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index 7a1748881e165c369a7b1637c4edfc35634dcf38..45ccfe934be079ba2511b5cc40cac5a7a03969ac 100644
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pi05_paligemma_robocasa_full_data_full_finetune_bs256/tokenizer/tokenizer.json filter=lfs diff=lfs merge=lfs -text
fastwam_base/tokenizer/tokenizer.json filter=lfs diff=lfs merge=lfs -text
+cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/tokenizer.json filter=lfs diff=lfs merge=lfs -text
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+{
+ "eval": {
+ "dataset": {
+ "extra_tensor_keys": [
+ "conditioning_fps",
+ "prepend_state_to_action"
+ ],
+ "img_buffer_len": 1,
+ "transforms": [
+ {
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+ "img_keys": [
+ "agentview_image",
+ "robot0_eye_in_hand_image"
+ ],
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+ "prepend_state_to_action": false,
+ "type": "SetCosmos3ActionMetadata"
+ },
+ {
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+ 256,
+ 256
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+ "video_width": 512
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+ "model_path": "./checkpoints/Cosmos3-Edge",
+ "padding_side": "right",
+ "trust_remote_code": true,
+ "type": "PretrainedTokenizer"
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+ "type": "LiberoProprioFromInputs"
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+ "tile_direction": "horizontal",
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+ "type": "LiberoParquetEvalDataset"
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+}
\ No newline at end of file
diff --git a/cosmos3edge_libero_spatial_full_finetune_bs16/config.yaml b/cosmos3edge_libero_spatial_full_finetune_bs16/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..74fea82b2bfb326112a20104f416522ba2ffe2fe
--- /dev/null
+++ b/cosmos3edge_libero_spatial_full_finetune_bs16/config.yaml
@@ -0,0 +1,549 @@
+eval:
+ dataset:
+ extra_tensor_keys:
+ - conditioning_fps
+ - prepend_state_to_action
+ img_buffer_len: 1
+ transforms:
+ - embodiment_id: 5
+ img_keys:
+ - agentview_image
+ - robot0_eye_in_hand_image
+ type: ProcessLiberoEvalInputs
+ - conditioning_fps: 20.0
+ prepend_state_to_action: false
+ type: SetCosmos3ActionMetadata
+ - image_resize_strategy: resize-naive
+ input_sizes:
+ - - 3
+ - 256
+ - 256
+ - - 3
+ - 256
+ - 256
+ means:
+ - - 127.5
+ - 127.5
+ - 127.5
+ - - 127.5
+ - 127.5
+ - 127.5
+ stds:
+ - - 127.5
+ - 127.5
+ - 127.5
+ - - 127.5
+ - 127.5
+ - 127.5
+ type: TransformImage
+ - action_metadata:
+ append_viewpoint: false
+ conditioning_fps: 20.0
+ frame_window_size: 17
+ video_height: 256
+ video_width: 512
+ cfg_dropout_rate: 0.0
+ max_len: 512
+ output_attention_mask_key: lang_masks
+ output_key: lang_tokens
+ tokenizer:
+ model_max_length: 4096
+ model_path: ./checkpoints/Cosmos3-Edge
+ padding_side: right
+ trust_remote_code: true
+ type: PretrainedTokenizer
+ type: ProcessCosmos3Prompt
+ - gripper_key: robot0_gripper_qpos
+ norm_type: mean_std
+ out_key: states
+ pos_key: robot0_eef_pos
+ quat_key: robot0_eef_quat
+ state_dim: 64
+ type: LiberoProprioFromInputs
+ - frame_window_size: 1
+ num_views: 2
+ tile_direction: horizontal
+ type: PrepareVideo
+ type: LiberoParquetEvalDataset
+ denormalize_action:
+ action_dim: 10
+ norm_type: quantile_rot
+ type: DenormalizeLiberoFramewiseRot6DAction
+ enable_mixed_precision_training: true
+ eval_chunk_size: 16
+ inference_seed: 7
+ mixed_precision_dtype: bf16
+ model_family: cosmos3
+ norm_stats_key: libero_spatial_no_noops
+ num_inference_steps: 30
+ num_steps_wait: 10
+ num_trials_per_task: 50
+ resize_size: 256
+ seed: 7
+ task_ids: null
+ task_suite_name: libero_spatial
+ type: LiberoEvalRunner
+inference_model:
+ action_horizon: 16
+ action_in_proj:
+ input_size: 64
+ num_domains: 32
+ output_size: 2048
+ type: DomainAwareLinear
+ action_out_proj:
+ input_size: 2048
+ num_domains: 32
+ output_size: 64
+ type: DomainAwareLinear
+ base_fps: 24.0
+ enable_fps_modulation: true
+ enable_vision_loss: true
+ freeze_non_moe_vlm_backbone: true
+ freeze_vlm_backbone: false
+ latent_patch_size: 2
+ max_action_dim: 64
+ name_mapping:
+ .self_attn.k_norm_moe_gen.: .self_attn.norm_added_k.
+ .self_attn.k_proj.: .self_attn.to_k.
+ .self_attn.k_proj_moe_gen.: .self_attn.add_k_proj.
+ .self_attn.o_proj.: .self_attn.to_out.
+ .self_attn.o_proj_moe_gen.: .self_attn.to_add_out.
+ .self_attn.q_norm_moe_gen.: .self_attn.norm_added_q.
+ .self_attn.q_proj.: .self_attn.to_q.
+ .self_attn.q_proj_moe_gen.: .self_attn.add_q_proj.
+ .self_attn.v_proj.: .self_attn.to_v.
+ .self_attn.v_proj_moe_gen.: .self_attn.add_v_proj.
+ action_in_proj.: action_proj_in.
+ action_modality_embed: action_modality_embed
+ action_out_proj.: action_proj_out.
+ time_embedder.mlp.0.: time_embedder.linear_1.
+ time_embedder.mlp.2.: time_embedder.linear_2.
+ vision_in_proj.projector.: proj_in.
+ vision_out_proj.projector.: proj_out.
+ vlm_backbone.lm_head.weight: lm_head.weight
+ vlm_backbone.model.language_model.embed_tokens.weight: embed_tokens.weight
+ vlm_backbone.model.language_model.layers.: layers.
