Back up BS128 baseline and three GuideVLA headgate 30K checkpoints
Browse filesAdd the four selected complete checkpoints, including experiment configs and optimizer, RNG, scheduler and trainer state. Preserve the existing experiment hierarchy.
- GuideVLA/headgate_gradient_bs128_30k_20261023/checkpoint-30000/config.json +65 -0
- GuideVLA/headgate_gradient_bs128_30k_20261023/checkpoint-30000/experiment_cfg/clvla_contract.yaml +197 -0
- GuideVLA/headgate_gradient_bs128_30k_20261023/checkpoint-30000/experiment_cfg/metadata.json +433 -0
- GuideVLA/headgate_gradient_bs128_30k_20261023/checkpoint-30000/model-00001-of-00002.safetensors +3 -0
- GuideVLA/headgate_gradient_bs128_30k_20261023/checkpoint-30000/model-00002-of-00002.safetensors +3 -0
- GuideVLA/headgate_gradient_bs128_30k_20261023/checkpoint-30000/model.safetensors.index.json +0 -0
- GuideVLA/headgate_gradient_bs128_30k_20261023/checkpoint-30000/optimizer.pt +3 -0
- GuideVLA/headgate_gradient_bs128_30k_20261023/checkpoint-30000/rng_state.pth +3 -0
- GuideVLA/headgate_gradient_bs128_30k_20261023/checkpoint-30000/scheduler.pt +3 -0
- GuideVLA/headgate_gradient_bs128_30k_20261023/checkpoint-30000/trainer_state.json +0 -0
- GuideVLA/headgate_rise16_bs128_30k_20261023/checkpoint-30000/config.json +65 -0
- GuideVLA/headgate_rise16_bs128_30k_20261023/checkpoint-30000/experiment_cfg/clvla_contract.yaml +214 -0
- GuideVLA/headgate_rise16_bs128_30k_20261023/checkpoint-30000/experiment_cfg/metadata.json +433 -0
- GuideVLA/headgate_rise16_bs128_30k_20261023/checkpoint-30000/model-00001-of-00002.safetensors +3 -0
- GuideVLA/headgate_rise16_bs128_30k_20261023/checkpoint-30000/model-00002-of-00002.safetensors +3 -0
- GuideVLA/headgate_rise16_bs128_30k_20261023/checkpoint-30000/model.safetensors.index.json +0 -0
- GuideVLA/headgate_rise16_bs128_30k_20261023/checkpoint-30000/optimizer.pt +3 -0
- GuideVLA/headgate_rise16_bs128_30k_20261023/checkpoint-30000/rng_state.pth +3 -0
- GuideVLA/headgate_rise16_bs128_30k_20261023/checkpoint-30000/scheduler.pt +3 -0
- GuideVLA/headgate_rise16_bs128_30k_20261023/checkpoint-30000/trainer_state.json +0 -0
- GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/config.json +65 -0
- GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/experiment_cfg/clvla_contract.yaml +201 -0
- GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/experiment_cfg/metadata.json +433 -0
- GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/model-00001-of-00002.safetensors +3 -0
- GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/model-00002-of-00002.safetensors +3 -0
- GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/model.safetensors.index.json +0 -0
- GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/optimizer.pt +3 -0
- GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/rng_state.pth +3 -0
- GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/scheduler.pt +3 -0
- GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/trainer_state.json +0 -0
- baseline_bs128_30k/checkpoint-30000/config.json +64 -0
- baseline_bs128_30k/checkpoint-30000/experiment_cfg/clvla_contract.yaml +64 -0
- baseline_bs128_30k/checkpoint-30000/experiment_cfg/metadata.json +433 -0
- baseline_bs128_30k/checkpoint-30000/model-00001-of-00002.safetensors +3 -0
- baseline_bs128_30k/checkpoint-30000/model-00002-of-00002.safetensors +3 -0
- baseline_bs128_30k/checkpoint-30000/model.safetensors.index.json +0 -0
- baseline_bs128_30k/checkpoint-30000/optimizer.pt +3 -0
- baseline_bs128_30k/checkpoint-30000/rng_state.pth +3 -0
- baseline_bs128_30k/checkpoint-30000/scheduler.pt +3 -0
- baseline_bs128_30k/checkpoint-30000/trainer_state.json +0 -0
GuideVLA/headgate_gradient_bs128_30k_20261023/checkpoint-30000/config.json
ADDED
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{
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"action_dim": 32,
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"action_head_cfg": {
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"action_dim": 32,
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"action_horizon": 16,
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"add_pos_embed": true,
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"backbone_embedding_dim": 2048,
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"diffusion_model_cfg": {
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"attention_head_dim": 48,
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"cross_attention_dim": 2048,
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"dropout": 0.2,
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"final_dropout": true,
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"interleave_self_attention": true,
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"norm_type": "ada_norm",
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"num_attention_heads": 32,
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"num_layers": 16,
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"output_dim": 1024,
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"positional_embeddings": null
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},
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"hidden_size": 1024,
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"input_embedding_dim": 1536,
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"max_action_dim": 32,
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"max_state_dim": 64,
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"model_dtype": "float32",
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"noise_beta_alpha": 1.5,
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"noise_beta_beta": 1.0,
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"noise_s": 0.999,
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"num_inference_timesteps": 4,
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"num_target_vision_tokens": 32,
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"num_timestep_buckets": 1000,
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"tune_diffusion_model": true,
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"tune_projector": true,
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"use_vlln": true,
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"vl_self_attention_cfg": {
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"attention_head_dim": 64,
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"dropout": 0.2,
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"final_dropout": true,
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"num_attention_heads": 32,
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"num_layers": 4,
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"positional_embeddings": null
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}
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},
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"action_horizon": 16,
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"architectures": [
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"GR00T_N1_5"
