b6: last two checkpoints + eval/deploy files + training records
Browse files- b6-pedal-bin/epoch-030/data-verified.json +189 -0
- b6-pedal-bin/epoch-030/dataset_audit.json +447 -0
- b6-pedal-bin/epoch-030/dataset_stats.json +1647 -0
- b6-pedal-bin/epoch-030/deltaflow-complete.json +13 -0
- b6-pedal-bin/epoch-030/logs/00-retry__s3__attempt-1__node-0.log +0 -0
- b6-pedal-bin/epoch-030/loss_summary.json +95 -0
- b6-pedal-bin/epoch-030/metrics.csv +0 -0
- b6-pedal-bin/epoch-030/model.pt +3 -0
- b6-pedal-bin/epoch-030/prepared.ok +16 -0
- b6-pedal-bin/epoch-030/protocol.json +35 -0
- b6-pedal-bin/epoch-030/qwen-text/d82ae9ce680248c4bb47e139992293855384c2e769939796b7d59b722ba7a37a.qwen3_flux2_len128.pt +3 -0
- b6-pedal-bin/epoch-030/split-manifest.json +399 -0
- b6-pedal-bin/epoch-030/training_config.yaml +298 -0
- b6-pedal-bin/epoch-040/data-verified.json +189 -0
- b6-pedal-bin/epoch-040/dataset_audit.json +447 -0
- b6-pedal-bin/epoch-040/dataset_stats.json +1647 -0
- b6-pedal-bin/epoch-040/deltaflow-complete.json +13 -0
- b6-pedal-bin/epoch-040/logs/00-retry__s3__attempt-1__node-0.log +0 -0
- b6-pedal-bin/epoch-040/loss_summary.json +95 -0
- b6-pedal-bin/epoch-040/metrics.csv +0 -0
- b6-pedal-bin/epoch-040/model.pt +3 -0
- b6-pedal-bin/epoch-040/prepared.ok +16 -0
- b6-pedal-bin/epoch-040/protocol.json +35 -0
- b6-pedal-bin/epoch-040/qwen-text/d82ae9ce680248c4bb47e139992293855384c2e769939796b7d59b722ba7a37a.qwen3_flux2_len128.pt +3 -0
- b6-pedal-bin/epoch-040/split-manifest.json +399 -0
- b6-pedal-bin/epoch-040/training_config.yaml +298 -0
b6-pedal-bin/epoch-030/data-verified.json
ADDED
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| 1 |
+
{
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"task": "b6",
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| 3 |
+
"dataset_dir": "/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/b6-v5t7-ready-start-60ep-20261109/data/deliveries/g1/b6-v5t7-ready-start-20261109",
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"total_episodes_in_collection": 149,
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"episodes": 100,
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"train_episode_ids": [
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],
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"shelved_episode_ids": [
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],
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"frames": 65127,
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| 160 |
+
"updates_per_epoch": 255,
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| 161 |
+
"epochs": 40,
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| 162 |
+
"max_steps": 10200,
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| 163 |
+
"warmup_steps": 510,
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| 164 |
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"save_steps": [
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| 165 |
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2550,
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| 166 |
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5100,
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| 167 |
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7650,
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| 168 |
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10200
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],
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| 170 |
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"control_hz": 50,
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| 171 |
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"recording_hz": 30,
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| 172 |
+
"statistics_sha256": "0baaf877e1c4bf52f6f51d400e44059d939ae609b421c657b427ba16af0ded37",
|
| 173 |
+
"proprio_dim": 44,
|
| 174 |
+
"joint_velocity": false,
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| 175 |
+
"augmentation": "hb-aug-v2-20261109",
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| 176 |
+
"proprio_augmentation": {
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| 177 |
+
"delay_probability": 0.0,
|
| 178 |
+
"max_delay_control_cycles": 0,
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| 179 |
+
"history_drop_probability": 0.0,
|
| 180 |
+
"bias_scope": "per_sample",
|
| 181 |
+
"implementation": "hb_aug_v2.perturb_joints",
|
| 182 |
+
"aligned_with": "GR00T A20 basket-transfer recipe (hb_groot/hb_launch.py), user 2026-11-12"
|
| 183 |
+
},
|
| 184 |
+
"dataset_source": null,
|
| 185 |
+
"qwen_cache": "copied from the previous run",
|
| 186 |
+
"code": "/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/HumanWAM",
|
| 187 |
+
"code_record_sha256": "6d071fbccd08778aae250bfc1d307839943a5f33270f09524f947fcd6d05c8ca",
|
| 188 |
+
"code_note": "code record updated 2026-11-12 for the C6 timestamp tolerance (wholebody.py read_episode); this task passed the stricter check"
|
| 189 |
+
}
|
b6-pedal-bin/epoch-030/dataset_audit.json
ADDED
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"statistics_sha256": "0baaf877e1c4bf52f6f51d400e44059d939ae609b421c657b427ba16af0ded37"
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}
|
b6-pedal-bin/epoch-030/dataset_stats.json
ADDED
|
@@ -0,0 +1,1647 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema": "wholebody-state41to44-action76-chunk16-first100-v1",
|
| 3 |
+
"action": {
|
| 4 |
+
"wholebody_action76": {
|
| 5 |
+
"global_min": [
|
| 6 |
+
-0.5625,
|
| 7 |
+
-0.375,
|
| 8 |
+
-0.6875,
|
| 9 |
+
-0.4375,
|
| 10 |
+
-0.4375,
|
| 11 |
+
-0.3125,
|
| 12 |
+
-0.5,
|
| 13 |
+
-0.3125,
|
| 14 |
+
-0.5,
|
| 15 |
+
-0.5,
|
| 16 |
+
-0.5625,
|
| 17 |
+
-0.5,
|
| 18 |
+
-0.375,
|
| 19 |
+
-0.25,
|
| 20 |
+
-0.25,
|
| 21 |
+
-0.5,
|
| 22 |
+
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b6-pedal-bin/epoch-030/deltaflow-complete.json
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b6-pedal-bin/epoch-030/logs/00-retry__s3__attempt-1__node-0.log
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b6-pedal-bin/epoch-030/loss_summary.json
ADDED
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{
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b6-pedal-bin/epoch-030/metrics.csv
ADDED
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b6-pedal-bin/epoch-030/model.pt
ADDED
|
@@ -0,0 +1,3 @@
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size 9035633721
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b6-pedal-bin/epoch-030/protocol.json
ADDED
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@@ -0,0 +1,35 @@
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{
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"model": "Delta Flow (ImageWAM / HumanWAM whole-body delta-flow policy)",
|
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|
| 4 |
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|
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|