+ vlm_backbone.model.language_model.norm.weight: norm.weight
+ vlm_backbone.model.language_model.norm_moe_gen.weight: norm_moe_gen.weight
+ num_embodiment_domains: 32
+ ori_action_dim: 10
+ packed_attention_backend: flash2
+ position_embedding_type: unified_3d_mrope
+ pretrained_name_or_path: ./checkpoints/Cosmos3-Edge/transformer
+ rectified_flow_inference_config:
+ num_steps: 30
+ num_train_timesteps: 1000
+ scheduler_type: unipc
+ shift: 10.0
+ use_dynamic_shifting: false
+ use_karras_sigmas: false
+ rectified_flow_training_config:
+ action_loss_weight: 10.0
+ independent_action_schedule: false
+ normalize_loss_by_active: false
+ shift:
+ '256': 3
+ '480': 5
+ '720': 10
+ shift_action: null
+ train_time_action_distribution: logitnormal
+ train_time_image_distribution: logitnormal
+ train_time_video_distribution: waver
+ train_time_weight: uniform
+ use_discrete_rf: false
+ use_dynamic_shift: false
+ use_high_sigma_strategy: false
+ use_high_sigma_strategy_action: false
+ vision_loss_weight: 10.0
+ reinitialize_action_policy: true
+ special_tokens:
+ end_of_generation: 21
+ eos_token_id: 11
+ start_of_generation: 20
+ strict_mapping: true
+ timestep_scale: 0.001
+ type: Cosmos3FlowMatching
+ unified_3d_mrope_reset_spatial_ids: true
+ unified_3d_mrope_temporal_modality_margin: 15000
+ vision_in_proj:
+ in_dim: 192
+ out_dim: 2048
+ type: LinearProjector
+ vision_latent_dim: 48
+ vision_out_proj:
+ in_dim: 2048
+ out_dim: 192
+ type: LinearProjector
+ vision_vae:
+ encode_exact_durations:
+ - 17
+ pretrained_name_or_path: ./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth
+ type: Cosmos3Wan22VAE
+ vlm_backbone:
+ include_visual: false
+ skip_init_weights: true
+ type: Cosmos3MoTBackbone
+ vlm_config:
+ attention_bias: false
+ bos_token_id: 1
+ enable_mrope: true
+ eos_token_id: 11
+ head_dim: 128
+ hidden_size: 2048
+ intermediate_size: 9216
+ layer_norm_epsilon: 1.0e-05
+ max_position_embeddings: 131072
+ mlp_bias: false
+ mlp_hidden_act: relu2
+ model_type: nemotron_3_dense_vl_text
+ mrope_section:
+ - 24
+ - 20
+ - 20
+ num_attention_heads: 16
+ num_hidden_layers: 28
+ num_key_value_heads: 8
+ pad_token_id: 11
+ rope_theta: 100000000.0
+ tie_word_embeddings: false
+ use_und_k_norm_for_gen: true
+ vocab_size: 131072
+model:
+ action_horizon: 16
+ action_in_proj:
+ input_size: 64
+ num_domains: 32
+ output_size: 2048
+ type: DomainAwareLinear
+ action_out_proj:
+ input_size: 2048
+ num_domains: 32
+ output_size: 64
+ type: DomainAwareLinear
+ base_fps: 24.0
+ enable_fps_modulation: true
+ enable_vision_loss: true
+ freeze_non_moe_vlm_backbone: true
+ freeze_vlm_backbone: false
+ latent_patch_size: 2
+ max_action_dim: 64
+ name_mapping:
+ .self_attn.k_norm_moe_gen.: .self_attn.norm_added_k.
+ .self_attn.k_proj.: .self_attn.to_k.
+ .self_attn.k_proj_moe_gen.: .self_attn.add_k_proj.
+ .self_attn.o_proj.: .self_attn.to_out.
+ .self_attn.o_proj_moe_gen.: .self_attn.to_add_out.
+ .self_attn.q_norm_moe_gen.: .self_attn.norm_added_q.
+ .self_attn.q_proj.: .self_attn.to_q.
+ .self_attn.q_proj_moe_gen.: .self_attn.add_q_proj.
+ .self_attn.v_proj.: .self_attn.to_v.
+ .self_attn.v_proj_moe_gen.: .self_attn.add_v_proj.
+ action_in_proj.: action_proj_in.
+ action_modality_embed: action_modality_embed
+ action_out_proj.: action_proj_out.
+ time_embedder.mlp.0.: time_embedder.linear_1.
+ time_embedder.mlp.2.: time_embedder.linear_2.
+ vision_in_proj.projector.: proj_in.
+ vision_out_proj.projector.: proj_out.
+ vlm_backbone.lm_head.weight: lm_head.weight
+ vlm_backbone.model.language_model.embed_tokens.weight: embed_tokens.weight
+ vlm_backbone.model.language_model.layers.: layers.
