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Browse files- norm_stats/scripted_vla/norm_stats.json +424 -0
- norm_stats/simxr_merged_all_20260904/norm_stats.json +424 -0
- pretrained_model/config.json +77 -0
- pretrained_model/model.safetensors +3 -0
- training_state/composed_hydra_config.json +398 -0
- training_state/rng_state.safetensors +3 -0
- training_state/scheduler_state.json +14 -0
- training_state/training_step.json +3 -0
norm_stats/scripted_vla/norm_stats.json
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norm_stats/simxr_merged_all_20260904/norm_stats.json
ADDED
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|
pretrained_model/config.json
ADDED
|
@@ -0,0 +1,77 @@
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|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
+
"n_obs_steps": 1,
|
| 3 |
+
"device": "cuda",
|
| 4 |
+
"use_amp": false,
|
| 5 |
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"normalization_mode": "mean_std",
|
| 6 |
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"obs_stride_seconds": 0.0,
|
| 7 |
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"n_state_obs_steps": 1,
|
| 8 |
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"state_obs_stride_seconds": 0.0,
|
| 9 |
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"n_action_steps": 50,
|
| 10 |
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"model_type": "qwen3vlpolicy",
|
| 11 |
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"num_steps": 10,
|
| 12 |
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"max_state_dim": 50,
|
| 13 |
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"max_action_dim": 50,
|
| 14 |
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"map_to_unified_space": false,
|
| 15 |
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"unified_space_dim": 64,
|
| 16 |
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"add_action_space_factorization": true,
|
| 17 |
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"image_keys": [
|
| 18 |
+
"base_0_rgb",
|
| 19 |
+
"left_wrist_0_rgb",
|
| 20 |
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"right_wrist_0_rgb"
|
| 21 |
+
],
|
| 22 |
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"tokenizer_max_length": 768,
|
| 23 |
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"proj_width": 1280,
|
| 24 |
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"expert_block_stride": 4,
|
| 25 |
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"base_vlm_model": "Qwen/Qwen3.5-0.8B",
|
| 26 |
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"cognition_mode": "frozen_vlm_context_queries",
|
| 27 |
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"action_expert_model": "Qwen/Qwen3.5-0.8B",
|
| 28 |
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"num_cognition_tokens": 64,
|
| 29 |
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"cognition_vlm_layer": -1,
|
| 30 |
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"cognition_layer_mix": true,
|
| 31 |
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"cognition_layer_mix_per_token": true,
|
| 32 |
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"cognition_layer_mix_init": "uniform",
|
| 33 |
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"cognition_projection": "linear",
|
| 34 |
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"cognition_context_width": 512,
|
| 35 |
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"cognition_context_num_heads": 8,
|
| 36 |
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"cognition_context_ffn_multiplier": 4,
|
| 37 |
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"cognition_frozen_vlm_reference_kernels": false,
|
| 38 |
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"cognition_action_expert_reference_kernels": false,
|
| 39 |
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"num_trainable_vlm_layers": null,
|
| 40 |
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|
| 41 |
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"precision": "bfloat16",
|
| 42 |
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"suffix_attention_mask": "causal",
|
| 43 |
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"model_mode": "flow_matching",
|
| 44 |
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"inference_mode": "flow_matching",
|
| 45 |
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"image_shape": [
|
| 46 |
+
448,
|
| 47 |
+
448
|
| 48 |
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],
|
| 49 |
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"default_temperature": 0.7,
|
| 50 |
+
"discrete_state_input": false,
|
| 51 |
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"continuous_state_input": false,
|
| 52 |
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"add_state_vlm": false,
|
| 53 |
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"state_history_dropout_prob": 0.0,
|
| 54 |
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"add_state_proj_to_action_expert": true,
|
| 55 |
+
"apply_noise_to_state_for_flow_matching": true,
|
| 56 |
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"state_noise_amplitude": 0.1,
|
| 57 |
+
"state_dropout_prob": 0.5,
|
| 58 |
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"attention_implementation": "flash_attention_2",
|
| 59 |
+
"mask_padded_actions": true,
|
| 60 |
+
"hold_at_subtask_boundary": false,
|
| 61 |
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"hold_at_subtask_boundary_loss_fraction": 1.0,
|
| 62 |
+
"mask_temporally_padded_actions": true,
|
| 63 |
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"enable_learnable_layer_combination": true,
|
| 64 |
+
"layer_combination_init": "identity",
|
| 65 |
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"is_knowledge_insulation": false,
|
| 66 |
+
"ce_loss_weight": 0.5,
|
| 67 |
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"freeze_vlm": false,
|
| 68 |
+
"compile_sample_actions": false,
|
| 69 |
+
"state_special_token_id": 228,
|
| 70 |
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"clip_state": false,
|
| 71 |
+
"freeze_vision_encoder": false,
|
| 72 |
+
"use_cache": false,
|
| 73 |
+
"add_control_mode": true,
|
| 74 |
+
"add_embodiment_name": true,
|
| 75 |
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"action_head_batch_multiplier": 1,
|
| 76 |
+
"type": "qwen3vlpolicy"
|
| 77 |
+
}
|
