Download training_state/composed_hydra_config.json from SberRoboticsCenter/GreenChallengeModel: direct link, hf CLI and curl.
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- Download file 13.1 kB
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https://huggingface.co/SberRoboticsCenter/GreenChallengeModel/resolve/main/training_state/composed_hydra_config.json
- Command line
-
hf download hf://SberRoboticsCenter/GreenChallengeModel/training_state/composed_hydra_config.json
-
curl -L -o composed_hydra_config.json https://huggingface.co/SberRoboticsCenter/GreenChallengeModel/resolve/main/training_state/composed_hydra_config.json
13.1 kB
| { | |
| "policy": { | |
| "policy_config": { | |
| "_target_": "lerobot.common.policies.qwen3vl_policy.configuration_qwen3vl_policy.Qwen3VLPolicyConfig", | |
| "max_state_dim": 50, | |
| "max_action_dim": 50, | |
| "base_vlm_model": "Qwen/Qwen3.5-0.8B", | |
| "cognition_mode": "frozen_vlm_context_queries", | |
| "action_expert_model": "Qwen/Qwen3.5-0.8B", | |
| "num_cognition_tokens": 64, | |
| "cognition_vlm_layer": -1, | |
| "cognition_projection": "linear", | |
| "num_trainable_vlm_layers": null, | |
| "proj_width": 1280, | |
| "precision": "bfloat16", | |
| "normalization_mode": "mean_std", | |
| "model_mode": "flow_matching", | |
| "image_shape": [ | |
| 448, | |
| 448 | |
| ], | |
| "image_keys": [ | |
| "base_0_rgb", | |
| "left_wrist_0_rgb", | |
| "right_wrist_0_rgb" | |
| ], | |
| "add_control_mode": true, | |
| "add_embodiment_name": true, | |
| "num_steps": 10, | |
| "n_action_steps": 50, | |
| "mask_padded_actions": true, | |
| "hold_at_subtask_boundary": false, | |
| "hold_at_subtask_boundary_loss_fraction": 1.0, | |
| "mask_temporally_padded_actions": true, | |
| "state_noise_amplitude": 0.1, | |
| "state_dropout_prob": 0.5, | |
| "apply_noise_to_state_for_flow_matching": true, | |
| "action_head_batch_multiplier": 1, | |
| "add_state_proj_to_action_expert": true, | |
| "enable_learnable_layer_combination": true, | |
| "layer_combination_init": "identity", | |
| "expert_block_stride": 4, | |
| "suffix_attention_mask": "causal", | |
| "attention_implementation": "flash_attention_2", | |
| "freeze_vlm": false, | |
| "freeze_vision_encoder": false, | |
| "compile_sample_actions": false, | |
| "is_knowledge_insulation": false, | |
| "ce_loss_weight": 0.5, | |
| "cognition_layer_mix": true, | |
| "cognition_layer_mix_per_token": true, | |
| "cognition_layer_mix_init": "uniform", | |
| "cognition_context_width": 512, | |
| "cognition_context_num_heads": 8, | |
| "cognition_context_ffn_multiplier": 4, | |
| "cognition_frozen_vlm_reference_kernels": false, | |
| "cognition_action_expert_reference_kernels": false, | |
| "tokenizer_max_length": 768, | |
| "n_obs_steps": 1, | |
| "obs_stride_seconds": 0.0, | |
| "n_state_obs_steps": 1, | |
| "state_obs_stride_seconds": 0.0, | |
| "add_state_vlm": false, | |
| "state_history_dropout_prob": 0.0, | |
| "inputs_embeds_gradient_checkpointing": false | |
| }, | |
| "policy": { | |
| "_target_": "lerobot.common.policies.qwen3vl_policy.modeling_qwen3vl_policy.Qwen3VLPolicy", | |
| "config": { | |
| "_target_": "lerobot.common.policies.qwen3vl_policy.configuration_qwen3vl_policy.Qwen3VLPolicyConfig", | |
| "max_state_dim": 50, | |
| "max_action_dim": 50, | |
| "base_vlm_model": "Qwen/Qwen3.5-0.8B", | |