+ vlm_backbone.model.language_model.norm.weight: norm.weight
+ vlm_backbone.model.language_model.norm_moe_gen.weight: norm_moe_gen.weight
+ num_embodiment_domains: 32
+ ori_action_dim: 10
+ packed_attention_backend: flash2
+ position_embedding_type: unified_3d_mrope
+ pretrained_name_or_path: ./checkpoints/Cosmos3-Edge/transformer
+ rectified_flow_inference_config:
+ num_steps: 30
+ num_train_timesteps: 1000
+ scheduler_type: unipc
+ shift: 10.0
+ use_dynamic_shifting: false
+ use_karras_sigmas: false
+ rectified_flow_training_config:
+ action_loss_weight: 10.0
+ independent_action_schedule: false
+ normalize_loss_by_active: false
+ shift:
+ '256': 3
+ '480': 5
+ '720': 10
+ shift_action: null
+ train_time_action_distribution: logitnormal
+ train_time_image_distribution: logitnormal
+ train_time_video_distribution: waver
+ train_time_weight: uniform
+ use_discrete_rf: false
+ use_dynamic_shift: false
+ use_high_sigma_strategy: false
+ use_high_sigma_strategy_action: false
+ vision_loss_weight: 10.0
+ reinitialize_action_policy: true
+ special_tokens:
+ end_of_generation: 21
+ eos_token_id: 11
+ start_of_generation: 20
+ strict_mapping: true
+ timestep_scale: 0.001
+ type: Cosmos3FlowMatching
+ unified_3d_mrope_reset_spatial_ids: true
+ unified_3d_mrope_temporal_modality_margin: 15000
+ vision_in_proj:
+ in_dim: 192
+ out_dim: 2048
+ type: LinearProjector
+ vision_latent_dim: 48
+ vision_out_proj:
+ in_dim: 2048
+ out_dim: 192
+ type: LinearProjector
+ vision_vae:
+ encode_exact_durations:
+ - 17
+ pretrained_name_or_path: ./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth
+ type: Cosmos3Wan22VAE
+ vlm_backbone:
+ include_visual: false
+ skip_init_weights: true
+ type: Cosmos3MoTBackbone
+ vlm_config:
+ attention_bias: false
+ bos_token_id: 1
+ enable_mrope: true
+ eos_token_id: 11
+ head_dim: 128
+ hidden_size: 2048
+ intermediate_size: 9216
+ layer_norm_epsilon: 1.0e-05
+ max_position_embeddings: 131072
+ mlp_bias: false
+ mlp_hidden_act: relu2
+ model_type: nemotron_3_dense_vl_text
+ mrope_section:
+ - 24
+ - 20
+ - 20
+ num_attention_heads: 16
+ num_hidden_layers: 28
+ num_key_value_heads: 8
+ pad_token_id: 11
+ rope_theta: 100000000.0
+ tie_word_embeddings: false
+ use_und_k_norm_for_gen: true
+ vocab_size: 131072
+runner:
+ change_key_name: false
+ collator:
+ list_keys:
+ - sequence_plan
+ meta_keys:
+ - task_description
+ - stats
+ - info
+ - timestamp
+ pad_id: 11
+ sequence_keys:
+ - text_token_ids
+ tensor_keys:
+ - images
+ - actions
+ - embodiment_ids
+ - raw_action_dim
+ - conditioning_fps
+ - action_fps
+ type: Cosmos3Collator
+ enable_gradient_checkpointing: true
+ enable_mixed_precision_training: true
+ grad_accumulation_steps: 16
+ lr_scheduler:
+ cycle_length: 16000
+ type: linear-warmup+linear-decay
+ warmup_steps: 500
+ max_epochs: null
+ max_grad_norm: 1.0
+ max_keep_ckpts: 2
+ max_steps: 2000
+ metric:
+ active_trackers:
+ - jsonl
+ - wandb
+ grad_accumulation_steps: 16
+ run_dir: work_dirs
+ type: VLAMetric
+ window_size: 1
+ mixed_precision_dtype: bf16
+ optimizer:
+ betas:
+ - 0.9
+ - 0.99
+ eps: 1.0e-08
+ exclude_1d_from_weight_decay: false
+ fused: true
+ lr: 5.0e-05
+ paramwise_learning_rate:
+ action_in_proj.: 0.00025
+ action_modality_embed: 0.00025
+ action_out_proj.: 0.00025
+ type: AdamW
+ weight_decay: 0.05
+ sampler: null
+ save_iter_interval: 500
+ sharding_strategy: full-shard
+ tokenizer:
+ model_max_length: 4096
+ model_path: ./checkpoints/Cosmos3-Edge
+ padding_side: right
+ trust_remote_code: true
+ type: PretrainedTokenizer
+ type: FSDPTrainRunner
+seed: 7
+train_dataloader:
+ dataset:
+ datasets:
+ action_key: action
+ action_window_size: 16
+ data_root_path: /mnt/data/cpfs/mnt/data/yanis/FastWAM/data/libero_mujoco3.3.2/libero_spatial_no_noops_lerobot
+ frame_window_size: 17
+ require_full_window: true
+ statistic_name: libero_spatial_no_noops
+ transforms:
+ - embodiment_id: 5
+ name_mappings:
+ actions:
+ - actions
+ observation.state:
+ - states
+ parquet_keys:
+ - observation.state
+ - timestamp
+ - actions
+ - info
+ - stats
+ type: ProcessParquetInputs
+ video_keys:
+ - observation.images.image
+ - observation.images.wrist_image
+ - type: LiberoFramewiseActionToRot6D
+ - action_metadata:
+ append_viewpoint: false
+ conditioning_fps: 20.0
+ frame_window_size: 17
+ video_height: 256
+ video_width: 512
+ cfg_dropout_rate: 0.1
+ max_len: 512
+ tokenizer:
+ model_max_length: 4096
+ model_path: ./checkpoints/Cosmos3-Edge
+ padding_side: right
+ trust_remote_code: true
+ type: PretrainedTokenizer
+ type: ProcessCosmos3Prompt
+ - height: 256
+ type: ResizeImages
+ width: 256
+ - type: SimpleNormalizeImages
+ - action_dim: 64
+ action_key: action
+ action_norm_type: quantile
+ state_dim: 64
+ state_key: proprio
+ state_norm_type: none
+ type: NormalizeStatesAndActions
+ - conditioning_fps: 20.0
+ frame_window_size: 17
+ mode: wam
+ prepend_state_to_action: false
+ raw_action_dim: 10
+ type: BuildCosmos3Sequence
+ - frame_window_size: 17
+ num_views: 2
+ tile_direction: horizontal
+ type: PrepareVideo
+ type: ParquetDataset
+ use_delta: false
+ window_start_idx: 0
+ name_mappings:
+ action:
+ - action
+ observation.state:
+ - proprio
+ statistic_keys:
+ - observation.state