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|
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|
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|
| 15 |
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| 16 |
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"normalization": "dataset_stats.json / normalization.json in this folder",
|
| 17 |
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"config": "training_config.yaml (production config; absolute paths refer to the training NAS)",
|
| 18 |
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"inference": "HumanWAM ImageWAM delta-flow (code/hb_deltaflow installs the HB dataset and model factories); load model.pt with training_config.yaml, the statistics file and the qwen-text cache in this folder.",
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| 19 |
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|
| 21 |
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"files": {
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| 24 |
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|
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b6-pedal-bin/epoch-030/split-manifest.json
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| 157 |
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"100": "b6-v5t7-101-seed600110053",
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"101": "b6-v5t7-102-seed600100051",
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"102": "b6-v5t7-103-seed600110087",
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"104": "b6-v5t7-105-seed19201082",
|
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"105": "b6-v5t7-106-seed600110108",
|
| 265 |
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"106": "b6-v5t7-107-seed600110097",
|
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"107": "b6-v5t7-108-seed19800042",
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"108": "b6-v5t7-109-seed600120025",
|
| 268 |
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"109": "b6-v5t7-110-seed650070030",
|
| 269 |
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"110": "b6-v5t7-111-seed600150033",
|
| 270 |
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"111": "b6-v5t7-112-seed20600000",
|
| 271 |
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"112": "b6-v5t7-113-seed19201283",
|
| 272 |
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"113": "b6-v5t7-114-seed700120576",
|
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"114": "b6-v5t7-115-seed21000306",
|
| 274 |
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"115": "b6-v5t7-116-seed21800224",
|
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"116": "b6-v5t7-117-seed600160027",
|
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"117": "b6-v5t7-118-seed23200147",
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"118": "b6-v5t7-119-seed23000144",
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"119": "b6-v5t7-120-seed20200880",
|
| 279 |
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"120": "b6-v5t7-121-seed700140372",
|
| 280 |
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"121": "b6-v5t7-122-seed21200648",
|
| 281 |
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"122": "b6-v5t7-123-seed22200598",
|
| 282 |
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"123": "b6-v5t7-124-seed21800556",
|
| 283 |
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"124": "b6-v5t7-125-seed24200000",
|
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"125": "b6-v5t7-126-seed650120093",
|
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"126": "b6-v5t7-127-seed20400054",
|
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"127": "b6-v5t7-128-seed23000576",
|
| 287 |
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"128": "b6-v5t7-129-seed21000884",
|
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"129": "b6-v5t7-130-seed600170175",
|
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"130": "b6-v5t7-131-seed600170161",
|
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"131": "b6-v5t7-132-seed750090004",
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"132": "b6-v5t7-133-seed23200980",
|
| 292 |
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"133": "b6-v5t7-134-seed22201334",
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"134": "b6-v5t7-136-seed600210025",
|
| 294 |
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"135": "b6-v5t7-137-seed650110960",
|
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"136": "b6-v5t7-138-seed700151320",
|
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"137": "b6-v5t7-139-seed26400004",
|
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"138": "b6-v5t7-140-seed26400006",
|
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"139": "b6-v5t7-141-seed650140032",
|
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"140": "b6-v5t7-142-seed24200738",
|
| 300 |
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"141": "b6-v5t7-143-seed24800494",
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| 301 |
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"142": "b6-v5t7-144-seed600210069",
|
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"143": "b6-v5t7-145-seed600210052",
|
| 303 |
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"144": "b6-v5t7-146-seed23001296",
|
| 304 |
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"145": "b6-v5t7-147-seed26200272",
|
| 305 |
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"146": "b6-v5t7-148-seed23201715",
|
| 306 |
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"147": "b6-v5t7-149-seed26600351",
|
| 307 |
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"148": "b6-v5t7-150-seed600190059"
|
| 308 |
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},
|
| 309 |
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"expected_body_joint_names": [
|
| 310 |
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"left_hip_pitch_joint",
|
| 311 |
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"left_hip_roll_joint",
|
| 312 |
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"left_hip_yaw_joint",
|
| 313 |
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"left_knee_joint",
|
| 314 |
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"left_ankle_pitch_joint",
|
| 315 |
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"left_ankle_roll_joint",
|
| 316 |
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"right_hip_pitch_joint",
|
| 317 |
+
"right_hip_roll_joint",
|
| 318 |
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"right_hip_yaw_joint",
|
| 319 |
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"right_knee_joint",
|
| 320 |
+
"right_ankle_pitch_joint",
|
| 321 |
+
"right_ankle_roll_joint",
|
| 322 |
+
"waist_yaw_joint",
|
| 323 |
+
"waist_roll_joint",
|
| 324 |