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],
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"attn_implementation": null,
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"backbone_cfg": {
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"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
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"load_bf16": false,
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"project_to_dim": null,
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"reproject_vision": false,
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"select_layer": 12,
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"tune_llm": false,
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"tune_visual": true,
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"use_flash_attention": true
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},
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"clvla_lm_logits_to_keep": 1,
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"compute_dtype": "bfloat16",
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"hidden_size": 2048,
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"model_dtype": "float32",
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"model_type": "gr00t_n1_5",
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"torch_dtype": "bfloat16",
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"transformers_version": "4.51.3"
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}
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GuideVLA/headgate_gradient_bs128_30k_20261023/checkpoint-30000/experiment_cfg/clvla_contract.yaml
ADDED
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| 1 |
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schema_version: clvla_n15_guidevla_region_mass_v1
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| 2 |
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variant: guidevla_region_mass
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| 3 |
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relation_mode: null
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| 4 |
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future_token_mode: checkpoint_weight
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| 5 |
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vision_tuning: {}
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| 6 |
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auxiliary: {}
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| 7 |
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task_loss: {}
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| 8 |
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state_rkd: {}
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| 9 |
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state_subspace: {}
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| 10 |
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action_rkd: {}
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| 11 |
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relation_mismatch: {}
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| 12 |
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objective: {}
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| 13 |
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input_cache: {}
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| 14 |
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episode_shard: {}
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| 15 |
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n17_official_shard: {}
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| 16 |
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training:
|
| 17 |
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dataset_path:
|
| 18 |
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- /home/work/workspace/test/seonho/libero
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| 19 |
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output_dir: /home/work/workspace/test/seonho/groot_libero/train_ckpt/GuideVLA/headgate_gradient_bs128_30k_20261023
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| 20 |
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experiment_name: GuideVLA_HeadGate_gradient_BS128_30K_20261023
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| 21 |
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wandb_project: finetune-gr00t-n1d5-libero
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| 22 |
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data_config: examples.Libero.custom_data_config:LiberoDataConfig
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| 23 |
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base_model_path: nvidia/GR00T-N1.5-3B
|
| 24 |
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embodiment_tag: new_embodiment
|
| 25 |
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video_backend: torchcodec
|
| 26 |
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batch_size: 128
|
| 27 |
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max_steps: 30000
|
| 28 |
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num_gpus: 1
|
| 29 |
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save_steps: 10000
|
| 30 |
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save_total_limit: 1
|
| 31 |
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tune_llm: false
|
| 32 |
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tune_visual: false
|
| 33 |
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tune_projector: true
|
| 34 |
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tune_diffusion_model: true
|
| 35 |
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learning_rate: 0.0001
|
| 36 |
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gradient_accumulation_steps: 1
|
| 37 |
+
weight_decay: 1.0e-05
|
| 38 |
+
warmup_ratio: 0.05
|
| 39 |
+
lora_rank: 0
|
| 40 |
+
lora_alpha: 16
|
| 41 |
+
lora_dropout: 0.1
|
| 42 |
+
lora_full_model: false
|
| 43 |
+
dataloader_num_workers: 16
|
| 44 |
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dataloader_prefetch_factor: 4
|
| 45 |
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report_to: wandb
|
| 46 |
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resume: false
|
| 47 |
+
balance_dataset_weights: true
|
| 48 |
+
balance_trajectory_weights: true
|
| 49 |
+
state_dropout_prob: 0.0
|
| 50 |
+
dataset_backend: libero_pi_v2
|
| 51 |
+
n15_commit: 48581302b549cb22c455436cbbbe17dc4ddfde75
|
| 52 |
+
config_path: /home/work/workspace/test/seonho/analysis/guidevla_headgate_train_20261023/configs/gradient.yaml
|
| 53 |
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config_sha256: acb984cecc0c4bc96d64a722bfa843232fc52bdeccdb97bea8dfc760ffc161d9
|
| 54 |
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data_contract: libero_pi_v2
|
| 55 |
+
source_dataset:
|
| 56 |