+ - timestamp
+ - action
+ statistic_name: libero_spatial_no_noops
+ statistics_overrides:
+ libero_spatial_no_noops:
+ action:
+ max:
+ - 0.9375
+ - 0.9375
+ - 0.9375
+ - 1.0
+ - 0.368853
+ - 0.341214
+ - 0.356395
+ - 1.0
+ - 0.348251
+ - 1.0
+ mean:
+ - 0.050704
+ - 0.097407
+ - -0.094833
+ - 0.994873
+ - -0.004579
+ - -0.004288
+ - 0.004389
+ - 0.996104
+ - 0.001109
+ - 0.476725
+ min:
+ - -0.9375
+ - -0.9375
+ - -0.9375
+ - 0.902028
+ - -0.356085
+ - -0.367416
+ - -0.370434
+ - 0.921907
+ - -0.255
+ - 0.0
+ q01:
+ - -0.723214
+ - -0.808929
+ - -0.9375
+ - 0.934955
+ - -0.223431
+ - -0.189878
+ - -0.334735
+ - 0.938516
+ - -0.107736
+ - 0.0
+ q99:
+ - 0.9375
+ - 0.870536
+ - 0.9375
+ - 1.0
+ - 0.331
+ - 0.163153
+ - 0.226216
+ - 1.0
+ - 0.127158
+ - 1.0
+ std:
+ - 0.333621
+ - 0.387175
+ - 0.45714
+ - 0.010807
+ - 0.077802
+ - 0.063386
+ - 0.078571
+ - 0.009994
+ - 0.038504
+ - 0.49946
+ type: DistributedRepeatingDataset
+ per_device_batch_size: 16
+ per_device_num_workers: 4
diff --git a/cosmos3edge_libero_spatial_full_finetune_bs16/cosmos3edge_libero_spatial_full_finetune_2026_08_04_01_21_37.jsonl b/cosmos3edge_libero_spatial_full_finetune_bs16/cosmos3edge_libero_spatial_full_finetune_2026_08_04_01_21_37.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cbf4db8903154aa545f55c0a8eec60f743435ba9
--- /dev/null
+++ b/cosmos3edge_libero_spatial_full_finetune_bs16/cosmos3edge_libero_spatial_full_finetune_2026_08_04_01_21_37.jsonl
@@ -0,0 +1,2000 @@
+{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000005", "VLA Train/Loss": 15.708810806274414, "VLA Train/Loss (Raw)": 15.708810806274414, "VLA Train/Step": 1, "VLA Train/Step Time": 89.45630645751953}
+{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000010", "VLA Train/Loss": 15.598339080810547, "VLA Train/Loss (Raw)": 15.598339080810547, "VLA Train/Step": 2, "VLA Train/Step Time": 45.980032205581665}
+{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000015", "VLA Train/Loss": 15.83517074584961, "VLA Train/Loss (Raw)": 15.83517074584961, "VLA Train/Step": 3, "VLA Train/Step Time": 44.78857660293579}
+{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000020", "VLA Train/Loss": 15.713404655456543, "VLA Train/Loss (Raw)": 15.713404655456543, "VLA Train/Step": 4, "VLA Train/Step Time": 46.35176467895508}
+{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000025", "VLA Train/Loss": 15.694744110107422, "VLA Train/Loss (Raw)": 15.694744110107422, "VLA Train/Step": 5, "VLA Train/Step Time": 44.89147686958313}
+{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000030", "VLA Train/Loss": 15.814908981323242, "VLA Train/Loss (Raw)": 15.814908981323242, "VLA Train/Step": 6, "VLA Train/Step Time": 46.580917835235596}
+{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000035", "VLA Train/Loss": 15.828725814819336, "VLA Train/Loss (Raw)": 15.828725814819336, "VLA Train/Step": 7, "VLA Train/Step Time": 45.474714040756226}
+{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000040", "VLA Train/Loss": 15.639307975769043, "VLA Train/Loss (Raw)": 15.639307975769043, "VLA Train/Step": 8, "VLA Train/Step Time": 45.91336178779602}
+{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000045", "VLA Train/Loss": 15.914237976074219, "VLA Train/Loss (Raw)": 15.914237976074219, "VLA Train/Step": 9, "VLA Train/Step Time": 45.69941520690918}
+{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000050", "VLA Train/Loss": 15.778459548950195, "VLA Train/Loss (Raw)": 15.778459548950195, "VLA Train/Step": 10, "VLA Train/Step Time": 45.36293148994446}
+{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000055", "VLA Train/Loss": 15.652141571044922, "VLA Train/Loss (Raw)": 15.652141571044922, "VLA Train/Step": 11, "VLA Train/Step Time": 46.04212403297424}
+{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000060", "VLA Train/Loss": 15.465991020202637, "VLA Train/Loss (Raw)": 15.465991020202637, "VLA Train/Step": 12, "VLA Train/Step Time": 45.34996175765991}
+{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000065", "VLA Train/Loss": 15.647253036499023, "VLA Train/Loss (Raw)": 15.647253036499023, "VLA Train/Step": 13, "VLA Train/Step Time": 46.32379698753357}
+{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000070", "VLA Train/Loss": 15.38821029663086, "VLA Train/Loss (Raw)": 15.38821029663086, "VLA Train/Step": 14, "VLA Train/Step Time": 45.69284963607788}
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diff --git a/cosmos3edge_libero_spatial_full_finetune_bs16/dataset_statistics.json b/cosmos3edge_libero_spatial_full_finetune_bs16/dataset_statistics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cac26562b687bea3465e4cc1ee7fd72bab91b4ba
--- /dev/null
+++ b/cosmos3edge_libero_spatial_full_finetune_bs16/dataset_statistics.json
@@ -0,0 +1,138 @@
+{
+ "libero_spatial_no_noops": {
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+ "q01": null,
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+ "std": [
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+ "min": [
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+ "max": [
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+ }
+ }
+}
\ No newline at end of file