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"waist_pitch_joint",
|
| 325 |
+
"left_shoulder_pitch_joint",
|
| 326 |
+
"left_shoulder_roll_joint",
|
| 327 |
+
"left_shoulder_yaw_joint",
|
| 328 |
+
"left_elbow_joint",
|
| 329 |
+
"left_wrist_roll_joint",
|
| 330 |
+
"left_wrist_pitch_joint",
|
| 331 |
+
"left_wrist_yaw_joint",
|
| 332 |
+
"right_shoulder_pitch_joint",
|
| 333 |
+
"right_shoulder_roll_joint",
|
| 334 |
+
"right_shoulder_yaw_joint",
|
| 335 |
+
"right_elbow_joint",
|
| 336 |
+
"right_wrist_roll_joint",
|
| 337 |
+
"right_wrist_pitch_joint",
|
| 338 |
+
"right_wrist_yaw_joint"
|
| 339 |
+
],
|
| 340 |
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"source_metadata_sha256": {
|
| 341 |
+
"meta/info.json": "23bcbe992070ebedfacb6a76ae22ac31a9642b9ed27a78ee2d41ce85b9fc707d",
|
| 342 |
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"meta/episodes.jsonl": "14949e1d7ab1cf4f39edcd1c9733ab2fa4f0f902f6693084535f33a282d050a1",
|
| 343 |
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"meta/sim_episodes.jsonl": "0e5e1fdebe478fc1c0519faf4f0cf49ea0bfe58c68eb0b0acf79b33d59102637",
|
| 344 |
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"meta/cutpoints.jsonl": "43691369cc45df0d539bbf0663bebc30833a11e112c7324c3240f9c6f9f6ee8b",
|
| 345 |
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"meta/owner_approval.json": "07f90655f7fd0ff405af6b7590164cfa3703392b8241ba53f384396f79f204ab"
|
| 346 |
+
},
|
| 347 |
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"shelved_episode_ids": [
|
| 348 |
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100,
|
| 349 |
+
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|
| 350 |
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102,
|
| 351 |
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103,
|
| 352 |
+
104,
|
| 353 |
+
105,
|
| 354 |
+
106,
|
| 355 |
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107,
|
| 356 |
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108,
|
| 357 |
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|
| 358 |
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|
| 359 |
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111,
|
| 360 |
+
112,
|
| 361 |
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113,
|
| 362 |
+
114,
|
| 363 |
+
115,
|
| 364 |
+
116,
|
| 365 |
+
117,
|
| 366 |
+
118,
|
| 367 |
+
119,
|
| 368 |
+
120,
|
| 369 |
+
121,
|
| 370 |
+
122,
|
| 371 |
+
123,
|
| 372 |
+
124,
|
| 373 |
+
125,
|
| 374 |
+
126,
|
| 375 |
+
127,
|
| 376 |
+
128,
|
| 377 |
+
129,
|
| 378 |
+
130,
|
| 379 |
+
131,
|
| 380 |
+
132,
|
| 381 |
+
133,
|
| 382 |
+
134,
|
| 383 |
+
135,
|
| 384 |
+
136,
|
| 385 |
+
137,
|
| 386 |
+
138,
|
| 387 |
+
139,
|
| 388 |
+
140,
|
| 389 |
+
141,
|
| 390 |
+
142,
|
| 391 |
+
143,
|
| 392 |
+
144,
|
| 393 |
+
145,
|
| 394 |
+
146,
|
| 395 |
+
147,
|
| 396 |
+
148
|
| 397 |
+
],
|
| 398 |
+
"previous_manifest": "/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/b6-v5t7-ready-start-60ep-20261109/train/split-manifest.json"
|
| 399 |
+
}
|
b6-pedal-bin/epoch-030/training_config.yaml
ADDED
|
@@ -0,0 +1,298 @@
|
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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 |
+
output_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/b6/run/production
|
| 2 |
+
batch_size: 8
|
| 3 |
+
gradient_accumulation_steps: 1
|
| 4 |
+
num_workers: 4
|
| 5 |
+
prefetch_factor: 2
|
| 6 |
+
persistent_workers: true
|
| 7 |
+
num_epochs: 40
|
| 8 |
+
max_steps: 10200
|
| 9 |
+
lr_scheduler_total_steps: 10200
|
| 10 |
+
warmup_steps: 510
|
| 11 |
+
lr_scheduler_type: cosine
|
| 12 |
+
learning_rate: 0.0001
|
| 13 |
+
weight_decay: 0.01
|
| 14 |
+
optimizer_foreach: false
|
| 15 |
+
mixed_precision: bf16
|
| 16 |
+
seed: 42
|
| 17 |
+
max_grad_norm: 1.0
|
| 18 |
+
resume: null
|
| 19 |
+
log_every: 5
|
| 20 |
+
rank_timer_every: 20
|
| 21 |
+
rank_timer_sync_cuda: true
|
| 22 |
+
save_every: 0
|
| 23 |
+
save_steps:
|
| 24 |
+
- 2550
|
| 25 |
+
- 5100
|
| 26 |
+
- 7650
|
| 27 |
+
- 10200
|
| 28 |
+
save_at_end: true
|
| 29 |
+
keep_latest_weights: 4
|
| 30 |
+
keep_latest_state_only: true
|
| 31 |
+
eval_every: 0
|
| 32 |
+
eval_num_inference_steps: 1
|
| 33 |
+
eval_num_samples: 1
|
| 34 |
+
precache_arrow: false
|
| 35 |
+
precache_num_workers: 0
|
| 36 |
+
build_lerobot_meta_cache: false
|
| 37 |
+
build_norm_stats: false
|
| 38 |
+
precache_fuse_norm_stats: false
|
| 39 |
+
norm_stats_cache_enabled: false
|
| 40 |
+
wandb:
|
| 41 |
+
enabled: false
|
| 42 |
+
workspace: null
|
| 43 |
+
project: imagewam-wholebody
|
| 44 |
+
name: deltaflow-b6-40ep-augv2-aligned
|
| 45 |
+
group: wholebody-action76-state73
|
| 46 |
+
mode: disabled
|
| 47 |
+
data:
|
| 48 |
+
train:
|
| 49 |
+
_target_: imagewam.datasets.wholebody_hbaug.WholeBodyHBAugV2LeRobotDataset
|
| 50 |
+
dataset_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/b6-v5t7-ready-start-60ep-20261109/data/deliveries/g1/b6-v5t7-ready-start-20261109
|
| 51 |
+
stats_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/b6/stats/dataset_stats.json
|
| 52 |
+
qwen_text_cache_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/b6/qwen-text
|
| 53 |
+
split: train
|
| 54 |
+
train_split_mode: first_100
|
| 55 |
+
action_horizon: 16
|
| 56 |
+
past_action_size: 16
|
| 57 |
+
qwen_context_len: 128
|
| 58 |
+
qwen_text_dim: 7680
|
| 59 |
+
video_cache_frames: 64
|
| 60 |
+
split_manifest_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/b6/split-manifest.json
|
| 61 |
+
image_augmentation:
|
| 62 |
+
version: hb-aug-v2-20261109
|
| 63 |
+
enabled: true
|
| 64 |
+
seed: 20261110
|
| 65 |
+
spec: project CLAUDE.md augmentation default spec v2 (2026-11-09)
|
| 66 |
+
implementation: imagewam/datasets/hb_aug_v2.py = unchanged copy of $G/hb_groot/hb_aug_v2.py
|
| 67 |
+
implementation_sha256: 9f7713cea4f846efcfc924234267ced48210357f419d67915c10b504316bedde
|
| 68 |
+
boost: one of 15 effects uniformly per sample, magnitude x1.5
|
| 69 |
+
colour: exposure/contrast/saturation/hue/gamma/temperature shared by both cameras
|
| 70 |
+
and both times
|
| 71 |
+
per_camera: rotation+crop, light/shadow patches, single-channel white balance;
|
| 72 |
+
same on t and t+16
|
| 73 |
+
observation_only: noise, gaussian blur, JPEG, motion blur, sharpen, defocus
|
| 74 |
+
(never on the t+16 target)
|
| 75 |
+
native_model_image_augmentation: none
|
| 76 |
+
action_label_noise: false
|
| 77 |
+
state_label_noise: false
|
| 78 |
+
proprio_augmentation:
|
| 79 |
+
enabled: true
|
| 80 |
+
seed: 20261106
|
| 81 |
+
joint_bias_degrees: 2.0
|
| 82 |
+
joint_noise_std_degrees: 0.25
|
| 83 |
+
delay_probability: 0.0
|
| 84 |
+
max_delay_control_cycles: 0
|
| 85 |
+
control_hz: 50
|
| 86 |
+
recording_hz: 30
|
| 87 |
+
history_drop_probability: 0.0
|
| 88 |
+
affected_angle_channels:
|
| 89 |
+
- 0
|
| 90 |
+
- 1
|
| 91 |
+
- 2
|
| 92 |
+
- 3
|
| 93 |
+
- 4
|
| 94 |
+
- 5
|
| 95 |
+
- 6
|
| 96 |
+
- 7
|
| 97 |
+
- 8
|
| 98 |
+
- 9
|
| 99 |
+
- 10
|
| 100 |
+
- 11
|
