diff --git a/pi0_paligemma_libero_object_full_finetune_bs64/checkpoints/step-025128-epoch-24-loss=0.1403.safetensors b/pi0_paligemma_libero_object_full_finetune_bs64/checkpoints/step-025128-epoch-24-loss=0.1403.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..83e7113a5eb15cfdf08112061ce20c83c40f3736 --- /dev/null +++ b/pi0_paligemma_libero_object_full_finetune_bs64/checkpoints/step-025128-epoch-24-loss=0.1403.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b00a9a156f45dc0613c6e84973443c6e176054de5aea79de4a03c954279f84a +size 7002850200 diff --git a/pi0_paligemma_libero_object_full_finetune_bs64/config.json b/pi0_paligemma_libero_object_full_finetune_bs64/config.json new file mode 100644 index 0000000000000000000000000000000000000000..f2729ad7759084d7e5fc99cfba929c9a6872f158 --- /dev/null +++ b/pi0_paligemma_libero_object_full_finetune_bs64/config.json @@ -0,0 +1,502 @@ +{ + "eval": { + "dataset": { + "transforms": [ + { + "img_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "type": "ProcessLiberoEvalInputs" + }, + { + "image_resize_strategy": "resize-naive", + "input_sizes": [ + [ + 3, + 224, + 224 + ], + [ + 3, + 224, + 224 + ] + ], + "means": [ + [ + 123.515625, + 116.04492188, + 103.59375 + ], + [ + 123.515625, + 116.04492188, + 103.59375 + ] + ], + "stds": [ + [ + 58.27148438, + 57.02636719, + 57.27539062 + ], + [ + 58.27148438, + 57.02636719, + 57.27539062 + ] + ], + "type": "TransformImage" + }, + { + "add_new_line": true, + "tokenizer": { + "type": "PaligemmaTokenizer" + }, + "type": "LiberoPromptFromInputs", + "use_conversation": false + }, + { + "gripper_key": "robot0_gripper_qpos", + "norm_type": "mean_std", + "out_key": "states", + "pos_key": "robot0_eef_pos", + "quat_key": "robot0_eef_quat", + "state_dim": 32, + "type": "LiberoProprioFromInputs" + } + ], + "type": "LiberoParquetEvalDataset" + }, + "denormalize_action": { + "action_dim": 7, + "norm_type": "mean_std", + "type": "DenormalizeLiberoAction" + }, + "eval_chunk_size": 10, + "model_family": "pi0", + "num_steps_wait": 10, + "num_trials_per_task": 50, + "resize_size": 224, + "seed": 7, + "task_suite_name": "libero_object", + "type": "LiberoEvalRunner" + }, + "inference_model": { + "action_in_proj": { + "in_dim": 32, + "out_dim": 1024, + "type": "LinearProjector" + }, + "action_out_proj": { + "in_dim": 1024, + "out_dim": 32, + "type": "LinearProjector" + }, + "action_time_mlp_in": { + "in_dim": 2048, + "out_dim": 1024, + "type": "LinearProjector" + }, + "action_time_mlp_out": { + "in_dim": 1024, + "out_dim": 1024, + "type": "LinearProjector" + }, + "freeze_llm_backbone": false, + "freeze_vision_backbone": false, + "llm_backbone": { + "adarms_cond_dim": null, + "attention_bias": false, + "attention_dropout": 0.0, + "bos_token_id": 2, + "eos_token_id": 1, + "head_dim": 256, + "hidden_act": "gelu_pytorch_tanh", + "hidden_activation": "gelu_pytorch_tanh", + "hidden_size": 2048, + "initializer_range": 0.02, + "intermediate_size": 16384, + "max_position_embeddings": 8192, + "model_type": "gemma", + "num_attention_heads": 8, + "num_hidden_layers": 18, + "num_key_value_heads": 1, + "rms_norm_eps": 1e-06, + "rope_theta": 10000.0, + "torch_dtype": "float32", + "type": "ConditionGemmaModel", + "use_cache": true, + "vocab_size": 257152 + }, + "llm_expert": { + "adarms_cond_dim": null, + "attention_bias": false, + "attention_dropout": 0.0, + "bos_token_id": 2, + "eos_token_id": 1, + "head_dim": 256, + "hidden_act": "gelu_pytorch_tanh", + "hidden_activation": "gelu_pytorch_tanh", + "hidden_size": 1024, + "initializer_range": 0.02, + "intermediate_size": 4096, + "max_position_embeddings": 8192, + "model_type": "gemma", + "num_attention_heads": 8, + "num_hidden_layers": 18, + "num_key_value_heads": 1, + "pad_token_id": 0, + "rms_norm_eps": 1e-06, + "rope_theta": 10000.0, + "torch_dtype": "float32", + "transformers_version": "4.48.1", + "type": "ConditionGemmaModel", + "use_adarms": false, + "use_cache": true, + "vocab_size": 257152 + }, + "max_action_dim": 32, + "n_action_steps": 10, + "name_mapping": { + "action_in_proj.projector": "action_in_proj", + "action_out_proj.projector": "action_out_proj", + "action_time_mlp_in.projector": "action_time_mlp_in", + "action_time_mlp_out.projector": "action_time_mlp_out", + "llm_backbone": "paligemma_with_expert.paligemma.model.language_model", + "llm_backbone.embed_tokens": "paligemma_with_expert.paligemma.lm_head", + "llm_expert": "paligemma_with_expert.gemma_expert.model", + "projector.projector": "paligemma_with_expert.paligemma.model.multi_modal_projector.linear", + "state_proj.projector": "state_proj", + "vision_backbone.vision": "paligemma_with_expert.paligemma.model.vision_tower" + }, + "ori_action_dim": 7, + "params_to_change_dtype": [ + "llm_expert.llm.model.layers", + "vlm_backbone.vlm.model.language_model.layers", + "vlm_backbone.vlm.model.vision_tower", + "vlm_backbone.vlm.model.multi_modal_projector" + ], + "pretrained_name_or_path": "./checkpoints/pi0_base/model.safetensors", + "proj_width": 1024, + "projector": { + "in_dim": 1152, + "out_dim": 2048, + "type": "LinearProjector" + }, + "state_proj": { + "in_dim": 32, + "out_dim": 1024, + "type": "LinearProjector" + }, + "type": "PI0FlowMatching", + "vision_backbone": { + "type": "SigLIPViTBackbone", + "vision_backbone_id": "siglip_224", + "vision_config": { + "attention_dropout": 0.0, + "hidden_act": "gelu_pytorch_tanh", + "hidden_size": 1152, + "image_size": 224, + "intermediate_size": 4304, + "layer_norm_eps": 1e-06, + "model_type": "siglip_vision_model", + "num_attention_heads": 16, + "num_channels": 3, + "num_hidden_layers": 27, + "patch_size": 14, + "projection_dim": 2048, + "projector_hidden_act": "gelu_fast", + "torch_dtype": "float32", + "vision_use_head": false + } + } + }, + "model": { + "action_in_proj": { + "in_dim": 32, + "out_dim": 1024, + "type": "LinearProjector" + }, + "action_out_proj": { + "in_dim": 1024, + "out_dim": 32, + "type": "LinearProjector" + }, + "action_time_mlp_in": { + "in_dim": 2048, + "out_dim": 1024, + "type": "LinearProjector" + }, + "action_time_mlp_out": { + "in_dim": 1024, + "out_dim": 1024, + "type": "LinearProjector" + }, + "freeze_llm_backbone": false, + "freeze_vision_backbone": false, + "llm_backbone": { + "adarms_cond_dim": null, + "attention_bias": false, + "attention_dropout": 0.0, + "bos_token_id": 2, + "eos_token_id": 1, + "head_dim": 256, + "hidden_act": "gelu_pytorch_tanh", + "hidden_activation": "gelu_pytorch_tanh", + "hidden_size": 2048, + "initializer_range": 0.02, + "intermediate_size": 16384, + "max_position_embeddings": 8192, + "model_type": "gemma", + "num_attention_heads": 