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dataset_backend: libero_pi_v2
|
| 57 |
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dataset_path: /home/work/workspace/test/seonho/libero
|
| 58 |
+
episodes: 1693
|
| 59 |
+
frames: 273465
|
| 60 |
+
tasks: 40
|
| 61 |
+
fps: 10
|
| 62 |
+
info_sha256: 77c0da93c67960bac803a8ea25dabf380d752c26c1d91c54151121dd10e7d82f
|
| 63 |
+
stats_sha256: 1fe6c2d548a7998394488ae68bc2be46a51c8cd3798af6ab74fff79f8b20e293
|
| 64 |
+
action_horizon: 16
|
| 65 |
+
config_status: ready
|
| 66 |
+
guidevla:
|
| 67 |
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enabled: true
|
| 68 |
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teacher_source: public_stage_object_mask
|
| 69 |
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annotation_root: /home/work/workspace/test/seonho/clvla/Isaac-GR00T-N1.5/clvla/cfg_libero/GuideVLA/annotation
|
| 70 |
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frame_policy: same_frame_index
|
| 71 |
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missing_annotation_policy: FM_only
|
| 72 |
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extra_alignment_filter: false
|
| 73 |
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views:
|
| 74 |
+
- front
|
| 75 |
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- wrist
|
| 76 |
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grid:
|
| 77 |
+
- 16
|
| 78 |
+
- 16
|
| 79 |
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mask_crop_replay: true
|
| 80 |
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mask_coverage_threshold: 0.5
|
| 81 |
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student:
|
| 82 |
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module: action_head.model.transformer_blocks
|
| 83 |
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attention_module: attn1
|
| 84 |
+
block_indices_0based:
|
| 85 |
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- 6
|
| 86 |
+
- 8
|
| 87 |
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- 10
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| 88 |
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expected_block_count: 16
|
| 89 |
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expected_interleave_self_attention: true
|
| 90 |
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expected_cross_attention_block_indices_0based:
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| 91 |
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- 0
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| 92 |
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- 2
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| 93 |
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- 4
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| 94 |
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- 6
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| 95 |
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- 8
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| 96 |
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- 10
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| 97 |
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- 12
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| 98 |
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- 14
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| 99 |
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head_indices_0based:
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| 100 |
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- 0
|
| 101 |
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- 1
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| 102 |
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- 2
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| 103 |
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- 3
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| 104 |
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- 4
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| 105 |
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- 5
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| 106 |
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- 6
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| 107 |
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- 7
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| 108 |
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expected_head_count: 32
|
| 109 |
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expected_head_dimension: 48
|
| 110 |
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head_selection: fixed_prefix_no_samplewise_selection
|
| 111 |
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query_selection: last_action_horizon_tokens
|
| 112 |
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expected_action_query_count: 16
|
| 113 |
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exclude_state_query: true
|
| 114 |
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exclude_future_queries: true
|
| 115 |
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ignore_padded_action_queries: true
|
| 116 |
+
query_validity_source: action_mask_any_valid_dimension
|
| 117 |
+
image_key_indices: backbone_image_context_token_positions_preserved_after_processing
|
| 118 |
+
softmax_scope: native_encoder_context_keys
|
| 119 |
+
renormalize_image_attention_for_loss: false
|
| 120 |
+
attention_probability_stage: before_attention_dropout
|
| 121 |
+
stop_gradient: false
|
| 122 |
+
loss:
|
| 123 |
+
name: negative_log_retained_region_mass
|
| 124 |
+
target: external_binary_stage_object_mask
|
| 125 |
+
use_teacher_probability_amplitude: false
|
| 126 |
+
normalize_binary_region_mask: false
|
| 127 |
+
non_image_key_target_weight: 0.0
|
| 128 |
+
selected_head_reduction: mean_before_region_mass
|
| 129 |
+
query_reduction: mean_log_loss_over_valid_action_queries
|
| 130 |
+
layer_reduction: mean
|
| 131 |
+
formula: mean_layer_valid_query(-log(clamp_min(sum_patch(mean_selected_head(P_image)*keep_mask),epsilon)))
|
| 132 |
+
epsilon: 1.0e-06
|
| 133 |
+
empty_or_zero_mass_teacher_policy: exclude_aux_keep_native_fm
|
| 134 |
+
flow_matching_weight: 1.0
|
| 135 |
+
lambda_start: 0.001
|
| 136 |
+
lambda_end: 0.001
|
| 137 |
+
lambda_schedule: constant
|
| 138 |
+
lambda_warmup_ratio: 0.0
|
| 139 |
+
lambda_warmup_optimizer_steps: 0
|
| 140 |
+
schedule_step_source: optimizer_global_step
|
| 141 |
+
gradient_surgery: none
|
| 142 |
+
guidevla_inference_behavior: stock_architecture_no_annotation_or_teacher_hooks
|
| 143 |
+
source_module_sha256:
|
| 144 |
+
clvla/data/guidevla_annotation.py: 8886d09bcd7bf5e8978372403c7e4a63d141aa4337e1e430afbe5eb442229467
|
| 145 |
+
clvla/patches/guidevla_region_mass_patch.py: 60d1a163eca3c23f226bd592263da357880d3132a0ef1fab03a78654cd2002f3
|
| 146 |
+
clvla/patches/aif_region_mass_patch.py: 177c7bbfb3c3135510b3fff9ccdea895e93f604c6e6f89d2d6ef245ab7a31a5d
|
| 147 |
+
clvla/ops/guidevla_20261018/bootstrap.py: c4f7f798156b3b821f4b2a6eb48f78072f3e6e0e6e6d751c1dfd99f20ba950ef
