec: 60
+    scores_to_compute:
+    - relative_perf_scores
+    - individual_perf_scores
+    gather_on_rank0: true
+    profiling_interval: 1
+    profile_cuda: false
+    perf_threshold: 0.7
+  enable_open_loop_eval: false
+  open_loop_eval_traj_ids:
+  - 0
+  open_loop_eval_steps_per_traj: 100
+  open_loop_eval_plot_indices: null
+  open_loop_eval_policy_type: gr00t
+max_steps: 40000
+save_steps: 2000

experiment_cfg/config.yaml

@@ -0,0 +1,355 @@
+!!python/object:groot.vla.omni.configs.base_config.Config
+data: !!python/object:groot.vla.omni.configs.data.data_config.DataConfig
+  allow_padding: false
+  datasets:
+  - !!python/object:groot.vla.omni.configs.data.data_config.SingleDatasetConfig
+    dataset_paths:
+    - /mnt/amlfs-01/shared/datasets/bridge_orig_lerobot_fixed
+    dataset_type: physical_embodiment
+    embodiment_tag: simpler_env_widowx
+    mix_ratio: 1.0
+    val_dataset_path: null
+  download_cache: false
+  episode_sampling_rate: 0.1
+  filter: !!python/object:groot.vla.omni.configs.data.filter_config.FilterConfig
+    filter_type: !!python/object/apply:groot.vla.omni.configs.data.filter_config.FilterType
+    - sys2
+    language_mode: default
+    subtask_frac: 1.0
+    subtask_source_filter: null
+  image_crop_size:
+  - 244
+  - 244
+  image_target_size:
+  - 224
+  - 224
+  lance_base_path: null
+  max_prompt_trajectories: 5
+  mock_dataset_mode: false
+  modality_configs:
+    simpler_env_widowx:
+      action: !!python/object:groot.vla.omni.data.types.ModalityConfig
+        action_configs:
+        - &id001 !!python/object:groot.vla.omni.data.types.ActionConfig
+          format: !!python/object/apply:groot.vla.omni.data.types.ActionFormat
+          - default
+          rep: !!python/object/apply:groot.vla.omni.data.types.ActionRepresentation
+          - absolute
+          state_key: null
+          type: !!python/object/apply:groot.vla.omni.data.types.ActionType
+          - non_eef
+        - *id001
+        - *id001
+        - *id001
+        - *id001
+        - *id001
+        - *id001
+        delta_indices:
+        - 0
+        - 1
+        - 2
+        - 3
+        - 4
+        - 5
+        - 6
+        - 7
+        exclude_state: false
+        mean_std_embedding_keys:
+        - x
+        - y
+        - z
+        - roll
+        - pitch
+        - yaw
+        modality_keys:
+        - x
+        - y
+        - z
+        - roll
+        - pitch
+        - yaw
+        - gripper
+        normalization_mode: null
+        normalize_rotation: true
+        sin_cos_embedding_keys: null
+      language: !!python/object:groot.vla.omni.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        exclude_state: false
+        mean_std_embedding_keys: null
+        modality_keys:
+        - annotation.human.action.task_description
+        normalization_mode: null
+        normalize_rotation: true
+        sin_cos_embedding_keys: null
+      state: !!python/object:groot.vla.omni.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        exclude_state: false
+        mean_std_embedding_keys: null
+        modality_keys:
+        - x
+        - y
+        - z
+        - roll
+        - pitch
+        - yaw
+        - pad
+        - gripper
+        normalization_mode: null
+        normalize_rotation: true
+        sin_cos_embedding_keys: null
+      video: !!python/object:groot.vla.omni.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        exclude_state: false
+        mean_std_embedding_keys: null
+        modality_keys:
+        - image_0
+        normalization_mode: null
+        normalize_rotation: true
+        sin_cos_embedding_keys: null
+  mode: single_turn
+  multiprocessing_context: fork
+  num_chunks: 1
+  num_prompt_trajectories: 2
+  num_shards_per_epoch: 100000
+  override_pretraining_statistics: true
+  random_chop: 0.0
+  resample_on_invalid_frames: false
+  seed: 24
+  shard_size: 1024
+  shuffle: true
+  subsample_ratio: 1.0
+  use_lance_backend: false
+  use_reservoir_sampling: true
+  variable_num_demos: false
+  video_backend: torchcodec
+load_config_path: groot/vla/omni/configs/experiments/simpler_env_widowx.yaml
+model: !!python/object:groot.vla.omni.configs.model.groot_n1d7.GrootN1d7Config
+  _attn_implementation_internal: null
+  _commit_hash: null
+  _name_or_path: ''
+  _output_attentions: false
+  action_horizon: 40
+  action_space_prompt: false
+  add_cross_attention: false
+  add_pos_embed: true
+  apply_sincos_state_encoding: false
+  architectures: null
+  attn_dropout: 0.2
+  backbone_embedding_dim: 1536
+  bad_words_ids: null
+  begin_suppress_tokens: null
+  bos_token_id: null
+  chunk_size_feed_forward: 0
+  color_jitter_params:
+    brightness: 0.3
+    contrast: 0.4
+    hue: 0.08
+    saturation: 0.5
+  cross_attention_hidden_size: null
+  decoder_start_token_id: null
+  diffusion_model_cfg:
+    attention_head_dim: 48
+    cross_attention_dim: 1536
+    dropout: 0.2
+    final_dropout: true
+    interleave_self_attention: true
+    norm_type: ada_norm
+    num_attention_heads: 32
+    num_layers: 16
+    output_dim: 1024
+    positional_embeddings: null
+  dit_latent_dim: null
+  diversity_penalty: 0.0
+  do_sample: false
+  dtype: null
+  eagle_path: NVEagle/eagle_er-qwen3_1.7B-Siglip2_400M_stage1_5_128gpu_er_v6_1mlp_nops
+  early_stopping: false
+  encoder_no_repeat_ngram_size: 0
+  eos_token_id: null
+  exclude_state: false
+  exponential_decay_length_penalty: null
+  finetuning_task: null
+  forced_bos_token_id: null
+  forced_eos_token_id: null
+  formalize_language: true
+  hidden_size: 1024
+  id2label:
+    0: LABEL_0
+    1: LABEL_1
+  image_crop_size: !!python/tuple
+  - 230
+  - 230
+  image_target_size: !!python/tuple
+  - 256
+  - 256
+  input_embedding_dim: 1536
+  is_decoder: false
+  is_encoder_decoder: false
+  label2id:
+    LABEL_0: 0
+    LABEL_1: 1
+  length_penalty: 1.0
+  letter_box_transform: true
+  load_bf16: false
+  max_action_dim: 132
+  max_length: 20
+  max_num_embodiments: 32
+  max_seq_len: 1024
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