| 101 |
+
- 12
|
| 102 |
+
- 13
|
| 103 |
+
- 14
|
| 104 |
+
- 15
|
| 105 |
+
- 16
|
| 106 |
+
- 17
|
| 107 |
+
- 18
|
| 108 |
+
- 19
|
| 109 |
+
- 20
|
| 110 |
+
- 21
|
| 111 |
+
- 22
|
| 112 |
+
- 23
|
| 113 |
+
- 24
|
| 114 |
+
- 25
|
| 115 |
+
- 26
|
| 116 |
+
- 27
|
| 117 |
+
- 28
|
| 118 |
+
velocity_channels: []
|
| 119 |
+
action_label_noise: false
|
| 120 |
+
bias_scope: per_sample
|
| 121 |
+
start_pose_library: not_applied_offline
|
| 122 |
+
render_randomization: not_applied_offline
|
| 123 |
+
implementation: hb_aug_v2.perturb_joints
|
| 124 |
+
aligned_with: GR00T A20 basket-transfer recipe (hb_groot/hb_launch.py), user
|
| 125 |
+
2026-11-12
|
| 126 |
+
val: null
|
| 127 |
+
model:
|
| 128 |
+
_target_: imagewam.wholebody_delta.create_imagewam_flux2_wholebody_delta
|
| 129 |
+
flux2_src_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/HumanWAM/third_party/flux2
|
| 130 |
+
flux2_model_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/FLUX.2-klein-base-4B/flux-2-klein-base-4b.safetensors
|
| 131 |
+
ae_model_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/FLUX.2-AE/ae.safetensors
|
| 132 |
+
qwen3_model_spec: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/Qwen3-4B
|
| 133 |
+
variant: klein-base-4b
|
| 134 |
+
qwen_context_len: 128
|
| 135 |
+
load_text_encoder: false
|
| 136 |
+
proprio_dim: 44
|
| 137 |
+
action_state_dim: 44
|
| 138 |
+
expected_action_dim: 76
|
| 139 |
+
expected_action_horizon: 16
|
| 140 |
+
state_only_init_seed: 42
|
| 141 |
+
mot_checkpoint_mixed_attn: true
|
| 142 |
+
mot_gqa_implementation: repeat
|
| 143 |
+
mot_force_flash_attention: false
|
| 144 |
+
pack_proprio_after_text: false
|
| 145 |
+
action_dit_pretrained_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/all60-20261105/action-shared-flux2-4b.pt
|
| 146 |
+
action_initializer_sha256: 3b40f3ca92b3e249ed39791c1ce3ab55adce8161e406c62d94387ab1532ef657
|
| 147 |
+
zero_init_action_head: false
|
| 148 |
+
action_head_init_scale: 1.0
|
| 149 |
+
flux2_action_image_context:
|
| 150 |
+
mode: noise_idm
|
| 151 |
+
include_future_tokens: true
|
| 152 |
+
knowledge_insulation: true
|
| 153 |
+
reuse_image_fm_workspace: false
|
| 154 |
+
flux2_lora_config:
|
| 155 |
+
enabled: false
|
| 156 |
+
action_dit_config:
|
| 157 |
+
action_dim: 76
|
| 158 |
+
hidden_dim: 1024
|
| 159 |
+
num_heads: 24
|
| 160 |
+
attn_head_dim: 128
|
| 161 |
+
num_layers_double: 5
|
| 162 |
+
num_layers_single: 20
|
| 163 |
+
mlp_ratio: 4.0
|
| 164 |
+
max_action_horizon: 64
|
| 165 |
+
use_gradient_checkpointing: true
|
| 166 |
+
video_scheduler:
|
| 167 |
+
train_shift: 5.0
|
| 168 |
+
infer_shift: 5.0
|
| 169 |
+
num_train_timesteps: 1000
|
| 170 |
+
action_scheduler:
|
| 171 |
+
train_shift: 5.0
|
| 172 |
+
infer_shift: 5.0
|
| 173 |
+
num_train_timesteps: 1000
|
| 174 |
+
loss:
|
| 175 |
+
lambda_video: 0.5
|
| 176 |
+
lambda_action: 1.0
|
| 177 |
+
action_a2a:
|
| 178 |
+
enabled: true
|
| 179 |
+
fm_weight: 1.0
|
| 180 |
+
ic_weight: 0.5
|
| 181 |
+
ic_steps: 1
|
| 182 |
+
ic_loss: l1
|
| 183 |
+
source_noise_std: 0.5
|
| 184 |
+
source_noise_dim_mask:
|
| 185 |
+
- true
|
| 186 |
+
- true
|
| 187 |
+
- true
|
| 188 |
+
- true
|
| 189 |
+
- true
|
| 190 |
+
- true
|
| 191 |
+
- true
|
| 192 |
+
- true
|
| 193 |
+
- true
|
| 194 |
+
- true
|
| 195 |
+
- true
|
| 196 |
+
- true
|
| 197 |
+
- true
|
| 198 |
+
- true
|
| 199 |
+
- true
|
| 200 |
+
- true
|
| 201 |
+
- true
|
| 202 |
+
- true
|
| 203 |
+
- true
|
| 204 |
+
- true
|
| 205 |
+
- true
|
| 206 |
+
- true
|
| 207 |
+
- true
|
| 208 |
+
- true
|
| 209 |
+
- true
|
| 210 |
+
- true
|
| 211 |
+
- true
|
| 212 |
+
- true
|
| 213 |
+
- true
|
| 214 |
+
- true
|
| 215 |
+
- true
|
| 216 |
+
- true
|
| 217 |
+
- true
|
| 218 |
+
- true
|
| 219 |
+
- true
|
| 220 |
+
- true
|
| 221 |
+
- true
|
| 222 |
+
- true
|
| 223 |
+
- true
|
| 224 |
+
- true
|
| 225 |
+
- true
|
| 226 |
+
- true
|
| 227 |
+
- true
|
| 228 |
+
- true
|
| 229 |
+
- true
|
| 230 |
+
- true
|
| 231 |
+
- true
|
| 232 |
+
- true
|
| 233 |
+
- true
|
| 234 |
+
- true
|
| 235 |
+
- true
|
| 236 |
+
- true
|
| 237 |
+
- true
|
| 238 |
+
- true
|
| 239 |
+
- true
|
| 240 |
+
- true
|
| 241 |
+
- true
|
| 242 |
+
- true
|
| 243 |
+
- true
|
| 244 |
+
- true
|
| 245 |
+
- true
|
| 246 |
+
- true
|
| 247 |
+
- true
|
| 248 |
+
- true
|
| 249 |
+
- true
|
| 250 |
+
- true
|
| 251 |
+
- true
|
| 252 |
+
- true
|
| 253 |
+
- true
|
| 254 |
+
- true
|
| 255 |
+
- true
|
| 256 |
+
- true
|
| 257 |
+
- true
|
| 258 |
+
- true
|
| 259 |
+
- true
|
| 260 |
+
- true
|
| 261 |
+
aura:
|
| 262 |
+
enabled: false
|
| 263 |
+
image_i2i:
|
| 264 |
+
enabled: true
|
| 265 |
+
source_mode: gaussian
|
| 266 |
+
current_residual_scale: 0.5773502691896258
|
| 267 |
+
variance_normalize: true
|
| 268 |
+
ic_weight: 1.0
|
| 269 |
+
ic_steps: 1
|
| 270 |
+
ic_loss: l1
|
| 271 |
+
source_noise_std: 0.0
|
| 272 |
+
wholebody_contract:
|
| 273 |
+
world_size: 32
|
| 274 |
+
zero_stage: 1
|
| 275 |
+
statistics_sha256: 0baaf877e1c4bf52f6f51d400e44059d939ae609b421c657b427ba16af0ded37
|
| 276 |
+
stats_schema: wholebody-state41to44-action76-chunk16-first100-v1
|
| 277 |
+
normalization_strategy: fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands
|
| 278 |
+
smoke_output_dir: null
|
| 279 |
+
production_output_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/b6/run/production
|
| 280 |
+
fresh_base: true
|
| 281 |
+
measured_loader:
|
| 282 |
+
dataset_frames: 65127
|
| 283 |
+
raw_loader_batches: 8141
|
| 284 |
+
per_rank_microbatches: 255
|
| 285 |
+
world_size: 32
|
| 286 |
+
microbatch: 8
|
| 287 |
+
gradient_accumulation: 1
|
| 288 |
+
dataloader_drop_last: false
|
| 289 |
+
source: native Wan22Trainer._build_loader + Accelerate.prepare_data_loader; no
|
| 290 |
+
iteration/model/optimizer
|
| 291 |
+
updates_per_epoch: 255
|
| 292 |
+
augmentation: hb-aug-v2-20261109
|
| 293 |
+
proprio_augmentation: aligned with GR00T A20 (per-sample perturb_joints, no delay,
|
| 294 |
+
no history drop)
|
| 295 |
+
proprio_layout: body29 + hands12 + gravity3 = 44 (no velocity)
|
| 296 |
+
train_episode_ids: 0-99
|
| 297 |
+
shelved_episode_ids: 100-148
|
| 298 |
+
source_config: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/b6-v5t7-ready-start-60ep-20261109/train/run/production.yaml
|
b6-pedal-bin/epoch-040/data-verified.json
ADDED
|
@@ -0,0 +1,189 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "b6",
|
| 3 |
+
"dataset_dir": "/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/b6-v5t7-ready-start-60ep-20261109/data/deliveries/g1/b6-v5t7-ready-start-20261109",
|
| 4 |
+
"total_episodes_in_collection": 149,
|
| 5 |
+
"episodes": 100,
|
| 6 |
+
"train_episode_ids": [
|
| 7 |
+
0,
|
| 8 |
+
1,
|
| 9 |
+
2,
|
| 10 |
+
3,
|
| 11 |
+
4,
|
| 12 |
+
5,
|
| 13 |
+
6,
|
| 14 |
+
7,
|
| 15 |
+
8,
|
| 16 |
+
9,
|
| 17 |
+
10,
|
| 18 |
+
11,
|
| 19 |
+
12,
|
| 20 |
+
13,
|
| 21 |
+
14,
|
| 22 |
+
15,
|
| 23 |
+
16,
|
| 24 |
+
17,
|
| 25 |
+
18,
|
| 26 |
+
19,
|