diff --git a/cosmos3edge_libero_spatial_full_finetune_bs16/run-metrics.jsonl b/cosmos3edge_libero_spatial_full_finetune_bs16/run-metrics.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4019f2ea6528bd424493d010d53adbc2a21b879f
--- /dev/null
+++ b/cosmos3edge_libero_spatial_full_finetune_bs16/run-metrics.jsonl
@@ -0,0 +1 @@
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'raw_action_dim', 'conditioning_fps', 'action_fps'], 'type': 'Cosmos3Collator'}, 'enable_gradient_checkpointing': True, 'enable_mixed_precision_training': True, 'grad_accumulation_steps': 16, 'lr_scheduler': {'cycle_length': 16000, 'type': 'linear-warmup+linear-decay', 'warmup_steps': 500}, 'max_epochs': None, 'max_grad_norm': 1.0, 'max_keep_ckpts': 2, 'max_steps': 2000, 'metric': {'active_trackers': ('jsonl', 'wandb'), 'grad_accumulation_steps': 16, 'run_dir': '/mnt/data/cpfs/users/leo/wk_dir/cosmos3/libero_spatial_edge_pr51_latest_bs16', 'type': 'VLAMetric', 'window_size': 1}, 'mixed_precision_dtype': 'bf16', 'optimizer': {'betas': (0.9, 0.99), 'eps': 1e-08, 'exclude_1d_from_weight_decay': False, 'fused': True, 'lr': 5e-05, 'paramwise_learning_rate': {'action_in_proj.': 0.00025, 'action_modality_embed': 0.00025, 'action_out_proj.': 0.00025}, 'type': 'AdamW', 'weight_decay': 0.05}, 'sampler': None, 'save_iter_interval': 500, 'sharding_strategy': 'full-shard', 'tokenizer': {'model_max_length': 4096, 'model_path': './checkpoints/Cosmos3-Edge', 'padding_side': 'right', 'trust_remote_code': True, 'type': 'PretrainedTokenizer'}, 'type': 'FSDPTrainRunner', 'cfg': Config (path: configs/cosmos3/cosmos3edge_libero_spatial_full_finetune.py): {...}, 'args': Namespace(config='configs/cosmos3/cosmos3edge_libero_spatial_full_finetune.py', work_dir='/mnt/data/cpfs/users/leo/wk_dir/cosmos3/libero_spatial_edge_pr51_latest_bs16', cfg_options={'train_dataloader.per_device_batch_size': 16, 'runner.grad_accumulation_steps': 16, 'runner.metric.grad_accumulation_steps': 16}, eval_after_train=True, resume_from=None)}, 'seed': 7, 'train_dataloader': {'dataset': {'datasets': {'action_key': 'action', 'action_window_size': 16, 'data_root_path': '/mnt/data/cpfs/mnt/data/yanis/FastWAM/data/libero_mujoco3.3.2/libero_spatial_no_noops_lerobot', 'frame_window_size': 17, 'require_full_window': True, 'statistic_name': 'libero_spatial_no_noops', 'transforms': [{'embodiment_id': 5, 'name_mappings': {'actions': ['actions'], 'observation.state': ['states']}, 'parquet_keys': ['observation.state', 'timestamp', 'actions', 'info', 'stats'], 'type': 'ProcessParquetInputs', 'video_keys': ['observation.images.image', 'observation.images.wrist_image']}, {'type': 'LiberoFramewiseActionToRot6D'}, {'action_metadata': {'append_viewpoint': False, 'conditioning_fps': 20.0, 'frame_window_size': 17, 'video_height': 256, 'video_width': 512}, 'cfg_dropout_rate': 0.1, 'max_len': 512, 'tokenizer': {'model_max_length': 4096, 'model_path': './checkpoints/Cosmos3-Edge', 'padding_side': 'right', 'trust_remote_code': True, 'type': 'PretrainedTokenizer'}, 'type': 'ProcessCosmos3Prompt'}, {'height': 256, 'type': 'ResizeImages', 'width': 256}, {'type': 'SimpleNormalizeImages'}, {'action_dim': 64, 'action_key': 'action', 'action_norm_type': 'quantile', 'state_norm_type': 'none', 'state_dim': 64, 'state_key': 'proprio', 'type': 'NormalizeStatesAndActions'}, {'conditioning_fps': 20.0, 'frame_window_size': 17, 'mode': 'wam', 'prepend_state_to_action': False, 'raw_action_dim': 10, 'type': 'BuildCosmos3Sequence'}, {'frame_window_size': 17, 'num_views': 2, 'tile_direction': 'horizontal', 'type': 'PrepareVideo'}], 'type': 'ParquetDataset', 'use_delta': False, 'window_start_idx': 0}, 'name_mappings': {'action': ['action'], 'observation.state': ['proprio']}, 'statistic_keys': ['observation.state', 'timestamp', 'action'], 'statistic_name': 'libero_spatial_no_noops', 'statistics_overrides': {'libero_spatial_no_noops': {'action': {'mean': [0.050704, 0.097407, -0.094833, 0.994873, -0.004579, -0.004288, 0.004389, 0.996104, 0.001109, 0.476725], 'std': [0.333621, 0.387175, 0.45714, 0.010807, 0.077802, 0.063386, 0.078571, 0.009994, 0.038504, 0.49946], 'min': [-0.9375, -0.9375, -0.9375, 0.902028, -0.356085, -0.367416, -0.370434, 0.921907, -0.255, 0.0], 'max': [0.9375, 0.9375, 0.9375, 1.0, 0.368853, 0.341214, 0.356395, 1.0, 0.348251, 1.0], 'q01': [-0.723214, -0.808929, -0.9375, 0.934955, -0.223431, -0.189878, -0.334735, 0.938516, -0.107736, 0.0], 'q99': [0.9375, 0.870536, 0.9375, 1.0, 0.331, 0.163153, 0.226216, 1.0, 0.127158, 1.0]}}}, 'type': 'DistributedRepeatingDataset'}, 'per_device_batch_size': 16, 'per_device_num_workers': 4}}, 'args': Namespace(config='configs/cosmos3/cosmos3edge_libero_spatial_full_finetune.py', work_dir='/mnt/data/cpfs/users/leo/wk_dir/cosmos3/libero_spatial_edge_pr51_latest_bs16', cfg_options={'train_dataloader.per_device_batch_size': 16, 'runner.grad_accumulation_steps': 16, 'runner.metric.grad_accumulation_steps': 16}, eval_after_train=True, resume_from=None)}, 'seed': 7, 'train_dataloader': {'dataset': {'datasets': {'action_key': 'action', 'action_window_size': 16, 'data_root_path': '/mnt/data/cpfs/mnt/data/yanis/FastWAM/data/libero_mujoco3.3.2/libero_spatial_no_noops_lerobot', 'frame_window_size': 17, 