|
| 148 |
+
clvla/ops/guidevla_20261018/launch.py: 6ea6d33bed21141db8d05b2940106094b14cbad760e2ef22078400045f08649f
|
| 149 |
+
annotation_manifest_sha256: a0c2810a0bbb321acd5a43e7d5dee3d50a1f10460bee71a4446b0af55769d948
|
| 150 |
+
annotation_mapping_sha256: 715d209e1d331f95c4b94c431a40374c12c09e6d680b2c4fd4c042bae9111b3f
|
| 151 |
+
distribution:
|
| 152 |
+
method: gradient
|
| 153 |
+
auxiliary_start_step: 0
|
| 154 |
+
auxiliary_ramp_steps: 0
|
| 155 |
+
weight_policy: constant
|
| 156 |
+
prior_floor: 0.9
|
| 157 |
+
target_kl_budget: 0.01
|
| 158 |
+
canonical_frames_per_annotated_demo: 16
|
| 159 |
+
original_FM_region_on_all_frames: true
|
| 160 |
+
inference: unchanged; no teacher, labels or additional head
|
| 161 |
+
weight: 0.1
|
| 162 |
+
allocator_limit_gib: 72
|
| 163 |
+
importance_source: current_training_policy_online
|
| 164 |
+
supervision_prior: detached_current_native_attention_same_forward
|
| 165 |
+
intervention: supervised_head_action_query_post_softmax_removal
|
| 166 |
+
raw_provenance_root: /home/work/workspace/test/seonho/analysis/guidevla_headgate_train_20261023/raw/gradient
|
| 167 |
+
gate_scope:
|
| 168 |
+
layers:
|
| 169 |
+
- 6
|
| 170 |
+
- 8
|
| 171 |
+
- 10
|
| 172 |
+
heads:
|
| 173 |
+
- 0
|
| 174 |
+
- 1
|
| 175 |
+
- 2
|
| 176 |
+
- 3
|
| 177 |
+
- 4
|
| 178 |
+
- 5
|
| 179 |
+
- 6
|
| 180 |
+
- 7
|
| 181 |
+
queries: last16_valid_action
|
| 182 |
+
keys: existing_ROI_image_keys
|
| 183 |
+
online_chunk_size: 4
|
| 184 |
+
online_fm_noise_draws: 2
|
| 185 |
+
online_fm_times:
|
| 186 |
+
- 0.3
|
| 187 |
+
- 0.7
|
| 188 |
+
online_target_stop_gradient: true
|
| 189 |
+
raw_snapshot_steps: 200
|
| 190 |
+
online_selection: all selected items; no sample cap
|
| 191 |
+
additional_VLM_forwards: 0
|
| 192 |
+
distribution_source_sha256:
|
| 193 |
+
/home/work/workspace/test/seonho/analysis/guidevla_headgate_train_20261023/online_runtime.py: c1514aa243ee54014159ff6d86ea4e77e69a93a8058b897a13ab059a761c214c
|
| 194 |
+
/home/work/workspace/test/seonho/analysis/guidevla_head_gate_20261023/head_gate.py: 45084629aea378610a917f31cf777c9b2436b192fd8cde3c34c6dfe78cc83a45
|
| 195 |
+
/home/work/workspace/test/seonho/analysis/guidevla_head_gate_20261023/image_reference.py: 890c278cc885f4e5200cc24ed44033eb11330e2b43655bf59fd54c7465ca52fb
|
| 196 |
+
distribution_inference: unchanged native model; head gates are training-only importance
|
| 197 |
+
interventions
|
GuideVLA/headgate_gradient_bs128_30k_20261023/checkpoint-30000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,433 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"new_embodiment": {
|
| 3 |
+
"statistics": {
|
| 4 |
+
"state": {
|
| 5 |
+
"x": {
|
| 6 |
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"max": [
|
| 7 |
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|
| 8 |
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|
| 9 |
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"min": [
|
| 10 |
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|
| 11 |
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|
| 12 |
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"mean": [
|
| 13 |
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|
| 14 |
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|
| 15 |
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"std": [
|
| 16 |
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|
| 17 |
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|
| 18 |
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"q01": [
|
| 19 |
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|
| 20 |
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],
|
| 21 |
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"q99": [
|
| 22 |
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|
| 23 |
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]
|
| 24 |
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},
|
| 25 |
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"y": {
|
| 26 |
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"max": [
|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"min": [
|
| 30 |
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|
| 31 |
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|
| 32 |
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"mean": [
|
| 33 |
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|
| 34 |
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],
|
| 35 |
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"std": [
|
| 36 |
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|
| 37 |
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],
|
| 38 |
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"q01": [
|
| 39 |
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|
| 40 |
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],
|
| 41 |
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"q99": [
|
| 42 |
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|
| 43 |
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]
|
| 44 |
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},
|
| 45 |
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"z": {
|
| 46 |
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"max": [
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"min": [
|
| 50 |
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|
| 51 |
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],
|
| 52 |
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"mean": [
|
| 53 |
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|
| 54 |
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|
| 55 |
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"std": [
|
| 56 |
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|
| 57 |
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|
| 58 |
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"q01": [
|
| 59 |
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|
| 60 |
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|
| 61 |
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"q99": [
|
| 62 |
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|
| 63 |
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]
|
| 64 |
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},
|
| 65 |
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"roll": {
|
| 66 |
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"max": [
|
| 67 |
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|
| 68 |
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|
| 69 |
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"min": [
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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"q01": [
|
| 79 |
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|
| 80 |
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|
| 81 |
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"q99": [
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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"pitch": {
