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checkpoints/step-018000-epoch-87-loss=0.0409.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:97a101a64cdaa23b9291f25d363f45272213df23b69a008a1e0bc201cf248d90
+size 11322825962

config.json

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+{
+  "action_dim": 7,
+  "action_model_type": "DiT-B",
+  "data_root_dir": "/mnt/inspurfs/efm_t/robot_data/cache/LIBERO/dataset",
+  "debug": false,
+  "disable_instruction": false,
+  "fix_system1": false,
+  "future_action_window_size": 7,
+  "hf_token": "hf_token",
+  "image_aug": true,
+  "is_resume": false,
+  "load_all_data_for_training": true,
+  "num_of_meta_query": 64,
+  "past_action_window_size": 0,
+  "pretrained_checkpoint": null,
+  "repeated_diffusion_steps": 4,
+  "resume_epoch": null,
+  "resume_step": null,
+  "run_id": "sys12_meta_query_action_only_sync_pretraining_v2_query_64_mlp_lora_libero_spatial_wrist--image_augstage1",
+  "run_id_note": null,
+  "run_root_dir": "outputs/libero_wrist",
+  "save_interval": 1500,
+  "seed": 42,
+  "stage": "stage1",
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "use_ema": false,
+  "use_mm": false,
+  "vla": {
+    "action_tokenizer": "extra_action_tokenizer",
+    "base_vlm": "/mnt/petrelfs/yangshuai1/yangshuai1/share_mllm/Eagle2-2B",
+    "data_mix": "libero_spatial_no_noops",
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true,
+    "epochs": 100,
+    "expected_world_size": 8,
+    "freeze_llm_backbone": false,
+    "freeze_vision_backbone": false,
+    "global_batch_size": 256,
+    "learning_rate": 5e-05,
+    "lr_scheduler_type": "constant",
+    "max_grad_norm": 1.0,
+    "max_steps": null,
+    "per_device_batch_size": 32,
+    "reduce_in_full_precision": true,
+    "shuffle_buffer_size": 250000,
+    "train_strategy": "fsdp-full-shard",
+    "type": "prism-qwen25-dinosiglip-224px+0_5b",
+    "unfreeze_last_llm_layer": false,
+    "vla_id": "prism-qwen25-dinosiglip-224px+0_5b",
+    "warmup_ratio": 0.0,
+    "weight_decay": 0.0
+  },
+  "wandb_entity": "shuaiyang2003",
+  "wandb_project": "dual_sys_libero",
+  "with_pointing": true
+}

config.yaml

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+action_dim: 7
+action_model_type: DiT-B
+data_root_dir: /mnt/inspurfs/efm_t/robot_data/cache/LIBERO/dataset
+debug: false
+disable_instruction: false
+fix_system1: false
+future_action_window_size: 7
+hf_token: hf_token
+image_aug: true
+is_resume: false
+load_all_data_for_training: true
+num_of_meta_query: 64
+past_action_window_size: 0
+pretrained_checkpoint: null
+repeated_diffusion_steps: 4
+resume_epoch: null
+resume_step: null
+run_id: sys12_meta_query_action_only_sync_pretraining_v2_query_64_mlp_lora_libero_spatial_wrist--image_augstage1
+run_id_note: null
+run_root_dir: outputs/libero_wrist
+save_interval: 1500
+seed: 42
+stage: stage1
+trackers:
+- jsonl
+- wandb
+use_ema: false
+use_mm: false
+vla:
+  action_tokenizer: extra_action_tokenizer
+  base_vlm: /mnt/petrelfs/yangshuai1/yangshuai1/share_mllm/Eagle2-2B
+  data_mix: libero_spatial_no_noops
+  enable_gradient_checkpointing: true
+  enable_mixed_precision_training: true
+  epochs: 100
+  expected_world_size: 8
+  freeze_llm_backbone: false
+  freeze_vision_backbone: false
+  global_batch_size: 256
+  learning_rate: 5.0e-05
+  lr_scheduler_type: constant
+  max_grad_norm: 1.0
+  max_steps: null
+  per_device_batch_size: 32
+  reduce_in_full_precision: true
+  shuffle_buffer_size: 250000
+  train_strategy: fsdp-full-shard
+  type: prism-qwen25-dinosiglip-224px+0_5b
+  unfreeze_last_llm_layer: false
+  vla_id: prism-qwen25-dinosiglip-224px+0_5b
+  warmup_ratio: 0.0
+  weight_decay: 0.0
+wandb_entity: shuaiyang2003
+wandb_project: dual_sys_libero
+with_pointing: true

dataset_statistics.json

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+{
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+      "mask": [
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+      "max": [
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+    "num_transitions": 52970,
+    "num_trajectories": 432
+  }
+}

run-metrics.jsonl

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+{"hparams": {"action_dim": 7, "action_model_type": "DiT-B", "data_root_dir": "/mnt/inspurfs/efm_t/robot_data/cache/LIBERO/dataset", "debug": false, "disable_instruction": false, "fix_system1": false, "future_action_window_size": 7, "hf_token": "hf_token", "image_aug": true, "is_resume": false, "load_all_data_for_training": true, "num_of_meta_query": 64, "past_action_window_size": 0, "pretrained_checkpoint": null, "repeated_diffusion_steps": 4, "resume_epoch": null, "resume_step": null, "run_id": "sys12_meta_query_action_only_sync_pretraining_v2_query_64_mlp_lora_libero_spatial_wrist--image_augstage1", "run_id_note": null, "run_root_dir": "outputs/libero_wrist", "save_interval": 1500, "seed": 42, "stage": "stage1", "trackers": ["jsonl", "wandb"], "use_ema": false, "use_mm": false, "vla": {"action_tokenizer": "extra_action_tokenizer", "base_vlm": "/mnt/petrelfs/yangshuai1/yangshuai1/share_mllm/Eagle2-2B", "data_mix": "libero_spatial_no_noops", "enable_gradient_checkpointing": true, "enable_mixed_precision_training": true, "epochs": 100, "expected_world_size": 8, "freeze_llm_backbone": false, "freeze_vision_backbone": false, "global_batch_size": 256, "learning_rate": 5e-05, "lr_scheduler_type": "constant", "max_grad_norm": 1.0, "max_steps": null, "per_device_batch_size": 32, "reduce_in_full_precision": true, "shuffle_buffer_size": 250000, "train_strategy": "fsdp-full-shard", "type": "prism-qwen25-dinosiglip-224px+0_5b", "unfreeze_last_llm_layer": false, "vla_id": "prism-qwen25-dinosiglip-224px+0_5b", "warmup_ratio": 0.0, "weight_decay": 0.0}, "wandb_entity": "shuaiyang2003", "wandb_project": "dual_sys_libero", "with_pointing": true}, "run_id": "sys12_meta_query_action_only_sync_pretraining_v2_query_64_mlp_lora_libero_spatial_wrist--image_augstage1"}