rldx1_cotrain_openarmv3_rlwrld-bottle+doll_bsz64_30000_vlmfreeze_fl-separate_m1_vid1 checkpoint-20000 (model-only)

config.json

@@ -0,0 +1,114 @@
+{
+  "action_horizon": 16,
+  "action_model_lora_alpha": 32,
+  "action_model_lora_dropout": 0.0,
+  "action_model_lora_rank": 16,
+  "action_model_lora_target_modules": [
+    "vl_qkv",
+    "vl_proj",
+    "sa_qkv",
+    "sa_proj",
+    "p_qkv",
+    "p_proj",
+    "linear1",
+    "linear2"
+  ],
+  "action_model_use_lora": false,
+  "architectures": [
+    "RLDX"
+  ],
+  "backbone_lora_alpha": 32,
+  "backbone_lora_dropout": 0.0,
+  "backbone_lora_num_layers": -1,
+  "backbone_lora_rank": 16,
+  "backbone_lora_target_modules": [
+    "q_proj",
+    "k_proj",
+    "v_proj",
+    "o_proj",
+    "gate_proj",
+    "up_proj",
+    "down_proj"
+  ],
+  "backbone_use_lora": false,
+  "color_jitter_params": {
+    "brightness": 0.3,
+    "contrast": 0.4,
+    "hue": 0.08,
+    "saturation": 0.5
+  },
+  "conversation_image_first": false,
+  "diffusion_model_cfg": {
+    "action_model_max_seq_len": 512,
+    "attention_head_dim": 64,
+    "depth_multi_stream": 4,
+    "depth_single_stream": 8,
+    "dropout": 0.2,
+    "final_dropout": true,
+    "num_attention_heads": 24,
+    "output_dim": 1024,
+    "physics_dim": 48,
+    "positional_embeddings": "rope_sa_only",
+    "pre_norm": "layer_norm",
+    "qk_norm": "rms_norm",
+    "rope_theta": 10000.0,
+    "sa_dim": 1536,
+    "temb_type": "input_token",
+    "use_physics": true,
+    "use_swiglu": true,
+    "vl_dim": 4096
+  },
+  "dtype": "bfloat16",
+  "finger_attn_mask": "m1",
+  "finger_latent_alignment_npz": "/sjw_alinlab3/home/junhyeong/Isaac-GR00T-AlinVLA/Isaac-GR00T/shared_points/alignment_proprio_wristlocal.npz",
+  "finger_latent_dim": 48,
+  "finger_latent_fingertip_norm_npz": "/sjw_alinlab3/home/junhyeong/Isaac-GR00T-AlinVLA/Isaac-GR00T/shared_points/fingertip_norm_proprio.npz",
+  "finger_latent_human_emb_id": 34,
+  "finger_latent_mode": "separate",
+  "finger_latent_wrist_delta_stats_npz": "/sjw_alinlab3/home/junhyeong/Isaac-GR00T-AlinVLA/Isaac-GR00T/shared_points/wrist_delta_stats_proprio.npz",
+  "finger_loss_weight": 0.2,
+  "freeze_cog_tokens": false,
+  "general_embodiment_train_ratio": 0,
+  "image_max_area": 65536,
+  "image_resize_m": 32,
+  "memory_cfg": {
+    "hidden_size": 4096,
+    "intermediate_size": 16384,
+    "max_position_embeddings": 32,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 2,
+    "num_key_value_heads": 16,
+    "rms_norm_eps": 1e-05,
+    "use_causal_attn": true,
+    "use_rope": true
+  },
+  "model_name": "/sjw_alinlab3/home/junhyeong/models/RLDX-1-VLM",
+  "model_revision": null,
+  "model_type": "RLDX-1",
+  "n_cog_tokens": 64,
+  "physics_delta_indices": null,
+  "physics_dims": [],
+  "physics_keys": [],
+  "physics_use_flow_matching": true,
+  "random_crop_fraction": null,
+  "random_rotation_angle": null,
+  "rtc_inference_delay": 0,
+  "rtc_inference_exec_horizon": 0,
+  "rtc_inference_mode": "none",
+  "rtc_jacobian_steps_only": 3,
+  "rtc_training_max_delay": 0,
+  "state_dropout_prob": 0.5,
+  "transformers_version": "4.57.0",
+  "tune_diffusion_model": true,
+  "tune_llm": false,
+  "tune_projector": true,
+  "tune_top_llm_layers": 0,
+  "tune_visual": false,
+  "use_finger_latent": true,
+  "use_memory": false,
+  "use_motion": false,
+  "use_physics": false,
+  "use_video": true,
+  "video_length": 1,
+  "video_stride": 2
+}