| "cognition_mode": "frozen_vlm_context_queries", | |
| "action_expert_model": "Qwen/Qwen3.5-0.8B", | |
| "num_cognition_tokens": 64, | |
| "cognition_vlm_layer": -1, | |
| "cognition_projection": "linear", | |
| "num_trainable_vlm_layers": null, | |
| "proj_width": 1280, | |
| "precision": "bfloat16", | |
| "normalization_mode": "mean_std", | |
| "model_mode": "flow_matching", | |
| "image_shape": [ | |
| 448, | |
| 448 | |
| ], | |
| "image_keys": [ | |
| "base_0_rgb", | |
| "left_wrist_0_rgb", | |
| "right_wrist_0_rgb" | |
| ], | |
| "add_control_mode": true, | |
| "add_embodiment_name": true, | |
| "num_steps": 10, | |
| "n_action_steps": 50, | |
| "mask_padded_actions": true, | |
| "hold_at_subtask_boundary": false, | |
| "hold_at_subtask_boundary_loss_fraction": 1.0, | |
| "mask_temporally_padded_actions": true, | |
| "state_noise_amplitude": 0.1, | |
| "state_dropout_prob": 0.5, | |
| "apply_noise_to_state_for_flow_matching": true, | |
| "action_head_batch_multiplier": 1, | |
| "add_state_proj_to_action_expert": true, | |
| "enable_learnable_layer_combination": true, | |
| "layer_combination_init": "identity", | |
| "expert_block_stride": 4, | |
| "suffix_attention_mask": "causal", | |
| "attention_implementation": "flash_attention_2", | |
| "freeze_vlm": false, | |
| "freeze_vision_encoder": false, | |
| "compile_sample_actions": false, | |
| "is_knowledge_insulation": false, | |
| "ce_loss_weight": 0.5, | |
| "cognition_layer_mix": true, | |
| "cognition_layer_mix_per_token": true, | |
| "cognition_layer_mix_init": "uniform", | |
| "cognition_context_width": 512, | |
| "cognition_context_num_heads": 8, | |
| "cognition_context_ffn_multiplier": 4, | |
| "cognition_frozen_vlm_reference_kernels": false, | |
| "cognition_action_expert_reference_kernels": false, | |
| "tokenizer_max_length": 768, | |
| "n_obs_steps": 1, | |
| "obs_stride_seconds": 0.0, | |
| "n_state_obs_steps": 1, | |
| "state_obs_stride_seconds": 0.0, | |
| "add_state_vlm": false, | |
| "state_history_dropout_prob": 0.0, | |
| "inputs_embeds_gradient_checkpointing": false | |
| } | |
| } | |
| }, | |
| "image_augmentations": { | |
| "base_camera": { | |
| "_target_": "torchvision.transforms.v2.Compose", | |
| "transforms": [ | |
| { | |
| "_target_": "torchvision.transforms.v2.Resize", | |
| "size": [ | |
| 448, | |
| 448 | |
| ], | |
| "antialias": true | |
| }, | |
| { | |
| "_target_": "torchvision.transforms.v2.RandomRotation", | |
| "degrees": 1.0 | |
| }, | |
| { | |
| "_target_": "torchvision.transforms.v2.RandomResizedCrop", | |
| "size": [ | |
| 448, | |
| 448 | |
| ], | |
| "scale": [ | |
| 0.97, | |
| 1.0 | |
| ], | |
| "ratio": [ | |
| 0.98, | |
| 1.02 | |
| ], | |
| "antialias": true | |
| }, | |
| { | |
| "_target_": "torchvision.transforms.v2.ColorJitter", | |
| "brightness": 0.08, | |
| "contrast": 0.08, | |
| "saturation": 0.05, | |
| "hue": 0.01 | |
| } | |
| ] | |
| }, | |
| "wrist_camera": { | |
| "_target_": "torchvision.transforms.v2.Compose", | |
| "transforms": [ | |
| { | |
| "_target_": "torchvision.transforms.v2.Resize", | |
| "size": [ | |
| 448, | |
| 448 | |
| ], | |
| "antialias": true | |
| }, | |
| { | |
| "_target_": "torchvision.transforms.v2.RandomRotation", | |
| "degrees": 1.0 | |
| }, | |
| { | |
| "_target_": "torchvision.transforms.v2.RandomResizedCrop", | |
| "size": [ | |