| 27 |
+
20,
|
| 28 |
+
21,
|
| 29 |
+
22,
|
| 30 |
+
23,
|
| 31 |
+
24,
|
| 32 |
+
25,
|
| 33 |
+
26,
|
| 34 |
+
27,
|
| 35 |
+
28,
|
| 36 |
+
29,
|
| 37 |
+
30,
|
| 38 |
+
31,
|
| 39 |
+
32,
|
| 40 |
+
33,
|
| 41 |
+
34,
|
| 42 |
+
35,
|
| 43 |
+
36,
|
| 44 |
+
37,
|
| 45 |
+
38,
|
| 46 |
+
39,
|
| 47 |
+
40,
|
| 48 |
+
41,
|
| 49 |
+
42,
|
| 50 |
+
43,
|
| 51 |
+
44,
|
| 52 |
+
45,
|
| 53 |
+
46,
|
| 54 |
+
47,
|
| 55 |
+
48,
|
| 56 |
+
49,
|
| 57 |
+
50,
|
| 58 |
+
51,
|
| 59 |
+
52,
|
| 60 |
+
53,
|
| 61 |
+
54,
|
| 62 |
+
55,
|
| 63 |
+
56,
|
| 64 |
+
57,
|
| 65 |
+
58,
|
| 66 |
+
59,
|
| 67 |
+
60,
|
| 68 |
+
61,
|
| 69 |
+
62,
|
| 70 |
+
63,
|
| 71 |
+
64,
|
| 72 |
+
65,
|
| 73 |
+
66,
|
| 74 |
+
67,
|
| 75 |
+
68,
|
| 76 |
+
69,
|
| 77 |
+
70,
|
| 78 |
+
71,
|
| 79 |
+
72,
|
| 80 |
+
73,
|
| 81 |
+
74,
|
| 82 |
+
75,
|
| 83 |
+
76,
|
| 84 |
+
77,
|
| 85 |
+
78,
|
| 86 |
+
79,
|
| 87 |
+
80,
|
| 88 |
+
81,
|
| 89 |
+
82,
|
| 90 |
+
83,
|
| 91 |
+
84,
|
| 92 |
+
85,
|
| 93 |
+
86,
|
| 94 |
+
87,
|
| 95 |
+
88,
|
| 96 |
+
89,
|
| 97 |
+
90,
|
| 98 |
+
91,
|
| 99 |
+
92,
|
| 100 |
+
93,
|
| 101 |
+
94,
|
| 102 |
+
95,
|
| 103 |
+
96,
|
| 104 |
+
97,
|
| 105 |
+
98,
|
| 106 |
+
99
|
| 107 |
+
],
|
| 108 |
+
"shelved_episode_ids": [
|
| 109 |
+
100,
|
| 110 |
+
101,
|
| 111 |
+
102,
|
| 112 |
+
103,
|
| 113 |
+
104,
|
| 114 |
+
105,
|
| 115 |
+
106,
|
| 116 |
+
107,
|
| 117 |
+
108,
|
| 118 |
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109,
|
| 119 |
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110,
|
| 120 |
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111,
|
| 121 |
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112,
|
| 122 |
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113,
|
| 123 |
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114,
|
| 124 |
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115,
|
| 125 |
+
116,
|
| 126 |
+
117,
|
| 127 |
+
118,
|
| 128 |
+
119,
|
| 129 |
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120,
|
| 130 |
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|
| 131 |
+
122,
|
| 132 |
+
123,
|
| 133 |
+
124,
|
| 134 |
+
125,
|
| 135 |
+
126,
|
| 136 |
+
127,
|
| 137 |
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128,
|
| 138 |
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129,
|
| 139 |
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130,
|
| 140 |
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131,
|
| 141 |
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|
| 142 |
+
133,
|
| 143 |
+
134,
|
| 144 |
+
135,
|
| 145 |
+
136,
|
| 146 |
+
137,
|
| 147 |
+
138,
|
| 148 |
+
139,
|
| 149 |
+
140,
|
| 150 |
+
141,
|
| 151 |
+
142,
|
| 152 |
+
143,
|
| 153 |
+
144,
|
| 154 |
+
145,
|
| 155 |
+
146,
|
| 156 |
+
147,
|
| 157 |
+
148
|
| 158 |
+
],
|
| 159 |
+
"frames": 65127,
|
| 160 |
+
"updates_per_epoch": 255,
|
| 161 |
+
"epochs": 40,
|
| 162 |
+
"max_steps": 10200,
|
| 163 |
+
"warmup_steps": 510,
|
| 164 |
+
"save_steps": [
|
| 165 |
+
2550,
|
| 166 |
+
5100,
|
| 167 |
+
7650,
|
| 168 |
+
10200
|
| 169 |
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],
|
| 170 |
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"control_hz": 50,
|
| 171 |
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"recording_hz": 30,
|
| 172 |
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"statistics_sha256": "0baaf877e1c4bf52f6f51d400e44059d939ae609b421c657b427ba16af0ded37",
|
| 173 |
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"proprio_dim": 44,
|
| 174 |
+
"joint_velocity": false,
|
| 175 |
+
"augmentation": "hb-aug-v2-20261109",
|
| 176 |
+
"proprio_augmentation": {
|
| 177 |
+
"delay_probability": 0.0,
|
| 178 |
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"max_delay_control_cycles": 0,
|
| 179 |
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"history_drop_probability": 0.0,
|
| 180 |
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"bias_scope": "per_sample",
|
| 181 |
+
"implementation": "hb_aug_v2.perturb_joints",
|
| 182 |
+
"aligned_with": "GR00T A20 basket-transfer recipe (hb_groot/hb_launch.py), user 2026-11-12"
|
| 183 |
+
},
|
| 184 |
+
"dataset_source": null,
|
| 185 |
+
"qwen_cache": "copied from the previous run",
|
| 186 |
+
"code": "/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/HumanWAM",
|
| 187 |
+
"code_record_sha256": "6d071fbccd08778aae250bfc1d307839943a5f33270f09524f947fcd6d05c8ca",
|
| 188 |
+
"code_note": "code record updated 2026-11-12 for the C6 timestamp tolerance (wholebody.py read_episode); this task passed the stricter check"
|
| 189 |
+
}
|
b6-pedal-bin/epoch-040/dataset_audit.json
ADDED
|
@@ -0,0 +1,447 @@
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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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|
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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 |
+
{
|
| 2 |
+
"schema": "wholebody-state44-action76-all-training-audit-v1",
|
| 3 |
+
"dataset_root": "/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/b6-v5t7-ready-start-60ep-20261109/data/deliveries/g1/b6-v5t7-ready-start-20261109",
|
| 4 |
+
"raw_dataset_read_only": true,
|
| 5 |
+
"source_unchanged_during_preparation": true,
|
| 6 |
+
"episodes": 100,
|
| 7 |
+
"total_frames": 97234,
|
| 8 |
+
"fps": 30,
|
| 9 |
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"train_episodes": [
|
| 10 |
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| 11 |
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|
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|
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| 21 |
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|
| 22 |
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|
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|
| 24 |
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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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|
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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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|
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|
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|
| 110 |
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],
|
| 111 |
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"validation_episodes": [
|
| 112 |
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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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|
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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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|
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|
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|
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146,
|
| 159 |