'require_full_window': True, 'statistic_name': 'libero_spatial_no_noops', 'transforms': [{'embodiment_id': 5, 'name_mappings': {'actions': ['actions'], 'observation.state': ['states']}, 'parquet_keys': ['observation.state', 'timestamp', 'actions', 'info', 'stats'], 'type': 'ProcessParquetInputs', 'video_keys': ['observation.images.image', 'observation.images.wrist_image']}, {'type': 'LiberoFramewiseActionToRot6D'}, {'action_metadata': {'append_viewpoint': False, 'conditioning_fps': 20.0, 'frame_window_size': 17, 'video_height': 256, 'video_width': 512}, 'cfg_dropout_rate': 0.1, 'max_len': 512, 'tokenizer': {'model_max_length': 4096, 'model_path': './checkpoints/Cosmos3-Edge', 'padding_side': 'right', 'trust_remote_code': True, 'type': 'PretrainedTokenizer'}, 'type': 'ProcessCosmos3Prompt'}, {'height': 256, 'type': 'ResizeImages', 'width': 256}, {'type': 'SimpleNormalizeImages'}, {'action_dim': 64, 'action_key': 'action', 'action_norm_type': 'quantile', 'state_norm_type': 'none', 'state_dim': 64, 'state_key': 'proprio', 'type': 'NormalizeStatesAndActions'}, {'conditioning_fps': 20.0, 'frame_window_size': 17, 'mode': 'wam', 'prepend_state_to_action': False, 'raw_action_dim': 10, 'type': 'BuildCosmos3Sequence'}, {'frame_window_size': 17, 'num_views': 2, 'tile_direction': 'horizontal', 'type': 'PrepareVideo'}], 'type': 'ParquetDataset', 'use_delta': False, 'window_start_idx': 0}, 'name_mappings': {'action': ['action'], 'observation.state': ['proprio']}, 'statistic_keys': ['observation.state', 'timestamp', 'action'], 'statistic_name': 'libero_spatial_no_noops', 'statistics_overrides': {'libero_spatial_no_noops': {'action': {'mean': [0.050704, 0.097407, -0.094833, 0.994873, -0.004579, -0.004288, 0.004389, 0.996104, 0.001109, 0.476725], 'std': [0.333621, 0.387175, 0.45714, 0.010807, 0.077802, 0.063386, 0.078571, 0.009994, 0.038504, 0.49946], 'min': [-0.9375, -0.9375, -0.9375, 0.902028, -0.356085, -0.367416, -0.370434, 0.921907, -0.255, 0.0], 'max': [0.9375, 0.9375, 0.9375, 1.0, 0.368853, 0.341214, 0.356395, 1.0, 0.348251, 1.0], 'q01': [-0.723214, -0.808929, -0.9375, 0.934955, -0.223431, -0.189878, -0.334735, 0.938516, -0.107736, 0.0], 'q99': [0.9375, 0.870536, 0.9375, 1.0, 0.331, 0.163153, 0.226216, 1.0, 0.127158, 1.0]}}}, 'type': 'DistributedRepeatingDataset'}, 'per_device_batch_size': 16, 'per_device_num_workers': 4}}", "run_id": "cosmos3edge_libero_spatial_full_finetune_2026_08_04_01_21_37"}
diff --git a/cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/chat_template.jinja b/cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/chat_template.jinja
new file mode 100644
index 0000000000000000000000000000000000000000..0a3d5967de71577bd2bb20994cee54c39bed63ba
--- /dev/null
+++ b/cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/chat_template.jinja
@@ -0,0 +1,324 @@
+
+{% macro render_extra_keys(json_dict, handled_keys) %}
+ {%- if json_dict is mapping %}
+ {%- for json_key in json_dict if json_key not in handled_keys %}
+ {%- if json_dict[json_key] is mapping or (json_dict[json_key] is sequence and json_dict[json_key] is not string) %}
+ {{- '
+<' ~ json_key ~ '>' ~ (json_dict[json_key] | tojson | safe) ~ '' }}
+ {%- else %}
+ {{-'
+<' ~ json_key ~ '>' ~ (json_dict[json_key] | string) ~ '' }}
+ {%- endif %}
+ {%- endfor %}
+ {%- endif %}
+{% endmacro %}
+{%- set enable_thinking = enable_thinking if enable_thinking is defined else True %}
+{%- set truncate_history_thinking = truncate_history_thinking if truncate_history_thinking is defined else True %}
+
+{%- set ns = namespace(last_user_idx = -1) %}
+{%- set loop_messages = messages %}
+{%- for m in loop_messages %}
+ {%- if m["role"] == "user" %}
+ {%- set ns.last_user_idx = loop.index0 %}
+ {%- endif %}
+{%- endfor %}
+
+{%- if messages[0]["role"] == "system" %}
+ {%- if messages[0]["content"] is string %}
+ {%- set system_message = messages[0]["content"] %}
+ {%- else %}
+ {%- set ns = namespace(system_text="") %}
+ {%- for part in messages[0]["content"] %}
+ {%- if 'text' in part %}
+ {%- set ns.system_text = ns.system_text + part.text %}
+ {%- endif %}
+ {%- endfor %}
+ {%- set system_message = ns.system_text %}
+ {%- endif %}
+
+ {%- set loop_messages = messages[1:] %}
+{%- else %}
+ {%- set system_message = "" %}
+ {%- set loop_messages = messages %}
+{%- endif %}
+{%- if not tools is defined %}
+ {%- set tools = [] %}
+{%- endif %}
+{# Recompute last_user_idx relative to loop_messages after handling system #}
+{%- set ns = namespace(last_user_idx = -1) %}
+{%- for m in loop_messages %}
+ {%- if m["role"] == "user" %}
+ {%- set ns.last_user_idx = loop.index0 %}
+ {%- endif %}
+{%- endfor %}
+{%- if system_message is defined %}
+ {{- "<|im_start|>system
+" + system_message }}
+{%- else %}
+ {%- if tools is iterable and tools | length > 0 %}
+ {{- "<|im_start|>system
+" }}
+ {%- endif %}
+{%- endif %}
+{%- if tools is iterable and tools | length > 0 %}
+ {%- if system_message is defined and system_message | length > 0 %}
+ {{- "
+
+" }}
+ {%- endif %}
+ {{- "# Tools
+
+You have access to the following functions:
+
+" }}
+ {{- "" }}
+ {%- for tool in tools %}
+ {%- if tool.function is defined %}
+ {%- set tool = tool.function %}
+ {%- endif %}
+ {{- "
+