|
| 86 |
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"max": [
|
| 87 |
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|
| 88 |
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|
| 89 |
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"min": [
|
| 90 |
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|
| 91 |
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|
| 92 |
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"mean": [
|
| 93 |
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|
| 94 |
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|
| 95 |
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"std": [
|
| 96 |
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|
| 97 |
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|
| 98 |
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"q01": [
|
| 99 |
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|
| 100 |
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|
| 101 |
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"q99": [
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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"yaw": {
|
| 106 |
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"max": [
|
| 107 |
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|
| 108 |
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|
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|
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|
| 111 |
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|
| 112 |
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|
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|
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| 48 |
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"backbone_cfg": {
|
| 49 |
+
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
| 50 |
+
"load_bf16": false,
|
| 51 |
+
"project_to_dim": null,
|
| 52 |
+
"reproject_vision": false,
|
| 53 |
+
"select_layer": 12,
|
| 54 |
+
"tune_llm": false,
|
| 55 |
+
"tune_visual": true,
|
| 56 |
+
"use_flash_attention": true
|
| 57 |
+
},
|
| 58 |
+
"clvla_lm_logits_to_keep": 1,
|
| 59 |
+
"compute_dtype": "bfloat16",
|
| 60 |
+
"hidden_size": 2048,
|
| 61 |
+
"model_dtype": "float32",
|
| 62 |
+
"model_type": "gr00t_n1_5",
|
| 63 |
+
"torch_dtype": "bfloat16",
|
| 64 |
+
"transformers_version": "4.51.3"
|
| 65 |
+
}
|
GuideVLA/headgate_rise16_bs128_30k_20261023/checkpoint-30000/experiment_cfg/clvla_contract.yaml
ADDED
|
@@ -0,0 +1,214 @@
|
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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 |
+
schema_version: clvla_n15_guidevla_region_mass_v1
|
| 2 |
+
variant: guidevla_region_mass
|
| 3 |
+
relation_mode: null
|
| 4 |
+
future_token_mode: checkpoint_weight
|
| 5 |
+
vision_tuning: {}
|
| 6 |
+
auxiliary: {}
|
| 7 |
+
task_loss: {}
|
| 8 |
+
state_rkd: {}
|
| 9 |
+
state_subspace: {}
|
| 10 |
+
action_rkd: {}
|
| 11 |
+
relation_mismatch: {}
|
| 12 |
+
objective: {}
|
| 13 |
+
input_cache: {}
|
| 14 |
+
episode_shard: {}
|
| 15 |
+
n17_official_shard: {}
|
| 16 |
+
training:
|
| 17 |
+
dataset_path:
|
| 18 |
+
- /home/work/workspace/test/seonho/libero
|
| 19 |
+
output_dir: /home/work/workspace/test/seonho/groot_libero/train_ckpt/GuideVLA/headgate_rise16_bs128_30k_20261023
|
| 20 |
+
experiment_name: GuideVLA_HeadGate_RISE16_BS128_30K_20261023
|
| 21 |
+
wandb_project: finetune-gr00t-n1d5-libero
|
| 22 |
+
data_config: examples.Libero.custom_data_config:LiberoDataConfig
|
| 23 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 24 |
+
embodiment_tag: new_embodiment
|
| 25 |
+
video_backend: torchcodec
|
| 26 |
+
batch_size: 128
|
| 27 |
+
max_steps: 30000
|
| 28 |
+
num_gpus: 1
|
| 29 |
+
save_steps: 10000
|
| 30 |
+
save_total_limit: 1
|
| 31 |
+
tune_llm: false
|
| 32 |
+
tune_visual: false
|
| 33 |
+
tune_projector: true
|
| 34 |
+
tune_diffusion_model: true
|
| 35 |
+
learning_rate: 0.0001
|
| 36 |
+
gradient_accumulation_steps: 1
|
| 37 |
+
weight_decay: 1.0e-05
|
| 38 |
+
warmup_ratio: 0.05
|
| 39 |
+
lora_rank: 0
|
| 40 |
+
lora_alpha: 16
|
| 41 |
+
lora_dropout: 0.1
|
| 42 |
+
lora_full_model: false
|
| 43 |
+
dataloader_num_workers: 16
|
| 44 |
+
dataloader_prefetch_factor: 4
|
| 45 |
+
report_to: wandb
|
| 46 |
+
resume: false
|
| 47 |
+
balance_dataset_weights: true
|
| 48 |
+
balance_trajectory_weights: true
|
| 49 |
+
state_dropout_prob: 0.0
|
| 50 |
+
dataset_backend: libero_pi_v2
|
| 51 |
+
n15_commit: 48581302b549cb22c455436cbbbe17dc4ddfde75
|
| 52 |
+
config_path: /home/work/workspace/test/seonho/analysis/guidevla_headgate_train_20261023/configs/rise.yaml
|
| 53 |
+
config_sha256: ce38b6552ba6f59fbc1f1ea303aae1d0c7d709ccf6549d6b9894cb8a66ff7eb1
|
| 54 |
+
data_contract: libero_pi_v2
|
| 55 |
+
source_dataset:
|
| 56 |
+
dataset_backend: libero_pi_v2
|
| 57 |
+
dataset_path: /home/work/workspace/test/seonho/libero
|
| 58 |
+
episodes: 1693
|
| 59 |
+
frames: 273465
|
| 60 |
+
tasks: 40
|
| 61 |
+
fps: 10
|
| 62 |
+
info_sha256: 77c0da93c67960bac803a8ea25dabf380d752c26c1d91c54151121dd10e7d82f
|
| 63 |
+
stats_sha256: 1fe6c2d548a7998394488ae68bc2be46a51c8cd3798af6ab74fff79f8b20e293
|
| 64 |
+
action_horizon: 16
|
| 65 |
+
config_status: ready
|
| 66 |
+
guidevla:
|
| 67 |
+
enabled: true
|
| 68 |
+
teacher_source: public_stage_object_mask
|
| 69 |
+
annotation_root: /home/work/workspace/test/seonho/clvla/Isaac-GR00T-N1.5/clvla/cfg_libero/GuideVLA/annotation
|
| 70 |
+
frame_policy: same_frame_index
|
| 71 |
+
missing_annotation_policy: FM_only
|
| 72 |
+
extra_alignment_filter: false
|
| 73 |
+
views:
|
| 74 |
+
- front
|
| 75 |
+
- wrist
|
| 76 |
+
grid:
|
| 77 |
+
- 16
|
| 78 |
+
- 16
|
| 79 |
+
mask_crop_replay: true
|
| 80 |
+
mask_coverage_threshold: 0.5
|
| 81 |
+
student:
|
| 82 |
+
module: action_head.model.transformer_blocks
|
| 83 |
+
attention_module: attn1
|
| 84 |
+
block_indices_0based:
|
| 85 |
+
- 6
|
| 86 |
+
- 8
|
| 87 |
+
- 10
|
| 88 |
+
expected_block_count: 16
|
| 89 |
+
expected_interleave_self_attention: true
|
| 90 |
+
expected_cross_attention_block_indices_0based:
|
| 91 |
+
- 0
|
| 92 |
+
- 2
|
| 93 |
+
- 4
|
| 94 |
+
- 6
|
| 95 |
+
- 8
|
| 96 |
+
- 10
|
| 97 |
+
- 12
|
| 98 |
+
- 14
|
| 99 |
+
head_indices_0based:
|
| 100 |
+
- 0
|
| 101 |
+
- 1
|
| 102 |
+
- 2
|
| 103 |
+
- 3
|
| 104 |
+
- 4
|
| 105 |
+
- 5
|
| 106 |
+
- 6
|
| 107 |
+
- 7
|
| 108 |
+
expected_head_count: 32
|
| 109 |
+
expected_head_dimension: 48
|
| 110 |
+
head_selection: fixed_prefix_no_samplewise_selection
|
| 111 |
+
query_selection: last_action_horizon_tokens
|
| 112 |
+
expected_action_query_count: 16
|
| 113 |
+
exclude_state_query: true
|
| 114 |
+
exclude_future_queries: true
|
| 115 |
+
ignore_padded_action_queries: true
|
| 116 |
+
query_validity_source: action_mask_any_valid_dimension
|
| 117 |
+
image_key_indices: backbone_image_context_token_positions_preserved_after_processing
|
| 118 |
+
softmax_scope: native_encoder_context_keys
|
| 119 |
+
renormalize_image_attention_for_loss: false
|
| 120 |
+
attention_probability_stage: before_attention_dropout
