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psi0/simple-checkpoints/g1wholebodybendpicksimtorealteleop-v0.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2605200115/argv.txt

@@ -0,0 +1,53 @@
+scripts/train.py
+finetune_simple_psi0_config
+--seed=292285
+--exp=g1wholebodybendpicksimtorealteleop-v0
+--train.name=finetune
+--train.data_parallel=ddp
+--train.mixed_precision=bf16
+--train.train_batch_size=16
+--train.max_checkpoints_to_keep=5
+--train.gradient_accumulation_steps=1
+--train.learning_rate=1e-4
+--train.max_training_steps=40000
+--train.warmup_ratio=None
+--train.warmup_steps=1000
+--train.checkpointing_steps=10000
+--train.validation_steps=500
+--train.val_num_batches=20
+--train.max_grad_norm=1.0
+--train.lr_scheduler_type=cosine
+--train.lr_scheduler_kwargs.weight_decay=1e-6
+--train.lr_scheduler_kwargs.betas 0.95 0.999
+--log.report_to=wandb
+--data.root_dir=/data/jliu/data
+--data.train-repo-ids=G1WholebodyBendPickSimToRealTeleop-v0
+--data.transform.repack.pad-action-dim=36
+--data.transform.repack.pad-state-dim=36
+--data.transform.field.stat-path=meta/stats_psi0.json
+--data.transform.field.stat-action-key=action
+--data.transform.field.stat-state-key=states
+--data.transform.field.action_norm_type=bounds
+--data.transform.field.no-use-norm-mask
+--data.transform.field.normalize-state
+--data.transform.field.pad-action-dim=36
+--data.transform.field.pad-state-dim=36
+--data.transform.model.img-aug
+--data.transform.model.resize.size 180 320
+--data.transform.model.center_crop.size 180 320
+--model.model_name_or_path=/hfm/cache/checkpoints/psi0/pre.fast.1by1.2601091803.ckpt.ego200k.he30k
+--model.pretrained-action-header-path=/hfm/cache/checkpoints/psi0/postpre.1by1.pad36.2601131206.ckpt.he30k
+--model.noise-scheduler=flow
+--model.train-diffusion-steps=1000
+--model.n_conditions=0
+--model.action-chunk-size=30
+--model.action-dim=36
+--model.action-exec-horizon=30
+--model.observation-horizon=1
+--model.odim=36
+--model.view_feature_dim=2048
+--model.no-tune-vlm
+--model.no-use_film
+--model.no-combined_temb
+--model.rtc
+--model.max-delay=8

psi0/simple-checkpoints/g1wholebodybendpicksimtorealteleop-v0.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2605200115/checkpoints/ckpt_40000/model.safetensors

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psi0/simple-checkpoints/g1wholebodybendpicksimtorealteleop-v0.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2605200115/envs.txt

@@ -0,0 +1,17 @@
+OMP_NUM_THREADS=32
+HF_HOME=/data/cache
+TORCH_HOME=/data/cache
+HF_TOKEN=hf_...TiKa
+HF_LEROBOT_HOME=/data/data/lerobot
+WE_HOME=Not Set
+DATA_HOME=/data/data
+UV_CACHE_DIR=/data/cache
+WANDB_API_KEY=90e...5c06
+PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python
+CUDA_VISIBLE_DEVICES=0,1,2,3,4,5,6,7
+WORLD_SIZE=8
+LOCAL_WORLD_SIZE=8
+RANK=0
+LOCAL_RANK=0
+MASTER_ADDR=127.0.0.1
+MASTER_PORT=29508

psi0/simple-checkpoints/g1wholebodybendpicksimtorealteleop-v0.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2605200115/run_config.json

@@ -0,0 +1,348 @@
+{
+    "exp": "g1wholebodybendpicksimtorealteleop-v0",
+    "seed": 292285,
+    "auto_tag_run": false,
+    "eval": false,
+    "debug": false,
+    "timestamp": "2605200115",
+    "log": {
+        "logging_dir": "logs",
+        "report_to": "wandb",
+        "log_freq": 100
+    },
+    "wandb": {
+        "project": "psi",
+        "entity": "jliu530-soochow-university",
+        "group": "finetune",
+        "id": "t9eej1cn",
+        "name": "g1wholebodybendpicksimtorealteleop-v0.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2605200115",
+        "resume": "allow"
+    },
+    "train": {
+        "num_workers": 8,
+        "overfit_single_batch": false,
+        "name": "finetune",
+        "resume_from_checkpoint": null,
+        "skip_resumed_steps": false,
+        "hf_token": ".hf_token",
+        "lora": false,
+        "output_dir": ".runs",
+        "gradient_accumulation_steps": 1,
+        "mixed_precision": "bf16",
+        "max_grad_norm": 1.0,
+        "optimizer_foreach": null,
+        "train_batch_size": 16,
+        "val_batch_size": 16,
+        "val_num_batches": 20,
+        "checkpointing_steps": 10000,
+        "max_checkpoints_to_keep": 5,
+        "validation_steps": 500,
+        "learning_rate": 0.0001,
+        "lr_scheduler_type": "cosine",
+        "lr_scheduler_kwargs": {
+            "betas": [
+                0.95,
+                0.999
+            ],
+            "weight_decay": 1e-6,
+            "eps": 1e-8
+        },
+        "scheduler_specific_kwargs": {},
+        "data_parallel": "ddp",
+        "sharding_strategy": "full-shard",
+        "deepspeed_config": "/data/jliu/psi/src/InternVLA/config/deepseeds/zero3.json",
+        "enable_gradient_checkpointing": true,
+        "enable_mixed_precision_training": true,
+        "reduce_in_full_precision": true,
+        "max_training_steps": 40000,
+        "num_train_epochs": null,
+        "warmup_steps": 1000,
+        "warmup_ratio": null
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+    "data": {
+        "transform": {
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+                "dataset_name": "simple",
+                "num_past_frames": 0,
+                "action_chunk_size": 30,
+                "pad_action_dim": 36,
+                "pad_state_dim": 36
+            },
+            "model": {
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+                "center_crop": {
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+                    "contrast": [
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+                "gaussian_noise": {
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+                    "prob_skip": 0.1
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+                "img_aug": true,
+                "adaptive_resize": false,
+                "img_sizes": {
+                    "egodex": [
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+                        480
+                    ],
+                    "he": [
+                        240,
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+                }
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+            "field": {
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+                "action_norm_type": "bounds",
+                "stat_action_key": "action",
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+        "root_dir": "/data/jliu/data",
+        "train_repo_ids": [
+            "G1WholebodyBendPickSimToRealTeleop-v0"
+        ],
+        "val_repo_ids": [
+            "G1WholebodyBendPickSimToRealTeleop-v0"
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+        "rtc": true,
+        "max_delay": 8,
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+        "dropout": 0.1,
+        "noise_scheduler": "flow",
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+        "use_film": false,
+        "combined_temb": false,
+        "use_dit": false,
+        "weight_decay": 0.01,
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+        "vision_tower_lr": 1e-6,
+        "optim": "adamw_torch",
+        "model_max_length": 4096,
+        "data_flatten": true,
+        "data_packing": true,
+        "max_pixels": 451584,
+        "min_pixels": 12544
+    }
+}