| 448, | |
| 448 | |
| ], | |
| "scale": [ | |
| 0.98, | |
| 1.0 | |
| ], | |
| "ratio": [ | |
| 0.99, | |
| 1.01 | |
| ], | |
| "antialias": true | |
| }, | |
| { | |
| "_target_": "torchvision.transforms.v2.ColorJitter", | |
| "brightness": 0.06, | |
| "contrast": 0.06, | |
| "saturation": 0.04, | |
| "hue": 0.01 | |
| } | |
| ] | |
| } | |
| }, | |
| "robotics_dataset": { | |
| "_target_": "lerobot.common.datasets.data_config.MixtureDataConfigFactory", | |
| "name": "scripted_simxr_20260904_s0s1_step1_state_action_subtasks_shared", | |
| "repo_id": "scripted_simxr_20260904", | |
| "data_configs": [ | |
| { | |
| "_target_": "lerobot.common.datasets.data_config.LeRobotHumanoidS0S1DataConfig", | |
| "name": "scripted_vla_s0s1_step1_state_action_subtasks_shared", | |
| "asset_id": "scripted_simxr_20260904_s0s1_step1_state_action_shared", | |
| "repo_id": "scripted_vla", | |
| "root_dir": "/mnt/datasets/iefremov/scripted/vla", | |
| "assets": { | |
| "assets_dir": "/mnt/virtual_ai0001071-01239_SR006-nfs2/nerus/assets_rl", | |
| "asset_id": "scripted_simxr_20260904_s0s1_step1_state_action_shared" | |
| }, | |
| "action_sequence_keys": [ | |
| "action" | |
| ], | |
| "action_horizon": 50, | |
| "action_offset": 0, | |
| "action_sample_step": 1, | |
| "control_mode": "joint", | |
| "smooth_actions": true, | |
| "has_velocities": true, | |
| "use_stationary_masks": true, | |
| "map_to_unified_space": false, | |
| "map_to_closed_kinematic": true, | |
| "input_kinematic_space": "open", | |
| "model_kinematic_space": "closed", | |
| "map_old_wrists_to_new": false, | |
| "map_inspire_to_leadshipe": false, | |
| "return_subtasks": true, | |
| "return_subtasks_mode": "strict", | |
| "prompt_from_subtask": true, | |
| "exclude_negative_subtasks": false, | |
| "base_config": { | |
| "_target_": "lerobot.common.datasets.data_config.DataConfig", | |
| "local_files_only": true, | |
| "prompt_from_task": false | |
| } | |
| }, | |
| { | |
| "_target_": "lerobot.common.datasets.data_config.LeRobotHumanoidS0S1DataConfig", | |
| "name": "simxr_merged_all_20260904_s0s1_step1_state_action_subtasks_shared", | |
| "asset_id": "scripted_simxr_20260904_s0s1_step1_state_action_shared", | |
| "repo_id": "simxr_merged_all_20260904", | |
| "root_dir": "/mnt/virtual_ai0001071-01239_SR006-nfs2/iefremov/data/simxr_merged_all_20260904", | |
| "validation_episodes": "/mnt/virtual_ai0001071-01239_SR006-nfs2/iefremov/data/simxr_merged_all_20260904/meta/validation_episodes.json", | |
| "assets": { | |
| "assets_dir": "/mnt/virtual_ai0001071-01239_SR006-nfs2/nerus/assets_rl", | |
| "asset_id": "scripted_simxr_20260904_s0s1_step1_state_action_shared" | |
| }, | |
| "action_sequence_keys": [ | |
| "action" | |
| ], | |
| "action_horizon": 50, | |
| "action_offset": 0, | |
| "action_sample_step": 1, | |
| "control_mode": "joint", | |
| "smooth_actions": true, | |
| "has_velocities": true, | |
| "use_stationary_masks": true, | |
| "map_to_unified_space": false, | |
| "map_to_closed_kinematic": true, | |
| "input_kinematic_space": "open", | |
| "model_kinematic_space": "closed", | |
| "map_old_wrists_to_new": false, | |
| "map_inspire_to_leadshipe": false, | |
| "return_subtasks": true, | |
| "return_subtasks_mode": "strict", | |
| "prompt_from_subtask": true, | |
| "exclude_negative_subtasks": false, | |
| "base_config": { | |