8, + "num_hidden_layers": 18, + "num_key_value_heads": 1, + "rms_norm_eps": 1e-06, + "rope_theta": 10000.0, + "torch_dtype": "float32", + "type": "ConditionGemmaModel", + "use_cache": true, + "vocab_size": 257152 + }, + "llm_expert": { + "adarms_cond_dim": null, + "attention_bias": false, + "attention_dropout": 0.0, + "bos_token_id": 2, + "eos_token_id": 1, + "head_dim": 256, + "hidden_act": "gelu_pytorch_tanh", + "hidden_activation": "gelu_pytorch_tanh", + "hidden_size": 1024, + "initializer_range": 0.02, + "intermediate_size": 4096, + "max_position_embeddings": 8192, + "model_type": "gemma", + "num_attention_heads": 8, + "num_hidden_layers": 18, + "num_key_value_heads": 1, + "pad_token_id": 0, + "rms_norm_eps": 1e-06, + "rope_theta": 10000.0, + "torch_dtype": "float32", + "transformers_version": "4.48.1", + "type": "ConditionGemmaModel", + "use_adarms": false, + "use_cache": true, + "vocab_size": 257152 + }, + "max_action_dim": 32, + "n_action_steps": 10, + "name_mapping": { + "action_in_proj.projector": "action_in_proj", + "action_out_proj.projector": "action_out_proj", + "action_time_mlp_in.projector": "action_time_mlp_in", + "action_time_mlp_out.projector": "action_time_mlp_out", + "llm_backbone": "paligemma_with_expert.paligemma.model.language_model", + "llm_backbone.embed_tokens": "paligemma_with_expert.paligemma.lm_head", + "llm_expert": "paligemma_with_expert.gemma_expert.model", + "projector.projector": "paligemma_with_expert.paligemma.model.multi_modal_projector.linear", + "state_proj.projector": "state_proj", + "vision_backbone.vision": "paligemma_with_expert.paligemma.model.vision_tower" + }, + "ori_action_dim": 7, + "params_to_change_dtype": [ + "llm_expert.llm.model.layers", + "vlm_backbone.vlm.model.language_model.layers", + "vlm_backbone.vlm.model.vision_tower", + "vlm_backbone.vlm.model.multi_modal_projector" + ], + "pretrained_name_or_path": "./checkpoints/pi0_base/model.safetensors", + "proj_width": 1024, + "projector": { + "in_dim": 1152, + "out_dim": 2048, + "type": "LinearProjector" + }, + "state_proj": { + "in_dim": 32, + "out_dim": 1024, + "type": "LinearProjector" + }, + "type": "PI0FlowMatching", + "vision_backbone": { + "type": "SigLIPViTBackbone", + "vision_backbone_id": "siglip_224", + "vision_config": { + "attention_dropout": 0.0, + "hidden_act": "gelu_pytorch_tanh", + "hidden_size": 1152, + "image_size": 224, + "intermediate_size": 4304, + "layer_norm_eps": 1e-06, + "model_type": "siglip_vision_model", + "num_attention_heads": 16, + "num_channels": 3, + "num_hidden_layers": 27, + "patch_size": 14, + "projection_dim": 2048, + "projector_hidden_act": "gelu_fast", + "torch_dtype": "float32", + "vision_use_head": false + } + } + }, + "per_device_num_workers": 8, + "runner": { + "change_key_name": false, + "collator": { + "keys": [ + "states", + "observation.eepose", + "timestamp", + "images", + "img_masks", + "lang_tokens", + "lang_masks", + "actions", + "action_masks" + ], + "meta_keys": [ + "task_description", + "prompt", + "info", + "stats" + ], + "type": "DictCollator" + }, + "enable_gradient_checkpointing": true, + "enable_mixed_precision_training": true, + "learning_rate": 5e-05, + "lr_scheduler_type": "linear-warmup+cosine-decay", + "max_epochs": 24, + "max_grad_norm": 1.0, + "max_keep_ckpts": 