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147,
|
| 160 |
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148
|
| 161 |
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],
|
| 162 |
+
"train_split_mode": "first_100",
|
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b6-pedal-bin/epoch-040/dataset_stats.json
ADDED
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@@ -0,0 +1,1647 @@
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| 1646 |
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|
| 1647 |
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b6-pedal-bin/epoch-040/deltaflow-complete.json
ADDED
|
@@ -0,0 +1,13 @@
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{
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| 2 |
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"weights": [
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| 3 |
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"/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/b6/run/production/checkpoints/weights/step_002550.pt",
|
| 4 |
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"/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/b6/run/production/checkpoints/weights/step_005100.pt",
|
| 5 |
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"/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/b6/run/production/checkpoints/weights/step_007650.pt",
|
| 6 |
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"/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/b6/run/production/checkpoints/weights/step_010200.pt"
|
| 7 |
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],
|
| 8 |
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"state": "/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/b6/run/production/checkpoints/state/step_010200",
|
| 9 |
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|
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
b6-pedal-bin/epoch-040/logs/00-retry__s3__attempt-1__node-0.log
ADDED
|
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b6-pedal-bin/epoch-040/loss_summary.json
ADDED
|
@@ -0,0 +1,95 @@
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|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
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|
| 4 |
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"00-retry__s3__attempt-1__node-0.log"
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
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|
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|
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|
| 52 |
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|
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"loss_min_per_epoch": {
|
| 54 |
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|
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b6-pedal-bin/epoch-040/metrics.csv
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b6-pedal-bin/epoch-040/model.pt
ADDED
|
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b6-pedal-bin/epoch-040/prepared.ok
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| 9 |
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| 10 |
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b6-pedal-bin/epoch-040/protocol.json
ADDED
|
@@ -0,0 +1,35 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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"augmentation": "Humanoid Benchmark online augmentation spec v2 (2026-11-09): 15 visual effects, one effect per training sample at 1.5x; proprioception aligned with the GR00T A20 recipe (2026-11-12): per-sample joint bias +-2 deg + Gaussian noise 0.25 deg (hb_aug_v2.perturb_joints), no proprio delay, no history drop; model-native image augmentation off",
|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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"normalization": "dataset_stats.json / normalization.json in this folder",
|
| 17 |
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"config": "training_config.yaml (production config; absolute paths refer to the training NAS)",
|
| 18 |
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"inference": "HumanWAM ImageWAM delta-flow (code/hb_deltaflow installs the HB dataset and model factories); load model.pt with training_config.yaml, the statistics file and the qwen-text cache in this folder.",
|
| 19 |
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|
| 20 |
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|
| 21 |
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"files": {
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| 22 |
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| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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| 27 |
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| 28 |
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| 29 |
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|
| 31 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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b6-pedal-bin/epoch-040/qwen-text/d82ae9ce680248c4bb47e139992293855384c2e769939796b7d59b722ba7a37a.qwen3_flux2_len128.pt
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b6-pedal-bin/epoch-040/split-manifest.json
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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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|
| 144 |
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|
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|
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|
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|
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|
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|
| 151 |
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|
| 152 |
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|
| 153 |
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148
|
| 154 |
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],
|
| 155 |
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"seed": 42,
|
| 156 |
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"provenance_reviewed": true,
|
| 157 |
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"split_basis": "Fixed first 100 episodes (episode_index 0-99) per project rule 2026-11-09; episodes 100-148 are shelved (listed as validation ids, never trained, no validation run)",
|
| 158 |
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"source_group_by_episode": {
|
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"0": "b6-v5t7-001-seed210075",
|
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| 299 |
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|
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|
| 303 |
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|
| 304 |
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"145": "b6-v5t7-147-seed26200272",
|
| 305 |