|
| 121 |
+
stop_gradient: false
|
| 122 |
+
loss:
|
| 123 |
+
name: negative_log_retained_region_mass
|
| 124 |
+
target: external_binary_stage_object_mask
|
| 125 |
+
use_teacher_probability_amplitude: false
|
| 126 |
+
normalize_binary_region_mask: false
|
| 127 |
+
non_image_key_target_weight: 0.0
|
| 128 |
+
selected_head_reduction: mean_before_region_mass
|
| 129 |
+
query_reduction: mean_log_loss_over_valid_action_queries
|
| 130 |
+
layer_reduction: mean
|
| 131 |
+
formula: mean_layer_valid_query(-log(clamp_min(sum_patch(mean_selected_head(P_image)*keep_mask),epsilon)))
|
| 132 |
+
epsilon: 1.0e-06
|
| 133 |
+
empty_or_zero_mass_teacher_policy: exclude_aux_keep_native_fm
|
| 134 |
+
flow_matching_weight: 1.0
|
| 135 |
+
lambda_start: 0.001
|
| 136 |
+
lambda_end: 0.001
|
| 137 |
+
lambda_schedule: constant
|
| 138 |
+
lambda_warmup_ratio: 0.0
|
| 139 |
+
lambda_warmup_optimizer_steps: 0
|
| 140 |
+
schedule_step_source: optimizer_global_step
|
| 141 |
+
gradient_surgery: none
|
| 142 |
+
guidevla_inference_behavior: stock_architecture_no_annotation_or_teacher_hooks
|
| 143 |
+
source_module_sha256:
|
| 144 |
+
clvla/data/guidevla_annotation.py: 8886d09bcd7bf5e8978372403c7e4a63d141aa4337e1e430afbe5eb442229467
|
| 145 |
+
clvla/patches/guidevla_region_mass_patch.py: 60d1a163eca3c23f226bd592263da357880d3132a0ef1fab03a78654cd2002f3
|
| 146 |
+
clvla/patches/aif_region_mass_patch.py: 177c7bbfb3c3135510b3fff9ccdea895e93f604c6e6f89d2d6ef245ab7a31a5d
|
| 147 |
+
clvla/ops/guidevla_20261018/bootstrap.py: c4f7f798156b3b821f4b2a6eb48f78072f3e6e0e6e6d751c1dfd99f20ba950ef
|
| 148 |
+
clvla/ops/guidevla_20261018/launch.py: 6ea6d33bed21141db8d05b2940106094b14cbad760e2ef22078400045f08649f
|
| 149 |
+
annotation_manifest_sha256: a0c2810a0bbb321acd5a43e7d5dee3d50a1f10460bee71a4446b0af55769d948
|
| 150 |
+
annotation_mapping_sha256: 715d209e1d331f95c4b94c431a40374c12c09e6d680b2c4fd4c042bae9111b3f
|
| 151 |
+
distribution:
|
| 152 |
+
method: rise
|
| 153 |
+
cache_root: /home/work/workspace/test/seonho/analysis/guidevla_headgate_train_20261023/labels/rise
|
| 154 |
+
teacher_checkpoint: /home/work/workspace/test/seonho/groot_libero/train_ckpt/GuideVLA/guidevla_object_bs128_30k/checkpoint-30000
|
| 155 |
+
auxiliary_start_step: 0
|
| 156 |
+
auxiliary_ramp_steps: 0
|
| 157 |
+
weight_policy: constant
|
| 158 |
+
prior_floor: 0.9
|
| 159 |
+
target_kl_budget: 0.01
|
| 160 |
+
rise_conditions: 16
|
| 161 |
+
sparse_regions_per_view: 2
|
| 162 |
+
sparse_block_shape:
|
| 163 |
+
- 2
|
| 164 |
+
- 2
|
| 165 |
+
sparse_pair_banks: 2
|
| 166 |
+
canonical_frames_per_annotated_demo: 16
|
| 167 |
+
original_FM_region_on_all_frames: true
|
| 168 |
+
cache_miss_policy: keep_original_FM_and_region
|
| 169 |
+
cache_geometry: same VideoCrop RNG replay
|
| 170 |
+
inference: unchanged; no teacher, labels or additional head
|
| 171 |
+
weight: 0.1
|
| 172 |
+
allocator_limit_gib: 68
|
| 173 |
+
importance_source: fixed_guidevla_teacher_head_path_cache
|
| 174 |
+
supervision_prior: cached_fixed_teacher_attention
|
| 175 |
+
intervention: supervised_head_action_query_post_softmax_removal
|
| 176 |
+
raw_provenance_root: /home/work/workspace/test/seonho/analysis/guidevla_headgate_train_20261023/raw/rise
|
| 177 |
+
gate_scope:
|
| 178 |
+
layers:
|
| 179 |
+
- 6
|
| 180 |
+
- 8
|
| 181 |
+
- 10
|
| 182 |
+
heads:
|
| 183 |
+
- 0
|
| 184 |
+
- 1
|
| 185 |
+
- 2
|
| 186 |
+
- 3
|
| 187 |
+
- 4
|
| 188 |
+
- 5
|
| 189 |
+
- 6
|
| 190 |
+
- 7
|
| 191 |
+
queries: last16_valid_action
|
| 192 |
+
keys: existing_ROI_image_keys
|
| 193 |
+
distribution_inference: unchanged native model; distribution supervision is training-only
|
| 194 |
+
distribution_source_sha256:
|
| 195 |
+
/home/work/workspace/test/seonho/analysis/guidevla_headgate_train_20261023/cached_runtime.py: e95878147733fe41d64c8df9e208f565e7d2b0b2b41c64cbd075170866a1ade6
|
| 196 |
+
distribution_cache_ready:
|
| 197 |
+
complete: true
|
| 198 |
+
mode: rise
|
| 199 |
+
frames: 26032
|
| 200 |
+
demos: 1627
|
| 201 |
+
plan_sha256: 3f8cefbc5e5e4cb3fb7b79ce21f12e5a178e9c7decca450c311bbeab453b604f
|
| 202 |
+
teacher_checkpoint: /home/work/workspace/test/seonho/groot_libero/train_ckpt/GuideVLA/guidevla_object_bs128_30k/checkpoint-30000
|
| 203 |
+
intervention: supervised_head_action_query_post_softmax_removal
|
| 204 |
+
rise_conditions: 16
|
| 205 |
+
native_VLM_batches: 3254
|
| 206 |
+
raw_root: /home/work/workspace/test/seonho/analysis/guidevla_headgate_train_20261023/raw/rise
|
| 207 |
+
raw_attention_dtype: float32
|
| 208 |
+
source_teacher_unchanged: true
|
| 209 |
+
headgate_training_source_sha256:
|
| 210 |
+
prepare_cache.py: a98b211c69f713549f460ae64e05fcc193244e953b66c5f8e4335a4b5347700a
|
| 211 |
+
data_support.py: 5e83e0595a2eff294d6e4cb852ede2496a9fb9479730987ca686c85e24070c41
|
| 212 |
+
cached_runtime.py: e95878147733fe41d64c8df9e208f565e7d2b0b2b41c64cbd075170866a1ade6
|
| 213 |
+
launch_rise.py: b4efe52490d895a6cc16c3de16dd9c5faff88d48ea68f04ef13c545c0217fbb9
|
| 214 |
+
headgate_source_sha256: 45084629aea378610a917f31cf777c9b2436b192fd8cde3c34c6dfe78cc83a45
|
GuideVLA/headgate_rise16_bs128_30k_20261023/checkpoint-30000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,433 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/experiment_cfg/clvla_contract.yaml
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state_rkd: {}
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| 9 |
+
state_subspace: {}
|
| 10 |
+
action_rkd: {}
|
| 11 |
+
relation_mismatch: {}
|
| 12 |
+
objective: {}
|
| 13 |
+
input_cache: {}
|
| 14 |
+
episode_shard: {}
|
| 15 |
+
n17_official_shard: {}
|
| 16 |
+
training:
|
| 17 |
+
dataset_path:
|
| 18 |
+
- /home/work/workspace/test/seonho/libero
|
| 19 |
+
output_dir: /home/work/workspace/test/seonho/groot_libero/train_ckpt/GuideVLA/headgate_sparse_bs128_30k_20261023
|
| 20 |
+
experiment_name: GuideVLA_HeadGate_sparse_BS128_30K_20261023
|
| 21 |
+
wandb_project: finetune-gr00t-n1d5-libero
|
| 22 |
+
data_config: examples.Libero.custom_data_config:LiberoDataConfig
|
| 23 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 24 |
+
embodiment_tag: new_embodiment
|
| 25 |
+
video_backend: torchcodec
|
| 26 |
+
batch_size: 128
|
| 27 |
+
max_steps: 30000
|
| 28 |
+
num_gpus: 1
|
| 29 |
+
save_steps: 10000
|
| 30 |
+
save_total_limit: 1
|
| 31 |
+
tune_llm: false
|
| 32 |
+
tune_visual: false
|
| 33 |
+
tune_projector: true
|
| 34 |
+
tune_diffusion_model: true
|
| 35 |
+
learning_rate: 0.0001
|
| 36 |
+
gradient_accumulation_steps: 1
|
| 37 |
+
weight_decay: 1.0e-05
|
| 38 |
+
warmup_ratio: 0.05
|
| 39 |
+
lora_rank: 0
|
| 40 |
+
lora_alpha: 16
|
| 41 |
+
lora_dropout: 0.1
|
| 42 |
+
lora_full_model: false
|
| 43 |
+
dataloader_num_workers: 16
|
| 44 |
+
dataloader_prefetch_factor: 4
|
| 45 |
+
report_to: wandb
|
| 46 |
+
resume: false
|
| 47 |
+
balance_dataset_weights: true
|
| 48 |
+
balance_trajectory_weights: true
|
| 49 |
+
state_dropout_prob: 0.0
|
| 50 |
+
dataset_backend: libero_pi_v2
|
| 51 |
+
n15_commit: 48581302b549cb22c455436cbbbe17dc4ddfde75