1, + "metric": { + "active_trackers": [ + "jsonl", + "wandb" + ], + "grad_accumulation_steps": 1, + "run_dir": "work_dirs", + "type": "VLAMetric", + "window_size": 1 + }, + "mixed_precision_dtype": "bf16", + "sampler": null, + "sharding_strategy": "no-shard", + "tokenizer": { + "type": "PaligemmaTokenizer" + }, + "type": "FSDPTrainRunner", + "warmup_ratio": 0.03, + "weight_decay": 0.0 + }, + "train_dataloader": { + "dataset": { + "datasets": { + "action_key": "action", + "action_window_size": 10, + "data_root_path": "./datasets/libero_object_no_noops_lerobotv2.1", + "statistic_name": "libero_object_no_noops", + "transforms": [ + { + "name_mappings": { + "actions": [ + "actions" + ], + "observation.state": [ + "states" + ] + }, + "parquet_keys": [ + "observation.state", + "timestamp", + "actions", + "info", + "stats", + "action_masks" + ], + "type": "ProcessParquetInputs", + "video_keys": [ + "observation.images.image", + "observation.images.wrist_image" + ] + }, + { + "add_new_line": true, + "type": "ParquetPrompter", + "use_conversation": false + }, + { + "tokenizer": { + "type": "PaligemmaTokenizer" + }, + "type": "ProcessPrompts" + }, + { + "height": 224, + "type": "ResizeImages", + "width": 224 + }, + { + "means": [ + [ + 123.515625, + 116.04492188, + 103.59375 + ], + [ + 123.515625, + 116.04492188, + 103.59375 + ] + ], + "stds": [ + [ + 58.27148438, + 57.02636719, + 57.27539062 + ], + [ + 58.27148438, + 57.02636719, + 57.27539062 + ] + ], + "type": "NormalizeImages" + }, + { + "action_dim": 32, + "action_key": "action", + "norm_type": "mean_std", + "state_dim": 32, + "state_key": "proprio", + "type": "NormalizeStatesAndActions" + } + ], + "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_object_no_noops", + "type": "DistributedRepeatingDataset" + }, + "per_device_batch_size": 8, + "per_device_num_workers": 4 + } +} \ No newline at end of file diff --git a/pi0_paligemma_libero_object_full_finetune_bs64/config.yaml b/pi0_paligemma_libero_object_full_finetune_bs64/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a59674870579f498d9f3b62853e20b96cc529723 --- /dev/null +++ b/pi0_paligemma_libero_object_full_finetune_bs64/config.yaml @@ -0,0 +1,402 @@ +eval: + dataset: + transforms: + - img_keys: + - agentview_image + - robot0_eye_in_hand_image + type: ProcessLiberoEvalInputs + - image_resize_strategy: resize-naive + input_sizes: + - - 3 + - 224 + - 224 + - - 3 + - 224 + - 224 + means: + - - 123.515625 + - 116.04492188 + - 103.59375 + - - 123.515625 + - 116.04492188 + - 103.59375 + stds: + - - 58.27148438 + - 57.02636719 + - 57.27539062 + - - 58.27148438 + - 57.02636719 + - 57.27539062 + type: TransformImage + - add_new_line: true + tokenizer: + type: PaligemmaTokenizer + type: LiberoPromptFromInputs + use_conversation: false + - gripper_key: robot0_gripper_qpos + norm_type: mean_std + out_key: states + pos_key: robot0_eef_pos + quat_key: robot0_eef_quat + state_dim: 32 + type: LiberoProprioFromInputs + type: LiberoParquetEvalDataset + denormalize_action: + action_dim: 7 + norm_type: mean_std + type: DenormalizeLiberoAction + eval_chunk_size: 10 + model_family: pi0 + num_steps_wait: 10 + num_trials_per_task: 50 + resize_size: 224 + seed: 7 + task_suite_name: libero_object + type: LiberoEvalRunner +inference_model: + action_in_proj: + in_dim: 32 + out_dim: 1024 + type: LinearProjector + action_out_proj: + in_dim: 1024 + out_dim: 32 + type: LinearProjector + action_time_mlp_in: + in_dim: 2048 + out_dim: 1024 + type: LinearProjector + action_time_mlp_out: + in_dim: 1024 + out_dim: 1024 + type: LinearProjector + freeze_llm_backbone: false + freeze_vision_backbone: false + llm_backbone: + adarms_cond_dim: null + attention_bias: false + attention_dropout: 0.0 + bos_token_id: 2 + eos_token_id: 1 + head_dim: 256 + hidden_act: gelu_pytorch_tanh + hidden_activation: gelu_pytorch_tanh + hidden_size: 2048 + initializer_range: 0.02 + intermediate_size: 16384 + max_position_embeddings: 8192 + model_type: gemma + num_attention_heads: 8 + num_hidden_layers: 18 + num_key_value_heads: 1 + rms_norm_eps: 1.0e-06 + rope_theta: 10000.0 + torch_dtype: float32 + type: ConditionGemmaModel + use_cache: true + vocab_size: 257152 + llm_expert: + adarms_cond_dim: null + attention_bias: false + attention_dropout: 0.0 + bos_token_id: 2 + eos_token_id: 1 + head_dim: 256 + hidden_act: gelu_pytorch_tanh + hidden_activation: gelu_pytorch_tanh + hidden_size: 1024 + initializer_range: 0.02 + intermediate_size: 4096 + max_position_embeddings: 8192 + model_type: gemma + num_attention_heads: 8 + num_hidden_layers: 18 + num_key_value_heads: 1 + pad_token_id: 0 + rms_norm_eps: 1.0e-06 + rope_theta: 10000.0 + torch_dtype: float32 + transformers_version: 4.48.1 + type: ConditionGemmaModel + use_adarms: false + use_cache: true + vocab_size: 257152 + max_action_dim: 32 + n_action_steps: 10 + name_mapping: + action_in_proj.projector: action_in_proj + action_out_proj.projector: action_out_proj + action_time_mlp_in.projector: action_time_mlp_in + action_time_mlp_out.projector: action_time_mlp_out + llm_backbone: paligemma_with_expert.paligemma.model.language_model + llm_backbone.embed_tokens: paligemma_with_expert.paligemma.lm_head + llm_expert: paligemma_with_expert.gemma_expert.model + projector.projector: paligemma_with_expert.paligemma.model.multi_modal_projector.linear + state_proj.projector: state_proj + vision_backbone.vision: paligemma_with_expert.paligemma.model.vision_tower + ori_action_dim: 7 + params_to_change_dtype: + - llm_expert.llm.model.layers + - vlm_backbone.vlm.model.language_model.layers + - vlm_backbone.vlm.model.vision_tower + - vlm_backbone.vlm.model.multi_modal_projector + pretrained_name_or_path: ./checkpoints/pi0_base/model.safetensors + proj_width: 1024 + projector: + in_dim: 1152 + out_dim: 2048 + type: LinearProjector + state_proj: + in_dim: 32 + out_dim: 1024 + type: LinearProjector + type: PI0FlowMatching + vision_backbone: + type: SigLIPViTBackbone + vision_backbone_id: siglip_224 + vision_config: + attention_dropout: 0.0 + hidden_act: gelu_pytorch_tanh + hidden_size: 1152 + image_size: 224 + intermediate_size: 4304 + layer_norm_eps: 1.0e-06 + model_type: siglip_vision_model + num_attention_heads: 16 + num_channels: 3 + num_hidden_layers: 27 + patch_size: 14 + projection_dim: 2048 + projector_hidden_act: gelu_fast + torch_dtype: float32 + vision_use_head: false +model: + action_in_proj: + in_dim: 32 + out_dim: 1024 + type: LinearProjector + action_out_proj: + in_dim: 1024 + out_dim: 32 + type: LinearProjector + action_time_mlp_in: + in_dim: 2048 + out_dim: 1024 + type: LinearProjector + action_time_mlp_out: + in_dim: 1024 + out_dim: 1024 + type: LinearProjector + freeze_llm_backbone: false + freeze_vision_backbone: false + llm_backbone: + adarms_cond_dim: null + attention_bias: false + attention_dropout: 0.0 + bos_token_id: 2 + eos_token_id: 1 + head_dim: 256 + hidden_act: gelu_pytorch_tanh + hidden_activation: gelu_pytorch_tanh + hidden_size: 2048 + initializer_range: 0.02 + intermediate_size: 16384 + max_position_embeddings: 8192 + model_type: gemma + num_attention_heads: 8 + num_hidden_layers: 18 + num_key_value_heads: 1 + rms_norm_eps: 1.0e-06 + rope_theta: 10000.0 + torch_dtype: float32 + type: ConditionGemmaModel + use_cache: true + vocab_size: 257152 + llm_expert: + adarms_cond_dim: null + attention_bias: false + attention_dropout: 0.0 + bos_token_id: 2 + eos_token_id: 1 + head_dim: 256 + hidden_act: gelu_pytorch_tanh + hidden_activation: gelu_pytorch_tanh + hidden_size: 1024 + initializer_range: 0.02 + intermediate_size: 4096 + max_position_embeddings: 8192 + model_type: gemma + num_attention_heads: 8 + num_hidden_layers: 18 + num_key_value_heads: 1 + pad_token_id: 0 + rms_norm_eps: 1.0e-06 + rope_theta: 10000.0 + torch_dtype: float32 + transformers_version: 4.48.1 + type: ConditionGemmaModel + use_adarms: false + use_cache: true + vocab_size: 257152 + max_action_dim: 32 + n_action_steps: 10 + name_mapping: + action_in_proj.projector: action_in_proj + action_out_proj.projector: action_out_proj + action_time_mlp_in.projector: action_time_mlp_in + action_time_mlp_out.projector: action_time_mlp_out + llm_backbone: paligemma_with_expert.paligemma.model.language_model + llm_backbone.embed_tokens: paligemma_with_expert.paligemma.lm_head + llm_expert: paligemma_with_expert.gemma_expert.model + projector.projector: paligemma_with_expert.paligemma.model.multi_modal_projector.linear + state_proj.projector: state_proj + vision_backbone.vision: paligemma_with_expert.paligemma.model.vision_tower + ori_action_dim: 7 + params_to_change_dtype: + - llm_expert.llm.model.layers + - vlm_backbone.vlm.model.language_model.layers + - vlm_backbone.vlm.model.vision_tower + - vlm_backbone.vlm.model.multi_modal_projector + pretrained_name_or_path: ./checkpoints/pi0_base/model.safetensors + proj_width: 1024 + projector: + in_dim: 1152 + out_dim: 2048 + type: LinearProjector + state_proj: + in_dim: 32 + out_dim: 1024 + type: LinearProjector + type: PI0FlowMatching + vision_backbone: + type: SigLIPViTBackbone + vision_backbone_id: siglip_224 + vision_config: + attention_dropout: 0.0 + hidden_act: gelu_pytorch_tanh + hidden_size: 1152 + image_size: 224 + intermediate_size: 4304 + layer_norm_eps: 1.0e-06 + model_type: siglip_vision_model + num_attention_heads: 16 + num_channels: 3 + num_hidden_layers: 27 + patch_size: 14 + projection_dim: 2048 + projector_hidden_act: gelu_fast + torch_dtype: float32 + vision_use_head: false +per_device_num_workers: 8 +runner: + change_key_name: false + collator: + keys: + - states + - observation.eepose + - timestamp + - images + - img_masks + - lang_tokens + - lang_masks + - actions + - action_masks + meta_keys: + - task_description + - prompt + - info + - stats + type: DictCollator + enable_gradient_checkpointing: true + enable_mixed_precision_training: true + learning_rate: 5.0e-05 + lr_scheduler_type: linear-warmup+cosine-decay + max_epochs: 24 + max_grad_norm: 1.0 + max_keep_ckpts: 1 + metric: + active_trackers: + - jsonl + - wandb + grad_accumulation_steps: 1 + run_dir: work_dirs + type: VLAMetric + window_size: 1 + mixed_precision_dtype: bf16 + sampler: null + sharding_strategy: no-shard + tokenizer: + type: PaligemmaTokenizer + type: FSDPTrainRunner + warmup_ratio: 0.03 + weight_decay: 0.0 +train_dataloader: + dataset: + datasets: + action_key: action + action_window_size: 10 + data_root_path: ./datasets/libero_object_no_noops_lerobotv2.1 + statistic_name: libero_object_no_noops + transforms: + - name_mappings: + actions: + - actions + observation.state: + - states + parquet_keys: + - observation.state + - timestamp + - actions + - info + - stats + - action_masks + type: ProcessParquetInputs + video_keys: + - observation.images.image + - observation.images.wrist_image + - add_new_line: true + type: ParquetPrompter + use_conversation: false + - tokenizer: + type: PaligemmaTokenizer + type: ProcessPrompts + - height: 224 + type: ResizeImages + width: 224 + - means: + - - 123.515625 + - 116.04492188 + - 103.59375 + - - 123.515625 + - 116.04492188 + - 103.59375 + stds: + - - 58.27148438 + - 57.02636719 + - 57.27539062 + - - 58.27148438 + - 57.02636719 + - 57.27539062 + type: NormalizeImages + - action_dim: 32 + action_key: action + norm_type: mean_std + state_dim: 32 + state_key: proprio + type: NormalizeStatesAndActions + 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_object_no_noops + type: DistributedRepeatingDataset + per_device_batch_size: 8 + per_device_num_workers: 4 diff --git a/pi0_paligemma_libero_object_full_finetune_bs64/dataset_statistics.json b/pi0_paligemma_libero_object_full_finetune_bs64/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..90a28ddb040cc4138764f377b0763e64bdce3c6c --- /dev/null +++ b/pi0_paligemma_libero_object_full_finetune_bs64/dataset_statistics.json @@ -0,0 +1,104 @@ +{ + "libero_object_no_noops": { + "proprio": { + "mean": [ + -0.029990377887890714, + -0.007947119348036638, + 0.20293400450543442, + 3.108609864126749, + -0.2140478258736818, + -0.11307033080181891, + 0.02938040086729137, + -0.03055662046031239 + ], + "std": [ + 0.023670072817660013, + 0.06225550550101929, + 0.027602195887468282, + 0.030705662709939595, + 0.11858388544011475, + 0.0732862116780689, + 0.0033820150919409114, + 0.003251806898346789 + ], + "min": [ + -0.1765444278717041, + -0.29457300901412964, + 0.008128180168569088, + 2.2890501022338867, + -1.883241891860962, + -1.0600427389144897, + 0.0006495157140307128, + -0.041782498359680176 + ], + "max": [ + 0.14580604434013367, + 0.33216384053230286, + 0.3857804834842682, + 3.4003844261169434, + 0.7954911589622498, + 0.6642207503318787, + 0.04104341194033623, + -0.00018117300351150334 + ], + "q01": null, + "q99": null + }, + "timestamp": { + "mean": [ + 3.721695479517497 + ], + "std": [ + 2.237081841546431 + ], + "min": [ + 0.0 + ], + "max": [ + 12.65 + ], + "q01": null, + "q99": null + }, + "action": { + "mean": [ + 0.07096490746267721, + 0.13498889685796536, + -0.046013733641776924, + 0.0012352044345171392, + 0.006998803721298765, + -0.015027527802288103, + 0.46428998075465666 + ], + "std": [ + 0.10133946158044306, + 0.165716399861371, + 0.16914353294024564, + 