+" ~ tool.name ~ "" }}
+ {%- if tool.description is defined %}
+ {{- '
+' ~ (tool.description | trim) ~ '' }}
+ {%- endif %}
+ {{- '
+' }}
+ {%- if tool.parameters is defined and tool.parameters is mapping and tool.parameters.properties is defined and tool.parameters.properties is mapping %}
+ {%- for param_name, param_fields in tool.parameters.properties|items %}
+ {{- '
+' }}
+ {{- '
+' ~ param_name ~ '' }}
+ {%- if param_fields.type is defined %}
+ {{- '
+' ~ (param_fields.type | string) ~ '' }}
+ {%- endif %}
+ {%- if param_fields.description is defined %}
+ {{- '
+' ~ (param_fields.description | trim) ~ '' }}
+ {%- endif %}
+ {%- if param_fields.enum is defined %}
+ {{- '
+' ~ (param_fields.enum | tojson | safe) ~ '' }}
+ {%- endif %}
+ {%- set handled_keys = ['name', 'type', 'description', 'enum'] %}
+ {{- render_extra_keys(param_fields, handled_keys) }}
+ {{- '
+' }}
+ {%- endfor %}
+ {%- endif %}
+ {% set handled_keys = ['type', 'properties', 'required'] %}
+ {{- render_extra_keys(tool.parameters, handled_keys) }}
+ {%- if tool.parameters is defined and tool.parameters.required is defined %}
+ {{- '
+' ~ (tool.parameters.required | tojson | safe) ~ '' }}
+ {%- endif %}
+ {{- '
+' }}
+ {%- set handled_keys = ['type', 'name', 'description', 'parameters'] %}
+ {{- render_extra_keys(tool, handled_keys) }}
+ {{- '
+' }}
+ {%- endfor %}
+ {{- "
+" }}
+
+ {{- '
+
+If you choose to call a function ONLY reply in the following format with NO suffix:
+
+
+
+
+value_1
+
+
+This is the value for the second parameter
+that can span
+multiple lines
+
+
+
+
+
+Reminder:
+- Function calls MUST follow the specified format: an inner block must be nested within XML tags
+- Required parameters MUST be specified
+- You may provide optional reasoning for your function call in natural language BEFORE the function call, but NOT after
+- If there is no function call available, answer the question like normal with your current knowledge and do not tell the user about function calls
+' }}
+{%- endif %}
+
+
+{%- if system_message is defined %}
+ {{- '<|im_end|>
+' }}
+{%- else %}
+ {%- if tools is iterable and tools | length > 0 %}
+ {{- '<|im_end|>
+' }}
+ {%- endif %}
+{%- endif %}
+
+{%- set image_count = namespace(value=0) %}
+{%- set video_count = namespace(value=0) %}
+{%- for message in loop_messages %}
+ {%- if message.role == "assistant" %}
+ {# Add reasoning content in to content field for unified processing below. #}
+ {%- set text_content = namespace(text_content="") -%}
+ {%- if message.content is string %}
+ {%- set text_content.text_content = message.content %}
+ {%- else %}
+ {%- for content in message.content %}
+ {%- if 'text' in content %}
+ {%- set text_content.text_content = content.text %}
+ {%- break %}
+ {%- endif %}
+ {%- endfor %}
+ {%- endif %}
+ {%- if message.reasoning_content is defined and message.reasoning_content is string and message.reasoning_content | trim | length > 0 %}
+ {%- set content = "
+" ~ message.reasoning_content ~ "
+
+" ~ (text_content.text_content | default('', true)) %}
+ {%- else %}
+ {%- set content = text_content.text_content | default('', true) %}
+ {# Allow downstream logic to to take care of broken thought, only handle coherent reasoning here. #}
+ {%- if '' not in content and '' not in content %}
+ {%- set content = "" ~ content %}
+ {%- else %}
+ {%- set content = content %}
+ {%- endif -%}
+ {%- endif %}
+ {%- if message.tool_calls is defined and message.tool_calls is iterable and message.tool_calls | length > 0 %}
+ {# Assistant message has tool calls. #}
+ {{- '<|im_start|>assistant
+' }}
+ {%- set include_content = not (truncate_history_thinking and loop.index0 < ns.last_user_idx) %}
+ {%- if content is string and content | trim | length > 0 %}
+ {%- if include_content %}
+ {{- (content | trim) ~ '
+' -}}
+ {%- else %}
+ {%- set c = (content | string) %}
+ {%- if '' in c %}
+ {# Keep only content after the last closing think. Also generation prompt causes this. #}
+ {%- set c = c.split('')[-1] %}
+ {%- elif '' in c %}
+ {# If was opened but never closed, drop the trailing think segment #}
+ {%- set c = c.split('')[0] %}
+ {%- endif %}
+ {%- set c = "" ~ c | trim %}
+ {%- if c | length > 0 %}
+ {{- c ~ '
+' -}}
+ {%- endif %}
+ {%- endif %}
+ {%- else %}
+ {{- "" -}}
+ {%- endif %}
+ {%- for tool_call in message.tool_calls %}
+ {%- if tool_call.function is defined %}
+ {%- set tool_call = tool_call.function %}
+ {%- endif %}
+ {{- '
+
+' -}}
+ {%- if tool_call.arguments is defined %}
+ {%- for args_name, args_value in tool_call.arguments|items %}
+ {{- '
+' -}}
+ {%- set args_value = args_value | tojson | safe if args_value is mapping or (args_value is sequence and args_value is not string) else args_value | string %}
+ {{- args_value ~ '
+
+' -}}
+ {%- endfor %}
+ {%- endif %}
+ {{- '
+
+' -}}
+ {%- endfor %}
+ {{- '<|im_end|>
+' }}
+ {%- else %}
+ {# Assistant message doesn't have tool calls. #}
+ {%- if not (truncate_history_thinking and loop.index0 < ns.last_user_idx) %}
+ {{- '<|im_start|>assistant
+' ~ (content | default('', true) | string | trim) ~ '<|im_end|>
+' }}
+ {%- else %}
+ {%- set c = (content | default('', true) | string) %}
+ {%- if '' in c and '' in c %}