|
| 52 |
+
config_path: /home/work/workspace/test/seonho/analysis/guidevla_headgate_train_20261023/configs/sparse.yaml
|
| 53 |
+
config_sha256: 2a9e8cbcc29faa855e8abd540f124f353edcb2cd374416922067ddf51a3939ce
|
| 54 |
+
data_contract: libero_pi_v2
|
| 55 |
+
source_dataset:
|
| 56 |
+
dataset_backend: libero_pi_v2
|
| 57 |
+
dataset_path: /home/work/workspace/test/seonho/libero
|
| 58 |
+
episodes: 1693
|
| 59 |
+
frames: 273465
|
| 60 |
+
tasks: 40
|
| 61 |
+
fps: 10
|
| 62 |
+
info_sha256: 77c0da93c67960bac803a8ea25dabf380d752c26c1d91c54151121dd10e7d82f
|
| 63 |
+
stats_sha256: 1fe6c2d548a7998394488ae68bc2be46a51c8cd3798af6ab74fff79f8b20e293
|
| 64 |
+
action_horizon: 16
|
| 65 |
+
config_status: ready
|
| 66 |
+
guidevla:
|
| 67 |
+
enabled: true
|
| 68 |
+
teacher_source: public_stage_object_mask
|
| 69 |
+
annotation_root: /home/work/workspace/test/seonho/clvla/Isaac-GR00T-N1.5/clvla/cfg_libero/GuideVLA/annotation
|
| 70 |
+
frame_policy: same_frame_index
|
| 71 |
+
missing_annotation_policy: FM_only
|
| 72 |
+
extra_alignment_filter: false
|
| 73 |
+
views:
|
| 74 |
+
- front
|
| 75 |
+
- wrist
|
| 76 |
+
grid:
|
| 77 |
+
- 16
|
| 78 |
+
- 16
|
| 79 |
+
mask_crop_replay: true
|
| 80 |
+
mask_coverage_threshold: 0.5
|
| 81 |
+
student:
|
| 82 |
+
module: action_head.model.transformer_blocks
|
| 83 |
+
attention_module: attn1
|
| 84 |
+
block_indices_0based:
|
| 85 |
+
- 6
|
| 86 |
+
- 8
|
| 87 |
+
- 10
|
| 88 |
+
expected_block_count: 16
|
| 89 |
+
expected_interleave_self_attention: true
|
| 90 |
+
expected_cross_attention_block_indices_0based:
|
| 91 |
+
- 0
|
| 92 |
+
- 2
|
| 93 |
+
- 4
|
| 94 |
+
- 6
|
| 95 |
+
- 8
|
| 96 |
+
- 10
|
| 97 |
+
- 12
|
| 98 |
+
- 14
|
| 99 |
+
head_indices_0based:
|
| 100 |
+
- 0
|
| 101 |
+
- 1
|
| 102 |
+
- 2
|
| 103 |
+
- 3
|
| 104 |
+
- 4
|
| 105 |
+
- 5
|
| 106 |
+
- 6
|
| 107 |
+
- 7
|
| 108 |
+
expected_head_count: 32
|
| 109 |
+
expected_head_dimension: 48
|
| 110 |
+
head_selection: fixed_prefix_no_samplewise_selection
|
| 111 |
+
query_selection: last_action_horizon_tokens
|
| 112 |
+
expected_action_query_count: 16
|
| 113 |
+
exclude_state_query: true
|
| 114 |
+
exclude_future_queries: true
|
| 115 |
+
ignore_padded_action_queries: true
|
| 116 |
+
query_validity_source: action_mask_any_valid_dimension
|
| 117 |
+
image_key_indices: backbone_image_context_token_positions_preserved_after_processing
|
| 118 |
+
softmax_scope: native_encoder_context_keys
|
| 119 |
+
renormalize_image_attention_for_loss: false
|
| 120 |
+
attention_probability_stage: before_attention_dropout
|
| 121 |
+
stop_gradient: false
|
| 122 |
+
loss:
|
| 123 |
+
name: negative_log_retained_region_mass
|
| 124 |
+
target: external_binary_stage_object_mask
|
| 125 |
+
use_teacher_probability_amplitude: false
|
| 126 |
+
normalize_binary_region_mask: false
|
| 127 |
+
non_image_key_target_weight: 0.0
|
| 128 |
+
selected_head_reduction: mean_before_region_mass
|
| 129 |
+
query_reduction: mean_log_loss_over_valid_action_queries
|
| 130 |
+
layer_reduction: mean
|
| 131 |
+
formula: mean_layer_valid_query(-log(clamp_min(sum_patch(mean_selected_head(P_image)*keep_mask),epsilon)))
|
| 132 |
+
epsilon: 1.0e-06
|
| 133 |
+
empty_or_zero_mass_teacher_policy: exclude_aux_keep_native_fm
|
| 134 |
+
flow_matching_weight: 1.0
|
| 135 |
+
lambda_start: 0.001
|
| 136 |
+
lambda_end: 0.001
|
| 137 |
+
lambda_schedule: constant
|
| 138 |
+
lambda_warmup_ratio: 0.0
|
| 139 |
+
lambda_warmup_optimizer_steps: 0
|
| 140 |
+
schedule_step_source: optimizer_global_step
|
| 141 |
+
gradient_surgery: none
|
| 142 |
+
guidevla_inference_behavior: stock_architecture_no_annotation_or_teacher_hooks
|
| 143 |
+
source_module_sha256:
|
| 144 |
+
clvla/data/guidevla_annotation.py: 8886d09bcd7bf5e8978372403c7e4a63d141aa4337e1e430afbe5eb442229467
|
| 145 |
+
clvla/patches/guidevla_region_mass_patch.py: 60d1a163eca3c23f226bd592263da357880d3132a0ef1fab03a78654cd2002f3
|
| 146 |
+
clvla/patches/aif_region_mass_patch.py: 177c7bbfb3c3135510b3fff9ccdea895e93f604c6e6f89d2d6ef245ab7a31a5d
|
| 147 |
+
clvla/ops/guidevla_20261018/bootstrap.py: c4f7f798156b3b821f4b2a6eb48f78072f3e6e0e6e6d751c1dfd99f20ba950ef
|
| 148 |
+
clvla/ops/guidevla_20261018/launch.py: 6ea6d33bed21141db8d05b2940106094b14cbad760e2ef22078400045f08649f
|
| 149 |
+
annotation_manifest_sha256: a0c2810a0bbb321acd5a43e7d5dee3d50a1f10460bee71a4446b0af55769d948
|
| 150 |
+
annotation_mapping_sha256: 715d209e1d331f95c4b94c431a40374c12c09e6d680b2c4fd4c042bae9111b3f
|
| 151 |
+
distribution:
|
| 152 |
+
method: sparse
|
| 153 |
+
auxiliary_start_step: 0
|
| 154 |
+
auxiliary_ramp_steps: 0
|
| 155 |
+
weight_policy: constant
|
| 156 |
+
prior_floor: 0.9
|
| 157 |
+
target_kl_budget: 0.01
|
| 158 |
+
sparse_regions_per_view: 2
|
| 159 |
+
sparse_block_shape:
|
| 160 |
+
- 2
|
| 161 |
+
- 2
|
| 162 |
+
canonical_frames_per_annotated_demo: 16
|
| 163 |
+
original_FM_region_on_all_frames: true
|
| 164 |
+
inference: unchanged; no teacher, labels or additional head
|
| 165 |
+
weight: 0.1
|
| 166 |
+
allocator_limit_gib: 72
|
| 167 |
+
importance_source: current_training_policy_online
|
| 168 |
+
supervision_prior: detached_current_native_attention_same_forward
|
| 169 |
+
intervention: supervised_head_action_query_post_softmax_removal
|
| 170 |
+
raw_provenance_root: /home/work/workspace/test/seonho/analysis/guidevla_headgate_train_20261023/raw/sparse
|
| 171 |
+
gate_scope:
|
| 172 |
+
layers:
|
| 173 |
+
- 6
|
| 174 |
+
- 8
|
| 175 |
+
- 10
|
| 176 |
+
heads:
|
| 177 |
+
- 0
|
| 178 |
+
- 1
|
| 179 |
+
- 2
|
| 180 |
+
- 3
|
| 181 |
+
- 4
|
| 182 |
+
- 5
|
| 183 |
+
- 6
|
| 184 |
+
- 7
|
| 185 |
+
queries: last16_valid_action
|
| 186 |
+
keys: existing_ROI_image_keys
|
| 187 |
+
online_chunk_size: 4
|
| 188 |
+
online_fm_noise_draws: 2
|
| 189 |
+
online_fm_times:
|
| 190 |
+
- 0.3
|
| 191 |
+
- 0.7
|
| 192 |
+
online_target_stop_gradient: true
|
| 193 |
+
raw_snapshot_steps: 200
|
| 194 |
+
online_selection: all selected items; no sample cap
|
| 195 |
+
additional_VLM_forwards: 0
|
| 196 |
+
distribution_source_sha256:
|
| 197 |
+
/home/work/workspace/test/seonho/analysis/guidevla_headgate_train_20261023/online_runtime.py: c1514aa243ee54014159ff6d86ea4e77e69a93a8058b897a13ab059a761c214c
|
| 198 |
+
/home/work/workspace/test/seonho/analysis/guidevla_head_gate_20261023/head_gate.py: 45084629aea378610a917f31cf777c9b2436b192fd8cde3c34c6dfe78cc83a45
|
| 199 |
+
/home/work/workspace/test/seonho/analysis/guidevla_head_gate_20261023/image_reference.py: 890c278cc885f4e5200cc24ed44033eb11330e2b43655bf59fd54c7465ca52fb
|
| 200 |
+
distribution_inference: unchanged native model; head gates are training-only importance
|
| 201 |
+
interventions
|
GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,433 @@
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GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/model-00001-of-00002.safetensors
ADDED
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@@ -0,0 +1,3 @@
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GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/optimizer.pt