pretrained_model/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:5971449a5acc18eb1ee4ec8edecf88926a56966f79e9c16516c00c6728f4ab02
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| 3 |
+
size 2716858660
|
training_state/composed_hydra_config.json
ADDED
|
@@ -0,0 +1,398 @@
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|
| 334 |
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|
| 335 |
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|
| 336 |
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|
| 337 |
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|
| 338 |
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|
| 339 |
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|
| 340 |
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|
| 341 |
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|
| 342 |
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|
| 343 |
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|
| 344 |
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|
| 345 |
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|
| 346 |
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|
| 347 |
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|
| 348 |
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|
| 349 |
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|
| 350 |
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|
| 351 |
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|
| 352 |
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|
| 353 |
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|
| 354 |
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|
| 355 |
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|
| 356 |
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|
| 357 |
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|
| 358 |
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"save_checkpoint": true
|
| 359 |
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|
| 360 |
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"logging": {
|
| 361 |
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"clearml": {
|
| 362 |
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"task": {
|
| 363 |
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"project_name": "Manipulation/2D Manipulation/lerobot",
|
| 364 |
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"task_name": "postnikov_qwen35_08b_scripted_simxr_20260904_step1_verylight_state_action_subtasks_sharedstats_nogc_1epoch_fastkernels_32gpu_2026-09-05_00-02",
|
| 365 |
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"task_type": "training"
|
| 366 |
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},
|
| 367 |
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"logging": {
|
| 368 |
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"level": "INFO"
|
| 369 |
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|
| 370 |
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"upload_method": "rclone",
|
| 371 |
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"s3_output_uri": "s3://obs.ru-moscow-1.hc.sbercloud.ru:443/amr-usr-manip/checkpoints",
|
| 372 |
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|
| 373 |
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|
| 374 |
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},
|
| 375 |
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|
| 376 |
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"run_name": "postnikov_qwen35_08b_scripted_simxr_20260904_step1_verylight_state_action_subtasks_sharedstats_nogc_1epoch_fastkernels_32gpu_2026-09-05_00-02",
|
| 377 |
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"tags": [
|
| 378 |
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"postnikov-aij",
|
| 379 |
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"qwen3.5",
|
| 380 |
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"qwen35-0.8b",
|
| 381 |
+
"scripted-simxr-mix",
|
| 382 |
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"shared-norm-stats",
|
| 383 |
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"state-action-target",
|
| 384 |
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"next-state-target",
|
| 385 |
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"subtask-prompt",
|
| 386 |
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"no-gradient-checkpointing",
|
| 387 |
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"s0s1",
|
| 388 |
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"step1",
|
| 389 |
+
"very-light-aug",
|
| 390 |
+
"no-history",
|
| 391 |
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"from-scratch",
|
| 392 |
+
"one-epoch",
|
| 393 |
+
"fast-kernels"
|
| 394 |
+
],
|
| 395 |
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|
| 396 |
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|
| 397 |
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"model_id": null
|
| 398 |
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|
training_state/rng_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:6379712072629d3e40d7bd0eaf2ed08b05b5e3fb132fd1d4560fc19f38f21ffe
|
| 3 |
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size 15708
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training_state/scheduler_state.json
ADDED
|
@@ -0,0 +1,14 @@
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|
|
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|
|
|
|
|
|
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|
| 1 |
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{
|
| 2 |
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"base_lrs": [
|
| 3 |
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5e-05
|
| 4 |
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],
|
| 5 |
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"last_epoch": 474048,
|
| 6 |
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"_step_count": 474049,
|
| 7 |
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"_get_lr_called_within_step": false,
|
| 8 |
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"_last_lr": [
|
| 9 |
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|
| 10 |
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|
| 11 |
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"lr_lambdas": [
|
| 12 |
+
null
|
| 13 |
+
]
|
| 14 |
+
}
|
training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 14814
|
| 3 |
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}
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