Add lift_bottle 20k inference checkpoint

lift_bottle/global_step_20000/_SUCCESS

@@ -0,0 +1,330 @@
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+}

lift_bottle/global_step_20000/actor/model_state_dict/full_weights.pt

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+size 15902387022

lift_bottle/global_step_20000/config.yaml

@@ -0,0 +1,169 @@
+actor:
+  model:
+    model_type: openpi_pytorch
+    precision: fp32
+    is_lora: false
+    lora_rank: 32
+    num_action_chunks: 50
+    action_dim: 8
+    use_proprio: true
+    num_steps: 10
+    add_value_head: false
+    openpi:
+      task: sft
+      config_name: pi05_univtac
+      num_images_in_input: 3
+      action_chunk: 50
+      action_env_dim: 8
+      model_action_dim: 32
+      action_target_source: ground_truth
+      online_distill_student_rollout_steps: 10
+      online_distill_query_distribution: uniform
+      online_distill_feature_loss_weight: 0.005
+      online_distill_feature_loss_beta: 0.1
+      online_distill_feature_loss_eps: 1.0e-06
+      paligemma_variant: gemma_2b
+      action_expert_variant: gemma_300m
+      max_token_len: 200
+      discrete_state_input: true
+      ae_transition_context: 'off'
+      ae_transition_history_length: 10
+      tactile_vlm_input_mode: none
+      tactile_vlm_token_order: vision_language_tactile
+      use_tactile: false
+      tactile_use_all_tokens: false
+      tactile_encoder_path: /mnt/nas-data-1/yangchen/huggingface/alanz-mit/FoundationTactile/models/t3_large
+      tactile_preprocess_profile: univtac_task_rgb_train_ep0_49_r256_cc224_v1
+      tactile_preprocess_task: lift_bottle
+      tactile_encoder_frozen: true
+      use_tactile_in_action_expert: false
+      action_tactile_token_mode: full
+      action_tactile_fusion: cached_isolated
+      action_tactile_context_mode: tactile_only
+      tactile_world_model_enabled: false
+      tactile_world_pool_grid: 14
+      tactile_world_num_layers: 2
+      tactile_world_num_heads: 8
+      tactile_world_token_mode: full
+      tactile_world_use_current_tactile: true
+      tactile_world_loss_weight: 0.1
+      tactile_expert_enabled: true
+      tactile_expert_share_action_weights: false
+      tactile_expert_token_mode: full
+      tactile_expert_width: 1024
+      tactile_expert_depth: 18
+      tactile_expert_mlp_dim: 4096
+      tactile_expert_num_heads: 8
+      tactile_expert_num_kv_heads: 1
+      tactile_expert_head_dim: 256
+      tactile_expert_input_layout: t3_aligned
+      tactile_expert_init_mode: random
+      tactile_expert_future_prediction_mode: multi_horizon_pooled
+      tactile_expert_future_horizon: 50
+      tactile_expert_future_stride: 5
+      tactile_expert_future_pool_grid: 6
+      tactile_expert_wam_mode: fast
+      tactile_expert_tail_supervision_mode: repeat
+      tactile_expert_idm_condition_noise_prob: 0.5
+      tactile_expert_future_target: absolute_t3_latent
+      tactile_expert_future_normalization: t3_reference_rms
+      tactile_expert_future_attention_backend: sdpa
+      training_attention_backend: auto
+      tactile_expert_future_loss_weight: 0.01
+      tactile_expert_future_loss_warmup_steps: 0
+      tactile_expert_future_tail_mode: repeat
+      tactile_expert_future_vl_gradient_mode: shared
+      tactile_expert_future_loss_schedule: constant
+      tactile_expert_future_loss_schedule_start_step: 10000
+      tactile_expert_future_loss_schedule_end_step: 20000
+      tactile_expert_future_loss_schedule_end_weight: 0.0
+    model_path: /mnt/nas-data-6/yangchen/checkpoints/SimpleTac/pi05_base_pytorch_rlinf
+  fsdp_config:
+    strategy: fsdp
+    sharding_strategy: shard_grad_op
+    gradient_checkpointing: false
+    cpu_offload: false
+    offload_pin_memory: false
+    reshard_after_forward: true
+    enable_gradient_accumulation: true
+    forward_prefetch: true
+    limit_all_gathers: false
+    backward_prefetch: pre
+    use_orig_params: true
+    use_liger_kernel: false
+    mixed_precision:
+      param_dtype: bf16
+      reduce_dtype: fp32
+      buffer_dtype: fp32
+    amp_autocast:
+      enabled: false
+      precision: bf16
+    grad_scaler:
+      enabled: false
+      init_scale: null
+      growth_interval: null
+    gradient_checkpointing_use_reentrant: false
+  group_name: ActorGroup
+  training_backend: fsdp
+  micro_batch_size: 8
+  eval_batch_size: 1
+  global_batch_size: 64
+  seed: 42
+  gradient_diagnostics_interval: 2000
+  optim:
+    lr: 5.0e-05
+    adam_beta1: 0.9
+    adam_beta2: 0.95
+    adam_eps: 1.0e-08
+    weight_decay: 1.0e-10
+    clip_grad: 1.0
+    total_training_steps: 20000
+    lr_warmup_steps: 1000
+    lr_scheduler: openpi_cosine
+    num_cycles: 0.5
+    min_lr: 5.0e-06
+cluster:
+  num_nodes: 1
+  component_placement:
+    actor,env,rollout: 0-7
+runner:
+  task_type: sft
+  resume_dir: null
+  logger:
+    log_path: /mnt/nas-data-6/yangchen/checkpoints/SimpleTac-RLinf
+    project_name: SimpleTac
+    experiment_name: simpletac_lift_bottle_te_fast_multi_repeat_nu8_mi308_8x8_0912_2238_f35e96c0
+    logger_backends:
+    - tensorboard
+  max_epochs: 1000
+  max_steps: 20000
+  val_check_interval: -1
+  save_interval: 5000
+  per_worker_log: false
+  per_worker_log_path: null
+data:
+  train_data_paths: /mnt/nas-data-6/yangchen/datasets/VLA-JEPA/finetune/UniVTAC
+  task: lift_bottle
+  camera_type: head
+  allow_camera_type_override: false
+  episode_start: 0
+  episode_end: 49
+  normalization: quantile
+  action_target_source: ground_truth
+  ae_transition_context: 'off'
+  ae_transition_history_length: 10
+  teacher_checkpoint: null
+  teacher_action_cache_path: null
+  online_teacher_input_tactile: false
+  action_loss_masking: include_repeat_last_padding
+  norm_stats_path: /mnt/nas-data-6/yangchen/checkpoints/SimpleTac/assets/simpletac_pi05_univtac_t0_lift_bottle/univtac_lift_bottle/norm_stats.json
+  tokenizer_path: /mnt/nas-data-6/yangchen/checkpoints/SimpleTac/openpi_cache/big_vision/paligemma_tokenizer.model
+  tactile_world_cache_path: null
+  tactile_expert_future_cache_path: /mnt/nas-data-6/yangchen/checkpoints/SimpleTac/t3_future_cache_univtac_rgb_tasknorm_p6_v1
+  num_workers: 8
+algorithm:
+  adv_type: gae
+reward:
+  use_reward_model: false
+critic:
+  use_critic_model: false

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