ADDED
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GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/rng_state.pth
ADDED
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GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/scheduler.pt
ADDED
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GuideVLA/headgate_sparse_bs128_30k_20261023/checkpoint-30000/trainer_state.json
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baseline_bs128_30k/checkpoint-30000/config.json
ADDED
|
@@ -0,0 +1,64 @@
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},
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"noise_s": 0.999,
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|
| 29 |
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|
| 30 |
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|
| 31 |
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"tune_diffusion_model": true,
|
| 32 |
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"tune_projector": true,
|
| 33 |
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"use_vlln": true,
|
| 34 |
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"vl_self_attention_cfg": {
|
| 35 |
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"attention_head_dim": 64,
|
| 36 |
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"dropout": 0.2,
|
| 37 |
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"final_dropout": true,
|
| 38 |
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|
| 39 |
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"num_layers": 4,
|
| 40 |
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"positional_embeddings": null
|
| 41 |
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}
|
| 42 |
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},
|
| 43 |
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|
| 44 |
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"architectures": [
|
| 45 |
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"GR00T_N1_5"
|
| 46 |
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],
|
| 47 |
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"attn_implementation": null,
|
| 48 |
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"backbone_cfg": {
|
| 49 |
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"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
| 50 |
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"load_bf16": false,
|
| 51 |
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"project_to_dim": null,
|
| 52 |
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"reproject_vision": false,
|
| 53 |
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"select_layer": 12,
|
| 54 |
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"tune_llm": false,
|
| 55 |
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"tune_visual": true,
|
| 56 |
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"use_flash_attention": true
|
| 57 |
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},
|
| 58 |
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"compute_dtype": "bfloat16",
|
| 59 |
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"hidden_size": 2048,
|
| 60 |
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"model_dtype": "float32",
|
| 61 |
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"model_type": "gr00t_n1_5",
|
| 62 |
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"torch_dtype": "bfloat16",
|
| 63 |
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"transformers_version": "4.51.3"
|
| 64 |
+
}
|
baseline_bs128_30k/checkpoint-30000/experiment_cfg/clvla_contract.yaml
ADDED
|
@@ -0,0 +1,64 @@
|
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|
| 1 |
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schema_version: clvla_n15_v1
|
| 2 |
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variant: baseline
|
| 3 |
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relation_mode: null
|
| 4 |
+
future_token_mode: checkpoint_weight
|
| 5 |
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vision_tuning: {}
|
| 6 |
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auxiliary: {}
|
| 7 |
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task_loss: {}
|
| 8 |
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state_rkd: {}
|
| 9 |
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state_subspace: {}
|
| 10 |
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action_rkd: {}
|
| 11 |
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relation_mismatch: {}
|
| 12 |
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objective: {}
|
| 13 |
+
input_cache: {}
|
| 14 |
+
episode_shard: {}
|
| 15 |
+
n17_official_shard: {}
|
| 16 |
+
training:
|
| 17 |
+
dataset_path:
|
| 18 |
+
- /home/work/workspace/test/seonho/libero
|
| 19 |
+
output_dir: /home/work/workspace/test/seonho/groot_libero/train_ckpt/baseline_bs128_30k
|
| 20 |
+
experiment_name: Baseline_BS128_30K
|
| 21 |
+
wandb_project: finetune-gr00t-n1d5-libero
|
| 22 |
+
data_config: examples.Libero.custom_data_config:LiberoDataConfig
|
| 23 |
+
base_model_path: nvidia/GR00T-N1.5-3B
|
| 24 |
+
embodiment_tag: new_embodiment
|
| 25 |
+
video_backend: torchcodec
|
| 26 |
+
batch_size: 128
|
| 27 |
+
max_steps: 30000
|
| 28 |
+
num_gpus: 1
|
| 29 |
+
save_steps: 10000
|
| 30 |
+
save_total_limit: 1
|
| 31 |
+
tune_llm: false
|
| 32 |
+
tune_visual: false
|
| 33 |
+
tune_projector: true
|
| 34 |
+
tune_diffusion_model: true
|
| 35 |
+
learning_rate: 0.0001
|
| 36 |
+
gradient_accumulation_steps: 1
|
| 37 |
+
weight_decay: 1.0e-05
|
| 38 |
+
warmup_ratio: 0.05
|
| 39 |
+
lora_rank: 0
|
| 40 |
+
lora_alpha: 16
|
| 41 |
+
lora_dropout: 0.1
|
| 42 |
+
lora_full_model: false
|
| 43 |
+
dataloader_num_workers: 16
|
| 44 |
+
dataloader_prefetch_factor: 4
|
| 45 |
+
report_to: wandb
|
| 46 |
+
resume: false
|
| 47 |
+
balance_dataset_weights: true
|
| 48 |
+
balance_trajectory_weights: true
|
| 49 |
+
state_dropout_prob: 0.0
|
| 50 |
+
dataset_backend: libero_pi_v2
|
| 51 |
+
n15_commit: f2dcd1c0e7fb16260c851e1d3cc9a8a9860b8f05
|
| 52 |
+
config_path: /home/work/workspace/test/seonho/clvla/Isaac-GR00T-N1.5/clvla/cfg_libero/baseline/baseline_bs128_30k.yaml
|
| 53 |
+
config_sha256: 237d50012a8a0fc52e55422034166cdf24f53164b0337cd7f03e4374c569defd
|
| 54 |
+
data_contract: libero_pi_v2
|
| 55 |
+
source_dataset:
|
| 56 |
+
dataset_backend: libero_pi_v2
|
| 57 |
+
dataset_path: /home/work/workspace/test/seonho/libero
|
| 58 |
+
episodes: 1693
|
| 59 |
+
frames: 273465
|
| 60 |
+
tasks: 40
|
| 61 |
+
fps: 10
|
| 62 |
+
info_sha256: 77c0da93c67960bac803a8ea25dabf380d752c26c1d91c54151121dd10e7d82f
|
| 63 |
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stats_sha256: 1fe6c2d548a7998394488ae68bc2be46a51c8cd3798af6ab74fff79f8b20e293
|
| 64 |
+
action_horizon: 16
|
baseline_bs128_30k/checkpoint-30000/experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,433 @@
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| 432 |
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