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"146": "b6-v5t7-148-seed23201715",
|
| 306 |
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"147": "b6-v5t7-149-seed26600351",
|
| 307 |
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"148": "b6-v5t7-150-seed600190059"
|
| 308 |
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},
|
| 309 |
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"expected_body_joint_names": [
|
| 310 |
+
"left_hip_pitch_joint",
|
| 311 |
+
"left_hip_roll_joint",
|
| 312 |
+
"left_hip_yaw_joint",
|
| 313 |
+
"left_knee_joint",
|
| 314 |
+
"left_ankle_pitch_joint",
|
| 315 |
+
"left_ankle_roll_joint",
|
| 316 |
+
"right_hip_pitch_joint",
|
| 317 |
+
"right_hip_roll_joint",
|
| 318 |
+
"right_hip_yaw_joint",
|
| 319 |
+
"right_knee_joint",
|
| 320 |
+
"right_ankle_pitch_joint",
|
| 321 |
+
"right_ankle_roll_joint",
|
| 322 |
+
"waist_yaw_joint",
|
| 323 |
+
"waist_roll_joint",
|
| 324 |
+
"waist_pitch_joint",
|
| 325 |
+
"left_shoulder_pitch_joint",
|
| 326 |
+
"left_shoulder_roll_joint",
|
| 327 |
+
"left_shoulder_yaw_joint",
|
| 328 |
+
"left_elbow_joint",
|
| 329 |
+
"left_wrist_roll_joint",
|
| 330 |
+
"left_wrist_pitch_joint",
|
| 331 |
+
"left_wrist_yaw_joint",
|
| 332 |
+
"right_shoulder_pitch_joint",
|
| 333 |
+
"right_shoulder_roll_joint",
|
| 334 |
+
"right_shoulder_yaw_joint",
|
| 335 |
+
"right_elbow_joint",
|
| 336 |
+
"right_wrist_roll_joint",
|
| 337 |
+
"right_wrist_pitch_joint",
|
| 338 |
+
"right_wrist_yaw_joint"
|
| 339 |
+
],
|
| 340 |
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"source_metadata_sha256": {
|
| 341 |
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"meta/info.json": "23bcbe992070ebedfacb6a76ae22ac31a9642b9ed27a78ee2d41ce85b9fc707d",
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| 342 |
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"meta/episodes.jsonl": "14949e1d7ab1cf4f39edcd1c9733ab2fa4f0f902f6693084535f33a282d050a1",
|
| 343 |
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"meta/sim_episodes.jsonl": "0e5e1fdebe478fc1c0519faf4f0cf49ea0bfe58c68eb0b0acf79b33d59102637",
|
| 344 |
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"meta/cutpoints.jsonl": "43691369cc45df0d539bbf0663bebc30833a11e112c7324c3240f9c6f9f6ee8b",
|
| 345 |
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"meta/owner_approval.json": "07f90655f7fd0ff405af6b7590164cfa3703392b8241ba53f384396f79f204ab"
|
| 346 |
+
},
|
| 347 |
+
"shelved_episode_ids": [
|
| 348 |
+
100,
|
| 349 |
+
101,
|
| 350 |
+
102,
|
| 351 |
+
103,
|
| 352 |
+
104,
|
| 353 |
+
105,
|
| 354 |
+
106,
|
| 355 |
+
107,
|
| 356 |
+
108,
|
| 357 |
+
109,
|
| 358 |
+
110,
|
| 359 |
+
111,
|
| 360 |
+
112,
|
| 361 |
+
113,
|
| 362 |
+
114,
|
| 363 |
+
115,
|
| 364 |
+
116,
|
| 365 |
+
117,
|
| 366 |
+
118,
|
| 367 |
+
119,
|
| 368 |
+
120,
|
| 369 |
+
121,
|
| 370 |
+
122,
|
| 371 |
+
123,
|
| 372 |
+
124,
|
| 373 |
+
125,
|
| 374 |
+
126,
|
| 375 |
+
127,
|
| 376 |
+
128,
|
| 377 |
+
129,
|
| 378 |
+
130,
|
| 379 |
+
131,
|
| 380 |
+
132,
|
| 381 |
+
133,
|
| 382 |
+
134,
|
| 383 |
+
135,
|
| 384 |
+
136,
|
| 385 |
+
137,
|
| 386 |
+
138,
|
| 387 |
+
139,
|
| 388 |
+
140,
|
| 389 |
+
141,
|
| 390 |
+
142,
|
| 391 |
+
143,
|
| 392 |
+
144,
|
| 393 |
+
145,
|
| 394 |
+
146,
|
| 395 |
+
147,
|
| 396 |
+
148
|
| 397 |
+
],
|
| 398 |
+
"previous_manifest": "/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/b6-v5t7-ready-start-60ep-20261109/train/split-manifest.json"
|
| 399 |
+
}
|
b6-pedal-bin/epoch-040/training_config.yaml
ADDED
|
@@ -0,0 +1,298 @@
|
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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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|
|
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|
|
|
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| 1 |
+
output_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/b6/run/production
|
| 2 |
+
batch_size: 8
|
| 3 |
+
gradient_accumulation_steps: 1
|
| 4 |
+
num_workers: 4
|
| 5 |
+
prefetch_factor: 2
|
| 6 |
+
persistent_workers: true
|
| 7 |
+
num_epochs: 40
|
| 8 |
+
max_steps: 10200
|
| 9 |
+
lr_scheduler_total_steps: 10200
|
| 10 |
+
warmup_steps: 510
|
| 11 |
+
lr_scheduler_type: cosine
|
| 12 |
+
learning_rate: 0.0001
|
| 13 |
+
weight_decay: 0.01
|
| 14 |
+
optimizer_foreach: false
|
| 15 |
+
mixed_precision: bf16
|
| 16 |
+
seed: 42
|
| 17 |
+
max_grad_norm: 1.0
|
| 18 |
+
resume: null
|
| 19 |
+
log_every: 5
|
| 20 |
+
rank_timer_every: 20
|
| 21 |
+
rank_timer_sync_cuda: true
|
| 22 |
+
save_every: 0
|
| 23 |
+
save_steps:
|
| 24 |
+
- 2550
|
| 25 |
+
- 5100
|
| 26 |
+
- 7650
|
| 27 |
+
- 10200
|
| 28 |
+
save_at_end: true
|
| 29 |
+
keep_latest_weights: 4
|
| 30 |
+
keep_latest_state_only: true
|
| 31 |
+
eval_every: 0
|
| 32 |
+
eval_num_inference_steps: 1
|
| 33 |
+
eval_num_samples: 1
|
| 34 |
+
precache_arrow: false
|
| 35 |
+
precache_num_workers: 0
|
| 36 |
+
build_lerobot_meta_cache: false
|
| 37 |
+
build_norm_stats: false
|
| 38 |
+
precache_fuse_norm_stats: false
|
| 39 |
+
norm_stats_cache_enabled: false
|
| 40 |
+
wandb:
|
| 41 |
+
enabled: false
|
| 42 |
+
workspace: null
|
| 43 |
+
project: imagewam-wholebody
|
| 44 |
+
name: deltaflow-b6-40ep-augv2-aligned
|
| 45 |
+
group: wholebody-action76-state73
|
| 46 |
+
mode: disabled
|
| 47 |
+
data:
|
| 48 |
+
train:
|
| 49 |
+
_target_: imagewam.datasets.wholebody_hbaug.WholeBodyHBAugV2LeRobotDataset
|
| 50 |
+
dataset_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/b6-v5t7-ready-start-60ep-20261109/data/deliveries/g1/b6-v5t7-ready-start-20261109
|
| 51 |
+
stats_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/b6/stats/dataset_stats.json
|
| 52 |
+
qwen_text_cache_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/b6/qwen-text
|
| 53 |
+
split: train
|
| 54 |
+
train_split_mode: first_100
|
| 55 |
+
action_horizon: 16
|
| 56 |
+
past_action_size: 16
|
| 57 |
+
qwen_context_len: 128
|
| 58 |
+
qwen_text_dim: 7680
|
| 59 |
+
video_cache_frames: 64
|
| 60 |
+
split_manifest_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/b6/split-manifest.json
|
| 61 |
+
image_augmentation:
|
| 62 |
+
version: hb-aug-v2-20261109
|
| 63 |
+
enabled: true
|
| 64 |
+
seed: 20261110
|
| 65 |
+
spec: project CLAUDE.md augmentation default spec v2 (2026-11-09)
|
| 66 |
+
implementation: imagewam/datasets/hb_aug_v2.py = unchanged copy of $G/hb_groot/hb_aug_v2.py
|
| 67 |
+
implementation_sha256: 9f7713cea4f846efcfc924234267ced48210357f419d67915c10b504316bedde
|
| 68 |
+
boost: one of 15 effects uniformly per sample, magnitude x1.5
|
| 69 |
+
colour: exposure/contrast/saturation/hue/gamma/temperature shared by both cameras
|
| 70 |
+
and both times
|
| 71 |
+
per_camera: rotation+crop, light/shadow patches, single-channel white balance;
|
| 72 |
+
same on t and t+16
|
| 73 |
+
observation_only: noise, gaussian blur, JPEG, motion blur, sharpen, defocus
|
| 74 |
+
(never on the t+16 target)
|
| 75 |
+
