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finetuning_gr00t
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| { | |
| "cells": [ | |
| { | |
| "cell_type": "markdown", | |
| "metadata": { | |
| "colab_type": "text", | |
| "id": "view-in-github" | |
| }, | |
| "source": [ | |
| "<a href=\"https://colab.research.google.com/gist/azazdeaz/9b3f1cfe5eb7cb61735d6e7c2ce64036/training-smolvla.ipynb\" target=\"_parent\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/></a>" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "execution_count": null, | |
| "metadata": { | |
| "colab": { | |
| "base_uri": "https://localhost:8080/" | |
| }, | |
| "id": "PolVM_movEvp", | |
| "outputId": "cd4ff80c-7555-4fad-d182-c92c47225030" | |
| }, | |
| "outputs": [], | |
| "source": [ | |
| "# !wandb login" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "execution_count": null, | |
| "metadata": { | |
| "colab": { | |
| "base_uri": "https://localhost:8080/" | |
| }, | |
| "id": "nAIoNcgkgYFz", | |
| "outputId": "dc93aefa-8016-41ab-dc6c-f9e7d23736ff" | |
| }, | |
| "outputs": [], | |
| "source": [ | |
| "!git clone --recurse-submodules https://github.com/azazdeaz/Isaac-GR00T\n", | |
| "!cd Isaac-GR00T/ && uv sync --python 3.10 && uv pip install -e .\n", | |
| "!cd Isaac-GR00T/scripts/lerobot_conversion/ && uv sync && uv pip install -e ." | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "execution_count": null, | |
| "metadata": { | |
| "colab": { | |
| "base_uri": "https://localhost:8080/" | |
| }, | |
| "id": "0Chgh-NW7x3c", | |
| "outputId": "978f55cb-7e28-42f1-cebc-85d025ce0570" | |
| }, | |
| "outputs": [], | |
| "source": [ | |
| "!cd Isaac-GR00T/scripts/lerobot_conversion/ && uv sync && uv pip install -e .\n", | |
| "!cd Isaac-GR00T/scripts/lerobot_conversion/ && \\\n", | |
| " uv run python convert_v3_to_v2.py \\\n", | |
| " --repo-id azazdeaz/record-test \\\n", | |
| " --root /content/dataset/azazdeaz/record-test" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "execution_count": null, | |
| "metadata": { | |
| "id": "8tq-QvzB8nxt" | |
| }, | |
| "outputs": [], | |
| "source": [ | |
| "!cp Isaac-GR00T/examples/SO100/modality.json /content/dataset/azazdeaz/record-test/azazdeaz/record-test/meta/modality.json" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "execution_count": null, | |
| "metadata": { | |
| "colab": { | |
| "base_uri": "https://localhost:8080/" | |
| }, | |
| "id": "EI1ja0qH_Jb5", | |
| "outputId": "6f8cd686-34a9-4c64-c081-b72cbda4e013" | |
| }, | |
| "outputs": [], | |
| "source": [ | |
| "!cd Isaac-GR00T/ && \\\n", | |
| " CUDA_VISIBLE_DEVICES=0 \\\n", | |
| " uv run torchrun --nproc_per_node=1 --master_port=29500 \\\n", | |
| " gr00t/experiment/launch_finetune.py \\\n", | |
| " --base_model_path nvidia/GR00T-N1.6-3B \\\n", | |
| " --dataset_path /content/dataset/azazdeaz/record-test/azazdeaz/record-test/ \\\n", | |
| " --modality_config_path examples/SO100/so100_config.py \\\n", | |
| " --embodiment_tag NEW_EMBODIMENT \\\n", | |
| " --num_gpus 1 \\\n", | |
| " --output_dir /content/so100_finetune \\\n", | |
| " --save_steps 1000 \\\n", | |
| " --save_total_limit 5 \\\n", | |
| " --max_steps 10000 \\\n", | |
| " --warmup_ratio 0.05 \\\n", | |
| " --weight_decay 1e-5 \\\n", | |
| " --learning_rate 1e-4 \\\n", | |
| " # --use_wandb \\\n", | |
| " --global_batch_size 32 \\\n", | |
| " --color_jitter_params brightness 0.3 contrast 0.4 saturation 0.5 hue 0.08 \\\n", | |
| " --dataloader_num_workers 4" | |
| ] | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "metadata": { | |
| "id": "Q8Sn2wG4wldo" | |
| }, | |
| "source": [ | |
| "## Weights & Biases login\n", | |
| "This cell logs you into Weights & Biases (wandb) to enable experiment tracking and logging." | |
| ] | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "metadata": { | |
| "id": "x7CXXrgufg2R" | |
| }, | |
| "source": [ | |
| "## Install SmolVLA dependencies" | |
| ] | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "metadata": { | |
| "id": "UakszYwVfg2S" | |
| }, | |
| "source": [ | |
| "## Login into Hugging Face Hub\n", | |
| "Now after training is done login into the Hugging Face hub and upload the last checkpoint" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "execution_count": null, | |
| "metadata": { | |
| "colab": { | |
| "base_uri": "https://localhost:8080/" | |
| }, | |
| "id": "8yu5khQGIHi6", | |
| "outputId": "7d26fb8c-7aea-4c07-dbf5-4cb9e82f75c1" | |
| }, | |
| "outputs": [], | |
| "source": [ | |
| "!huggingface-cli login" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "execution_count": null, | |
| "metadata": { | |
| "colab": { | |
| "base_uri": "https://localhost:8080/" | |
| }, | |
| "id": "zFMLGuVkH7UN", | |
| "outputId": "12ec03b7-9ccb-483e-d37e-7a2a8992576f" | |
| }, | |
| "outputs": [], | |
| "source": [ | |
| "!huggingface-cli upload ${HF_USER}/test_grootN1_6 \\\n", | |
| " /content/lerobot/outputs/train/my_smolvla/checkpoints/last/pretrained_model" | |
| ] | |
| } | |
| ], | |
| "metadata": { | |
| "accelerator": "GPU", | |
| "colab": { | |
| "gpuType": "A100", | |
| "include_colab_link": true, | |
| "name": "training-SO101-gr00t.ipynb", | |
| "provenance": [] | |
| }, | |
| "kernelspec": { | |
| "display_name": "Python 3 (ipykernel)", | |
| "language": "python", | |
| "name": "python3" | |
| }, | |
| "language_info": { | |
| "codemirror_mode": { | |
| "name": "ipython", | |
| "version": 3 | |
| }, | |
| "file_extension": ".py", | |
| "mimetype": "text/x-python", | |
| "name": "python", | |
| "nbconvert_exporter": "python", | |
| "pygments_lexer": "ipython3", | |
| "version": "3.12.12" | |
| } | |
| }, | |
| "nbformat": 4, | |
| "nbformat_minor": 0 | |
| } |
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