experiment_cfg/conf.yaml

@@ -0,0 +1,435 @@
+data:
+  datasets:
+  - dataset_paths:
+    - /storage1/sjw_dataset/dataset/openarm_teleop_v3/lerobot/bottle
+    embodiment_tag: openarm
+    mix_ratio: 1.0
+    dataset_type: physical_embodiment
+    task_filter: null
+    val_dataset_path: null
+  - dataset_paths:
+    - /storage1/sjw_dataset/dataset/openarm_teleop_v3/lerobot/cup
+    embodiment_tag: openarm
+    mix_ratio: 1.0
+    dataset_type: physical_embodiment
+    task_filter: null
+    val_dataset_path: null
+  - dataset_paths:
+    - /storage1/sjw_dataset/dataset/openarm_teleop_v3/lerobot/doll
+    embodiment_tag: openarm
+    mix_ratio: 1.0
+    dataset_type: physical_embodiment
+    task_filter: null
+    val_dataset_path: null
+  - dataset_paths:
+    - /storage1/sjw_dataset/dataset/openarm_teleop_v3/lerobot/snack
+    embodiment_tag: openarm
+    mix_ratio: 1.0
+    dataset_type: physical_embodiment
+    task_filter: null
+    val_dataset_path: null
+  - dataset_paths:
+    - /sjw_alinlab3/home/junhyeong/rlwrld_human
+    embodiment_tag: rlwrld_human
+    mix_ratio: 1.0
+    dataset_type: physical_embodiment
+    task_filter:
+    - bottle
+    - doll
+    val_dataset_path: null
+  use_finger_latent: true
+  finger_latent_robot_cache_dir: /sjw_alinlab3/home/junhyeong/Isaac-GR00T-AlinVLA/Isaac-GR00T/shared_points/openarm_fk_cache
+  finger_latent_human_h5: /sjw_alinlab3/home/junhyeong/rlwrld_human_fk/rlwrld_final.h5
+  finger_latent_human_source_map: /sjw_alinlab3/home/junhyeong/rlwrld_human/meta/source_map.csv
+  modality_configs:
+    rlwrld_human:
+      video:
+        delta_indices:
+        - 0
+        modality_keys:
+        - camera_ego_right
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+      state:
+        delta_indices:
+        - 0
+        modality_keys:
+        - left_wrist_trans
+        - left_wrist_rot6d
+        - left_inspire6
+        - right_wrist_trans
+        - right_wrist_rot6d
+        - right_inspire6
+        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:
+        - left_wrist_trans
+        - left_wrist_rot6d
+        - left_inspire6
+        - right_wrist_trans
+        - right_wrist_rot6d
+        - right_inspire6
+        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
+      language:
+        delta_indices:
+        - 0
+        modality_keys:
+        - annotation.human.task_description
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+    openarm:
+      video:
+        delta_indices:
+        - 0
+        modality_keys:
+        - camera_ego_left
+        - camera_ego_right
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+      state:
+        delta_indices:
+        - 0
+        modality_keys:
+        - neck_joints
+        - left_arm_joints
+        - right_arm_joints
+        - left_hand_joints
+        - right_hand_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:
+        - neck_joints
+        - left_arm_joints
+        - right_arm_joints
+        - left_hand_joints
+        - right_hand_joints
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs:
+        - rep: DELTA
+          type: EEF
+          format: DEFAULT
+          state_key: null
+        - rep: DELTA
+          type: EEF
+          format: DEFAULT
+          state_key: null
+        - rep: DELTA
+          type: 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.task_description
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+  dataset_mode: sharded
+  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: true
+  subsample_ratio: 1.0
+  video_backend: torchcodec
+load_config_path: null
+model:
+  model_type: RLDX-1
+  model_dtype: bfloat16
+  model_name: /sjw_alinlab3/home/junhyeong/models/RLDX-1-VLM
+  backbone_model_type: vtc_qwen3_vl
+  model_revision: null
+  tune_top_llm_layers: 0
+  backbone_embedding_dim: 4096
+  tune_llm: false
+  tune_visual: false
+  select_layer: 18
+  reproject_vision: false
+  use_flash_attention: true
+  load_bf16: true
+  backbone_trainable_params_fp32: true
+  freeze_cog_tokens: false
+  image_max_area: 65536
+  image_resize_m: 32
+  random_crop_fraction: null
+  random_rotation_angle: null
+  color_jitter_params:
+    brightness: 0.3
+    contrast: 0.4
+    saturation: 0.5
+    hue: 0.08
+  formalize_language: true
+  apply_sincos_state_encoding: false