native_model_image_augmentation: none
|
| 76 |
+
action_label_noise: false
|
| 77 |
+
state_label_noise: false
|
| 78 |
+
proprio_augmentation:
|
| 79 |
+
enabled: true
|
| 80 |
+
seed: 20261106
|
| 81 |
+
joint_bias_degrees: 2.0
|
| 82 |
+
joint_noise_std_degrees: 0.25
|
| 83 |
+
delay_probability: 0.0
|
| 84 |
+
max_delay_control_cycles: 0
|
| 85 |
+
control_hz: 50
|
| 86 |
+
recording_hz: 30
|
| 87 |
+
history_drop_probability: 0.0
|
| 88 |
+
affected_angle_channels:
|
| 89 |
+
- 0
|
| 90 |
+
- 1
|
| 91 |
+
- 2
|
| 92 |
+
- 3
|
| 93 |
+
- 4
|
| 94 |
+
- 5
|
| 95 |
+
- 6
|
| 96 |
+
- 7
|
| 97 |
+
- 8
|
| 98 |
+
- 9
|
| 99 |
+
- 10
|
| 100 |
+
- 11
|
| 101 |
+
- 12
|
| 102 |
+
- 13
|
| 103 |
+
- 14
|
| 104 |
+
- 15
|
| 105 |
+
- 16
|
| 106 |
+
- 17
|
| 107 |
+
- 18
|
| 108 |
+
- 19
|
| 109 |
+
- 20
|
| 110 |
+
- 21
|
| 111 |
+
- 22
|
| 112 |
+
- 23
|
| 113 |
+
- 24
|
| 114 |
+
- 25
|
| 115 |
+
- 26
|
| 116 |
+
- 27
|
| 117 |
+
- 28
|
| 118 |
+
velocity_channels: []
|
| 119 |
+
action_label_noise: false
|
| 120 |
+
bias_scope: per_sample
|
| 121 |
+
start_pose_library: not_applied_offline
|
| 122 |
+
render_randomization: not_applied_offline
|
| 123 |
+
implementation: hb_aug_v2.perturb_joints
|
| 124 |
+
aligned_with: GR00T A20 basket-transfer recipe (hb_groot/hb_launch.py), user
|
| 125 |
+
2026-11-12
|
| 126 |
+
val: null
|
| 127 |
+
model:
|
| 128 |
+
_target_: imagewam.wholebody_delta.create_imagewam_flux2_wholebody_delta
|
| 129 |
+
flux2_src_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/HumanWAM/third_party/flux2
|
| 130 |
+
flux2_model_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/FLUX.2-klein-base-4B/flux-2-klein-base-4b.safetensors
|
| 131 |
+
ae_model_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/FLUX.2-AE/ae.safetensors
|
| 132 |
+
qwen3_model_spec: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/Qwen3-4B
|
| 133 |
+
variant: klein-base-4b
|
| 134 |
+
qwen_context_len: 128
|
| 135 |
+
load_text_encoder: false
|
| 136 |
+
proprio_dim: 44
|
| 137 |
+
action_state_dim: 44
|
| 138 |
+
expected_action_dim: 76
|
| 139 |
+
expected_action_horizon: 16
|
| 140 |
+
state_only_init_seed: 42
|
| 141 |
+
mot_checkpoint_mixed_attn: true
|
| 142 |
+
mot_gqa_implementation: repeat
|
| 143 |
+
mot_force_flash_attention: false
|
| 144 |
+
pack_proprio_after_text: false
|
| 145 |
+
action_dit_pretrained_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/all60-20261105/action-shared-flux2-4b.pt
|
| 146 |
+
action_initializer_sha256: 3b40f3ca92b3e249ed39791c1ce3ab55adce8161e406c62d94387ab1532ef657
|
| 147 |
+
zero_init_action_head: false
|
| 148 |
+
action_head_init_scale: 1.0
|
| 149 |
+
flux2_action_image_context:
|
| 150 |
+
mode: noise_idm
|
| 151 |
+
include_future_tokens: true
|
| 152 |
+
knowledge_insulation: true
|
| 153 |
+
reuse_image_fm_workspace: false
|
| 154 |
+
flux2_lora_config:
|
| 155 |
+
enabled: false
|
| 156 |
+
action_dit_config:
|
| 157 |
+
action_dim: 76
|
| 158 |
+
hidden_dim: 1024
|
| 159 |
+
num_heads: 24
|
| 160 |
+
attn_head_dim: 128
|
| 161 |
+
num_layers_double: 5
|
| 162 |
+
num_layers_single: 20
|
| 163 |
+
mlp_ratio: 4.0
|
| 164 |
+
max_action_horizon: 64
|
| 165 |
+
use_gradient_checkpointing: true
|
| 166 |
+
video_scheduler:
|
| 167 |
+
train_shift: 5.0
|
| 168 |
+
infer_shift: 5.0
|
| 169 |
+
num_train_timesteps: 1000
|
| 170 |
+
action_scheduler:
|
| 171 |
+
train_shift: 5.0
|
| 172 |
+
infer_shift: 5.0
|
| 173 |
+
num_train_timesteps: 1000
|
| 174 |
+
loss:
|
| 175 |
+
lambda_video: 0.5
|
| 176 |
+
lambda_action: 1.0
|
| 177 |
+
action_a2a:
|
| 178 |
+
enabled: true
|
| 179 |
+
fm_weight: 1.0
|
| 180 |
+
ic_weight: 0.5
|
| 181 |
+
ic_steps: 1
|
| 182 |
+
ic_loss: l1
|
| 183 |
+
source_noise_std: 0.5
|
| 184 |
+
source_noise_dim_mask:
|
| 185 |
+
- true
|
| 186 |
+
- true
|
| 187 |
+
- true
|
| 188 |
+
- true
|
| 189 |
+
- true
|
| 190 |
+
- true
|
| 191 |
+
- true
|
| 192 |
+
- true
|
| 193 |
+
- true
|
| 194 |
+
- true
|
| 195 |
+
- true
|
| 196 |
+
- true
|
| 197 |
+
- true
|
| 198 |
+
- true
|
| 199 |
+
- true
|
| 200 |
+
- true
|
| 201 |
+
- true
|
| 202 |
+
- true
|
| 203 |
+
- true
|
| 204 |
+
- true
|
| 205 |
+
- true
|
| 206 |
+
- true
|
| 207 |
+
- true
|
| 208 |
+
- true
|
| 209 |
+
- true
|
| 210 |
+
- true
|
| 211 |
+
- true
|
| 212 |
+
- true
|
| 213 |
+
- true
|
| 214 |
+
- true
|
| 215 |
+
- true
|
| 216 |
+
- true
|
| 217 |
+
- true
|
| 218 |
+
- true
|
| 219 |
+
- true
|
| 220 |
+
- true
|
| 221 |
+
- true
|
| 222 |
+
- true
|
| 223 |
+
- true
|
| 224 |
+
- true
|
| 225 |
+
- true
|
| 226 |
+
- true
|
| 227 |
+
- true
|
| 228 |
+
- true
|
| 229 |
+
- true
|
| 230 |
+
- true
|
| 231 |
+
- true
|
| 232 |
+
- true
|
| 233 |
+
- true
|
| 234 |
+
- true
|
| 235 |
+
- true
|
| 236 |
+
- true
|
| 237 |
+
- true
|
| 238 |
+
- true
|
| 239 |
+
- true
|
| 240 |
+
- true
|
| 241 |
+
- true
|
| 242 |
+
- true
|
| 243 |
+
- true
|
| 244 |
+
- true
|
| 245 |
+
- true
|
| 246 |
+
- true
|
| 247 |
+
- true
|
| 248 |
+
- true
|
| 249 |
+
- true
|
| 250 |
+
- true
|
| 251 |
+
- true
|
| 252 |
+
- true
|
| 253 |
+
- true
|
| 254 |
+
- true
|
| 255 |
+
- true
|
| 256 |
+
- true
|
| 257 |
+
- true
|
| 258 |
+
- true
|
| 259 |
+
- true
|
| 260 |
+
- true
|
| 261 |
+
aura:
|
| 262 |
+
enabled: false
|
| 263 |
+
image_i2i:
|
| 264 |
+
enabled: true
|
| 265 |
+
source_mode: gaussian
|
| 266 |
+
current_residual_scale: 0.5773502691896258
|
| 267 |
+
variance_normalize: true
|
| 268 |
+
ic_weight: 1.0
|
| 269 |
+
ic_steps: 1
|
| 270 |
+
ic_loss: l1
|
| 271 |
+
source_noise_std: 0.0
|
| 272 |
+
wholebody_contract:
|
| 273 |
+
world_size: 32
|
| 274 |
+
zero_stage: 1
|
| 275 |
+
statistics_sha256: 0baaf877e1c4bf52f6f51d400e44059d939ae609b421c657b427ba16af0ded37
|
| 276 |
+
stats_schema: wholebody-state41to44-action76-chunk16-first100-v1
|
| 277 |
+
normalization_strategy: fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands
|
| 278 |
+
smoke_output_dir: null
|
| 279 |
+
production_output_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/policies-20261109/deltaflow-runs/b6/run/production
|
| 280 |
+
fresh_base: true
|
| 281 |
+
measured_loader:
|
| 282 |
+
dataset_frames: 65127
|
| 283 |
+
raw_loader_batches: 8141
|
| 284 |
+
per_rank_microbatches: 255
|
| 285 |
+
world_size: 32
|
| 286 |
+
microbatch: 8
|
| 287 |
+
gradient_accumulation: 1
|
| 288 |
+
dataloader_drop_last: false
|
| 289 |
+
source: native Wan22Trainer._build_loader + Accelerate.prepare_data_loader; no
|
| 290 |
+
iteration/model/optimizer
|
| 291 |
+
updates_per_epoch: 255
|
| 292 |
+
augmentation: hb-aug-v2-20261109
|
| 293 |
+
proprio_augmentation: aligned with GR00T A20 (per-sample perturb_joints, no delay,
|
| 294 |
+
no history drop)
|
| 295 |
+
proprio_layout: body29 + hands12 + gravity3 = 44 (no velocity)
|
| 296 |
+
train_episode_ids: 0-99
|
| 297 |
+
shelved_episode_ids: 100-148
|
| 298 |
+
source_config: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/b6-v5t7-ready-start-60ep-20261109/train/run/production.yaml
|