| "_target_": "lerobot.common.datasets.data_config.DataConfig", | |
| "local_files_only": true, | |
| "prompt_from_task": false | |
| } | |
| } | |
| ], | |
| "weights": [ | |
| 10745464, | |
| 4423926 | |
| ] | |
| }, | |
| "optimizer": { | |
| "_target_": "lerobot.common.optim.optimizers.AdamWConfig", | |
| "lr": 5e-05, | |
| "betas": [ | |
| 0.9, | |
| 0.95 | |
| ], | |
| "eps": 1e-08, | |
| "weight_decay": 1e-08, | |
| "grad_clip_norm": 1.0 | |
| }, | |
| "scheduler": { | |
| "_target_": "lerobot.common.optim.schedulers.WarmupStableDecaySchedulerConfig", | |
| "num_warmup_steps": 992, | |
| "stable_phase_steps": 11851, | |
| "num_decay_steps": 1971, | |
| "peak_lr": 5e-05, | |
| "decay_lr": 0.0 | |
| }, | |
| "training": { | |
| "batch_size": 8, | |
| "steps": 14814, | |
| "num_warmup_steps": 992, | |
| "num_decay_steps": null, | |
| "log_freq": 10, | |
| "save_freq": 14814, | |
| "num_workers": 16, | |
| "num_workers_validation": 8, | |
| "shuffle": true, | |
| "seed": 42, | |
| "resume": false, | |
| "prefetch_factor": 4, | |
| "output_dir": "/mnt/virtual_ai0001071-01239_SR006-nfs2/nerus/training_runs/postnikov_qwen35_08b_scripted_simxr_20260904_step1_verylight_state_action_subtasks_sharedstats_nogc_1epoch_fastkernels_32gpu_2026-09-05_00-02", | |
| "grad_accum_steps": 4, | |
| "find_unused_parameters": true, | |
| "use_fsdp": false, | |
| "use_fsdp2": true, | |
| "fsdp_sharding": "full", | |
| "gradient_checkpointing_enabled": false, | |
| "activation_offload_enabled": false, | |
| "activation_gpu_limit_gb": 0.0, | |
| "compile": false, | |
| "enable_validation": true, | |
| "use_validation_list": true, | |
| "val_split": 0.03, | |
| "val_freq": 14814, | |
| "max_val_steps": 100, | |
| "recompute_norm_stats": false, | |
| "visualization": { | |
| "plots_per_validation": 5, | |
| "subplot_height": 3, | |
| "subplot_width": 8 | |
| }, | |
| "fsdp_keep_trainable_vlm_unsharded": false, | |
| "validate_at_start": false, | |
| "validation_batch_size": 1, | |
| "kernel_prewarm": true, | |
| "save_checkpoint": true | |
| }, | |
| "logging": { | |
| "clearml": { | |
| "task": { | |
| "project_name": "Manipulation/2D Manipulation/lerobot", | |
| "task_name": "postnikov_qwen35_08b_scripted_simxr_20260904_step1_verylight_state_action_subtasks_sharedstats_nogc_1epoch_fastkernels_32gpu_2026-09-05_00-02", | |
| "task_type": "training" | |
| }, | |
| "logging": { | |
| "level": "INFO" | |
| }, | |
| "upload_method": "rclone", | |
| "s3_output_uri": "s3://obs.ru-moscow-1.hc.sbercloud.ru:443/amr-usr-manip/checkpoints", | |
| "keep_latest_local": 1 | |
| } | |
| }, | |
| "research_ledger_mode": "ineligible", | |
| "run_name": "postnikov_qwen35_08b_scripted_simxr_20260904_step1_verylight_state_action_subtasks_sharedstats_nogc_1epoch_fastkernels_32gpu_2026-09-05_00-02", | |
| "tags": [ | |
| "postnikov-aij", | |
| "qwen3.5", | |
| "qwen35-0.8b", | |
| "scripted-simxr-mix", | |
| "shared-norm-stats", | |
| "state-action-target", | |
| "next-state-target", | |
| "subtask-prompt", | |
| "no-gradient-checkpointing", | |
| "s0s1", | |
| "step1", | |
| "very-light-aug", | |
| "no-history", | |
| "from-scratch", | |
| "one-epoch", | |
| "fast-kernels" | |
| ], | |
| "assets_dir": "/mnt/virtual_ai0001071-01239_SR006-nfs2/nerus/assets_rl", | |
| "pretrained_path": null, | |
| "model_id": null | |
| } |