+  use_relative_action: true
+  use_percentiles: true
+  conversation_image_first: false
+  max_state_dim: 64
+  max_action_dim: 64
+  action_horizon: 16
+  hidden_size: 1024
+  input_embedding_dim: 1536
+  general_embodiment_train_ratio: 0.0
+  add_pos_embed: true
+  attn_dropout: 0.2
+  use_vlln: false
+  max_seq_len: 1024
+  n_cog_tokens: 64
+  diffusion_model_cfg:
+    action_model_max_seq_len: 512
+    attention_head_dim: 64
+    depth_multi_stream: 4
+    depth_single_stream: 8
+    dropout: 0.2
+    final_dropout: true
+    num_attention_heads: 24
+    output_dim: 1024
+    positional_embeddings: rope_sa_only
+    pre_norm: layer_norm
+    qk_norm: rms_norm
+    rope_theta: 10000.0
+    temb_type: input_token
+    use_swiglu: 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
+  action_model_use_lora: false
+  action_model_lora_rank: 16
+  action_model_lora_alpha: 32
+  action_model_lora_dropout: 0.0
+  action_model_lora_target_modules:
+  - vl_qkv
+  - vl_proj
+  - sa_qkv
+  - sa_proj
+  - p_qkv
+  - p_proj
+  - linear1
+  - linear2
+  backbone_use_lora: false
+  backbone_lora_rank: 16
+  backbone_lora_alpha: 32
+  backbone_lora_dropout: 0.0
+  backbone_lora_num_layers: -1
+  backbone_lora_target_modules:
+  - q_proj
+  - k_proj
+  - v_proj
+  - o_proj
+  - gate_proj
+  - up_proj
+  - down_proj
+  state_dropout_prob: 0.5
+  state_additive_noise_scale: 0.0
+  rtc_training_max_delay: 0
+  rtc_inference_mode: none
+  rtc_inference_delay: 0
+  rtc_inference_exec_horizon: 0
+  rtc_jacobian_steps_only: 3
+  use_memory: false
+  memory_length: 4
+  memory_n_cog_tokens: null
+  concat_memory: false
+  memory_dropout_prob: 0.0
+  memory_stride: 16
+  memory_cfg:
+    hidden_size: 4096
+    intermediate_size: 16384
+    max_position_embeddings: 32
+    num_attention_heads: 16
+    num_hidden_layers: 2
+    num_key_value_heads: 16
+    rms_norm_eps: 1.0e-05
+    use_causal_attn: true
+    use_rope: true
+  use_motion: false
+  motion_insert_layer: 9
+  motion_d_hid: 512
+  motion_window:
+  - 5
+  - 9
+  - 9
+  motion_ext_chnls:
+  - 256
+  motion_int_chnls:
+  - 256
+  - 256
+  - 512
+  motion_corr_func: cosine
+  motion_n_encoders: 1
+  motion_use_layerscale: false
+  motion_layerscale_init: 1.0e-05
+  motion_use_layernorm: false
+  motion_use_syncbn: false
+  motion_injection_point: vision_encoder
+  motion_pool_type: avg
+  motion_drop: true
+  motion_gradient_check: false
+  motion_int_mode: lite
+  use_video: true
+  video_length: 1
+  video_stride: 2
+  use_physics: false
+  physics_keys: []
+  physics_dims: []
+  physics_loss_weight: 0.1
+  allow_missing_physics: false
+  physics_delta_indices: null
+  physics_use_flow_matching: true
+  physics_dropout_prob: 0.0
+  use_finger_latent: true
+  finger_latent_dim: 48
+  finger_latent_mode: separate
+  finger_attn_mask: m1
+  finger_loss_weight: 0.2
+  finger_latent_alignment_npz: /sjw_alinlab3/home/junhyeong/Isaac-GR00T-AlinVLA/Isaac-GR00T/shared_points/alignment_proprio_wristlocal.npz
+  finger_latent_fingertip_norm_npz: /sjw_alinlab3/home/junhyeong/Isaac-GR00T-AlinVLA/Isaac-GR00T/shared_points/fingertip_norm_proprio.npz
+  finger_latent_wrist_delta_stats_npz: /sjw_alinlab3/home/junhyeong/Isaac-GR00T-AlinVLA/Isaac-GR00T/shared_points/wrist_delta_stats_proprio.npz
+  finger_latent_human_emb_id: 34
+  max_num_embodiments: 36
+training:
+  output_dir: /sjw_alinlab/home/junhyeong/rldx/cotrain_openarm_rlwrld/rldx1_cotrain_openarmv3_rlwrld-bottle+doll_bsz64_30000_vlmfreeze_fl-separate_m1_vid1
+  experiment_name: rldx1_cotrain_openarmv3_rlwrld-bottle+doll_bsz64_30000_vlmfreeze_fl-separate_m1_vid1
+  max_steps: 30000
+  global_batch_size: 32
+  batch_size: null
+  gradient_accumulation_steps: 2
+  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
+  new_param_warmup_steps: 0
+  optim: adamw_torch_fused
+  start_from_checkpoint: /sjw_alinlab3/home/junhyeong/Isaac-GR00T-AlinVLA/Isaac-GR00T/ckpt_debug/rldx
+  tf32: true
+  fp16: false
+  bf16: true
+  eval_bf16: true
+  logging_steps: 10
+  save_steps: 5000
+  save_total_limit: 2
+  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: 2
+  dataloader_num_workers: 8
+  remove_unused_columns: false
+  use_wandb: true
+  wandb_project: rldx-cotrain-openarm-rlwrld
+  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: 5000