0.009240558533809633, + 0.018657116474914717, + 0.015913625946349673, + 0.18849963395480163 + ], + "min": [ + -0.8839285969734192, + -0.9375, + -0.9375, + -0.15000000596046448, + -0.29035714268684387, 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{'type': 'LinearProjector', 'in_dim': 32, 'out_dim': 1024}, 'action_in_proj': {'type': 'LinearProjector', 'in_dim': 32, 'out_dim': 1024}, 'action_out_proj': {'type': 'LinearProjector', 'in_dim': 1024, 'out_dim': 32}, 'action_time_mlp_in': {'type': 'LinearProjector', 'in_dim': 2048, 'out_dim': 1024}, 'action_time_mlp_out': {'type': 'LinearProjector', 'in_dim': 1024, 'out_dim': 1024}, 'max_action_dim': 32, 'llm_expert': {'type': 'ConditionGemmaModel', 'attention_bias': False, 'adarms_cond_dim': None, 'attention_dropout': 0.0, 'bos_token_id': 2, 'eos_token_id': 1, 'head_dim': 256, 'hidden_act': 'gelu_pytorch_tanh', 'hidden_activation': 'gelu_pytorch_tanh', 'hidden_size': 1024, 'initializer_range': 0.02, 'intermediate_size': 4096, 'max_position_embeddings': 8192, 'model_type': 'gemma', 'num_attention_heads': 8, 'num_hidden_layers': 18, 'num_key_value_heads': 1, 'pad_token_id': 0, 'rms_norm_eps': 1e-06, 'rope_theta': 10000.0, 'torch_dtype': 'float32', 'transformers_version': '4.48.1', 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'action_in_proj.projector': 'action_in_proj', 'action_out_proj.projector': 'action_out_proj', 'llm_backbone.embed_tokens': 'paligemma_with_expert.paligemma.lm_head'}, 'params_to_change_dtype': ['llm_expert.llm.model.layers', 'vlm_backbone.vlm.model.language_model.layers', 'vlm_backbone.vlm.model.vision_tower', 'vlm_backbone.vlm.model.multi_modal_projector'], 'ori_action_dim': 7}, 'train_dataloader': {'per_device_batch_size': 8, 'per_device_num_workers': 4, 'dataset': {'type': 'DistributedRepeatingDataset', 'name_mappings': {'observation.state': ['proprio'], 'action': ['action']}, 'statistic_keys': ['observation.state', 'timestamp', 'action'], 'statistic_name': 'libero_object_no_noops', 'datasets': {'type': 'ParquetDataset', 'data_root_path': './datasets/libero_object_no_noops_lerobotv2.1', 'transforms': [{'type': 'ProcessParquetInputs', 'parquet_keys': ['observation.state', 'timestamp', 'actions', 'info', 'stats', 'action_masks'], 'video_keys': ['observation.images.image', 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a/pi0_paligemma_libero_object_full_finetune_bs64/tokenizer/tokenizer.model b/pi0_paligemma_libero_object_full_finetune_bs64/tokenizer/tokenizer.model new file mode 100644 index 0000000000000000000000000000000000000000..22ad048d392b4f5191be7cec47d03eb3cdb360f4 --- /dev/null +++ b/pi0_paligemma_libero_object_full_finetune_bs64/tokenizer/tokenizer.model @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8986bb4f423f07f8c7f70d0dbe3526fb2316056c17bae71b1ea975e77a168fc6 +size 4264023 diff --git a/pi0_paligemma_libero_object_full_finetune_bs64/tokenizer/tokenizer_config.json b/pi0_paligemma_libero_object_full_finetune_bs64/tokenizer/tokenizer_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e73f7eee39d112ca3f607c98ee7e0dfbfc28073e --- /dev/null +++ b/pi0_paligemma_libero_object_full_finetune_bs64/tokenizer/tokenizer_config.json @@ -0,0 +1,4 @@ +{ + "tokenizer_class": "PaligemmaTokenizer", + "spm_file": "tokenizer.model" +} \ No newline at end of file