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library_name: transformers
tags:
- robotics
- reward-modeling
- qwen3-vl
- peft
- offline-training
---
# Cosmos–Robometer Phase 2.1A training code
Portable training kit for the approved `Public-Proxy stage2_core_v1`
experiments:
- `Robometer-Low-LoRA`: implemented formal trainer with frozen ID-dev evaluation,
early stopping, and a 3,000-step hard cap.
- `Robometer-Low`: full language-decoder smoke test. Formal training remains
intentionally blocked until suitable multi-GPU/server memory is available.
The repository does not duplicate the official Robometer trajectory archives,
model weights, checkpoints, credentials, OOD evaluation archives, or
machine-specific run logs. It does contain derived action sidecars and their
manifests: 20,620 sidecar files are packaged in a 455,188,480-byte tar archive.
These sidecars are not consumed by the Phase 2.1A reward-model training loop.
## Recreate the environment
```bash
uv python install 3.10.12
uv sync --project environment/phase21a_robometer --frozen
uv run --project environment/phase21a_robometer \
python environment/phase21a_robometer/doctor.py
```
The environment is locked for PyTorch 2.8.0/CUDA 12.8. The reference smoke
hardware was one RTX 5090 with 32,607 MiB VRAM.
For a server with restricted or no network access, download the validated pure
uv offline archive under `offline_env/`. It includes uv 0.11.3, CPython 3.10.12,
all 50 locked packages, CUDA 12.8 Python wheels, and the locally built
FlashAttention wheel. See [OFFLINE_UV_DEPLOYMENT.md](OFFLINE_UV_DEPLOYMENT.md).
## External inputs
- Base model: `unsloth/Qwen3-VL-4B-Instruct` at revision
`252d592b59b0233b226875a44ac135cfa1d3f755`.
- Dataset route: `Public-Proxy stage2_core_v1` derived from
`robometer/processed_datasets` at revision
`1a8eb2d279c70964fadeaf8019a77c490c3abe02`.
- Frozen Phase 2.1A subset: 2,689 pair rows referencing 4,323 trajectory files.
There is no separate `ar-mine/cosmos-robometer-public-dataset` repository. The
subset is reconstructed from the pinned official Robometer processed-data
repository and the frozen dataset manifest in this repository.
## Training
See [TRAINING_MANUAL.md](TRAINING_MANUAL.md). The frozen LoRA configuration is
`configs/phase21a_robometer_low_lora_train_v2.yaml`.
For the pinned official `stage2_core_v1` download, extraction, frozen-manifest
association, and optional recovered-action linkage, see
[DATA_SETUP.md](DATA_SETUP.md).
## Current support boundary
The LoRA trainer is runnable and validated at micro-batch 32, gradient
accumulation 2, effective batch 64. The full-tune file is a capacity smoke test,
not a formal distributed trainer. Paged 8-bit AdamW is not permitted for the
formal `Robometer-Low` comparison.
## Redistribution
This public repository includes experiment code, metadata, and recovered action
sidecars, but does not grant redistribution rights for upstream datasets or
model weights. Review the terms of each upstream source before reusing or
redistributing derived assets.
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