experiment_cfg/config.yaml

@@ -0,0 +1,455 @@
+!!python/object:rldx.configs.base_config.Config
+data: !!python/object:rldx.configs.data.data_config.DataConfig
+  allow_padding: true
+  dataset_mode: sharded
+  datasets:
+  - !!python/object:rldx.configs.data.data_config.SingleDatasetConfig
+    dataset_paths:
+    - /storage1/sjw_dataset/dataset/openarm_teleop_v3/lerobot/bottle
+    dataset_type: physical_embodiment
+    embodiment_tag: openarm
+    mix_ratio: 1.0
+    task_filter: null
+    val_dataset_path: null
+  - !!python/object:rldx.configs.data.data_config.SingleDatasetConfig
+    dataset_paths:
+    - /storage1/sjw_dataset/dataset/openarm_teleop_v3/lerobot/cup
+    dataset_type: physical_embodiment
+    embodiment_tag: openarm
+    mix_ratio: 1.0
+    task_filter: null
+    val_dataset_path: null
+  - !!python/object:rldx.configs.data.data_config.SingleDatasetConfig
+    dataset_paths:
+    - /storage1/sjw_dataset/dataset/openarm_teleop_v3/lerobot/doll
+    dataset_type: physical_embodiment
+    embodiment_tag: openarm
+    mix_ratio: 1.0
+    task_filter: null
+    val_dataset_path: null
+  - !!python/object:rldx.configs.data.data_config.SingleDatasetConfig
+    dataset_paths:
+    - /storage1/sjw_dataset/dataset/openarm_teleop_v3/lerobot/snack
+    dataset_type: physical_embodiment
+    embodiment_tag: openarm
+    mix_ratio: 1.0
+    task_filter: null
+    val_dataset_path: null
+  - !!python/object:rldx.configs.data.data_config.SingleDatasetConfig
+    dataset_paths:
+    - /sjw_alinlab3/home/junhyeong/rlwrld_human
+    dataset_type: physical_embodiment
+    embodiment_tag: rlwrld_human
+    mix_ratio: 1.0
+    task_filter:
+    - bottle
+    - doll
+    val_dataset_path: null
+  download_cache: false
+  episode_sampling_rate: 0.1
+  finger_latent_human_h5: /sjw_alinlab3/home/junhyeong/rlwrld_human_fk/rlwrld_final.h5
+  finger_latent_human_source_map: /sjw_alinlab3/home/junhyeong/rlwrld_human/meta/source_map.csv
+  finger_latent_robot_cache_dir: /sjw_alinlab3/home/junhyeong/Isaac-GR00T-AlinVLA/Isaac-GR00T/shared_points/openarm_fk_cache
+  mock_dataset_mode: false
+  modality_configs:
+    openarm:
+      action: !!python/object:rldx.data.types.ModalityConfig
+        action_configs:
+        - !!python/object:rldx.data.types.ActionConfig
+          format: &id001 !!python/object/apply:rldx.data.types.ActionFormat
+          - default
+          rep: &id002 !!python/object/apply:rldx.data.types.ActionRepresentation
+          - delta
+          state_key: null
+          type: &id003 !!python/object/apply:rldx.data.types.ActionType
+          - eef
+        - !!python/object:rldx.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        - !!python/object:rldx.data.types.ActionConfig
+          format: *id001
+          rep: *id002
+          state_key: null
+          type: *id003
+        - !!python/object:rldx.data.types.ActionConfig
+          format: *id001
+          rep: &id004 !!python/object/apply:rldx.data.types.ActionRepresentation
+          - absolute
+          state_key: null
+          type: &id005 !!python/object/apply:rldx.data.types.ActionType
+          - non_eef
+        - !!python/object:rldx.data.types.ActionConfig
+          format: *id001
+          rep: *id004
+          state_key: null
+          type: *id005
+        delta_indices:
+        - 0
+        - 1
+        - 2
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experiment_cfg/final_model_config.json

@@ -0,0 +1,162 @@
+{
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processor/embodiment_id.json

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processor/processor_config.json

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