+ {%- set c = "" ~ c.split('')[-1] %}
+ {%- endif %}
+ {%- set c = c | trim %}
+ {%- if c | length > 0 %}
+ {{- '<|im_start|>assistant
+' ~ c ~ '<|im_end|>
+' }}
+ {%- else %}
+ {{- '<|im_start|>assistant
+<|im_end|>
+' }}
+ {%- endif %}
+ {%- endif %}
+ {%- endif %}
+ {%- elif message.role == "user" or message.role == "system" %}
+ {{- '<|im_start|>' + message.role + '
+' }}
+ {%- if message.content is string %}
+ {{- message.content }}
+ {%- else %}
+ {%- for content in message.content %}
+ {%- if content.type == 'image' or 'image' in content or 'image_url' in content %}
+ {%- set image_count.value = image_count.value + 1 %}
+ {%- if add_vision_id %}Picture {{ image_count.value }}: {% endif -%}
+ <|vision_start|><|image_pad|><|vision_end|>
+ {%- elif content.type == 'video' or 'video' in content %}
+ {%- set video_count.value = video_count.value + 1 %}
+ {%- if add_vision_id %}Video {{ video_count.value }}: {% endif -%}
+ <|vision_start|><|video_pad|><|vision_end|>
+ {%- elif 'text' in content %}
+ {{- content.text }}
+ {%- endif %}
+ {%- endfor %}
+ {%- endif %}
+ {{- '<|im_end|>
+' }}
+ {%- elif message.role == "tool" %}
+ {%- if loop.previtem and loop.previtem.role != "tool" %}
+ {{- '<|im_start|>user
+' }}
+ {%- endif %}
+ {{- '
+' }}
+ {{- message.content }}
+ {{- '
+
+' }}
+ {%- if not loop.last and loop.nextitem.role != "tool" %}
+ {{- '<|im_end|>
+' }}
+ {%- elif loop.last %}
+ {{- '<|im_end|>
+' }}
+ {%- endif %}
+ {%- else %}
+ {{- '<|im_start|>' + message.role + '
+' + message.content + '<|im_end|>
+' }}
+ {%- endif %}
+{%- endfor %}
+
+{%- if add_generation_prompt %}
+ {%- if enable_thinking %}
+ {{- '<|im_start|>assistant
+
+' }}
+ {%- else %}
+ {{- '<|im_start|>assistant
+' }}
+ {%- endif %}
+{%- endif %}
\ No newline at end of file
diff --git a/cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/special_tokens_map.json b/cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/special_tokens_map.json
new file mode 100644
index 0000000000000000000000000000000000000000..0451f37912edb7f8a4bf04d77eef13f6130f0515
--- /dev/null
+++ b/cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/special_tokens_map.json
@@ -0,0 +1,30 @@
+{
+ "bos_token": {
+ "content": "",
+ "lstrip": false,
+ "normalized": false,
+ "rstrip": false,
+ "single_word": false
+ },
+ "eos_token": {
+ "content": "<|im_end|>",
+ "lstrip": false,
+ "normalized": false,
+ "rstrip": false,
+ "single_word": false
+ },
+ "pad_token": {
+ "content": "<|im_end|>",
+ "lstrip": false,
+ "normalized": false,
+ "rstrip": false,
+ "single_word": false
+ },
+ "unk_token": {
+ "content": "",
+ "lstrip": false,
+ "normalized": false,
+ "rstrip": false,
+ "single_word": false
+ }
+}
diff --git a/cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/tokenizer.json b/cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/tokenizer.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d41dc89180808d59f68d435ffdbae0e1619df6f
--- /dev/null
+++ b/cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/tokenizer.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dc692a99dca6d92a44e9529ffb53541eb79bb260eec7281bc51268c05d7311c
+size 17077500
diff --git a/cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/tokenizer_config.json b/cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/tokenizer_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bf527c33c251e8062bf2cd3c8dd6d2fc0591ea9
--- /dev/null
+++ b/cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/tokenizer_config.json
@@ -0,0 +1,17 @@
+{
+ "add_prefix_space": false,
+ "backend": "tokenizers",
+ "bos_token": "",
+ "clean_up_tokenization_spaces": false,
+ "eos_token": "<|im_end|>",
+ "is_local": true,
+ "local_files_only": false,
+ "model_input_names": [
+ "input_ids",
+ "attention_mask"
+ ],
+ "model_max_length": 262144,
+ "pad_token": "<|im_end|>",
+ "tokenizer_class": "TokenizersBackend",
+ "unk_token": ""
+}
diff --git a/cosmos3edge_libero_spatial_full_finetune_bs16/vlm_backbone_config.json b/cosmos3edge_libero_spatial_full_finetune_bs16/vlm_backbone_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..6917a8804749591c1f37fa238b02f55abd9af666
--- /dev/null
+++ b/cosmos3edge_libero_spatial_full_finetune_bs16/vlm_backbone_config.json
@@ -0,0 +1,41 @@
+{
+ "attention_bias": false,
+ "attention_dropout": 0.0,
+ "bos_token_id": 1,
+ "enable_mrope": true,
+ "enable_rope": true,
+ "eos_token_id": 11,
+ "head_dim": 128,
+ "hidden_dropout": 0.0,
+ "hidden_size": 2048,
+ "initializer_range": 0.02,
+ "intermediate_size": 9216,
+ "layer_norm_epsilon": 1e-05,
+ "max_position_embeddings": 131072,
+ "mlp_bias": false,
+ "mlp_hidden_act": "relu2",
+ "model_type": "nemotron_3_dense_vl_text",
+ "mrope_section": [
+ 24,
+ 20,
+ 20
+ ],
+ "num_attention_heads": 16,
+ "num_hidden_layers": 28,
+ "num_key_value_heads": 8,
+ "num_logits_to_keep": 1,
+ "packed_attention_backend": "flash2",
+ "pad_token_id": 11,
+ "residual_in_fp32": false,
+ "rope_parameters": {
+ "rope_theta": 100000000.0,
+ "rope_type": "default"
+ },
+ "rope_theta": 100000000.0,
+ "sliding_window": null,
+ "tie_word_embeddings": false,
+ "transformers_version": "5.3.0",
+ "use_cache": true,
+ "use_und_k_norm_for_gen": true,
+ "vocab_size": 131072
+}