{ "global_step": 20000, "effective_global_batch": 32, "pretrained_model": "robotics-diffusion-transformer/rdt-1b", "model_report": { "trainable": 1223595136, "total": 1251662976, "percentage": 97.75755610430392, "finetune_mode": "full", "qwen_fusion": "fastthinkact_state_kv", "rdt_state_dim": 128, "state_adaptor_frozen": true, "condition_adaptors_frozen": true, "native_state_encoder": true, "native_action_encoder": true, "action_adaptor_trainable": false, "lora_target_count": 0, "pretrained": { "copied_tensors": 617, "partially_copied_tensors": 1, "skipped_shape": 0, "state_adaptor_copied_tensors": 6, "state_adaptor_target_tensors": 6, "missing_after_partial_load": 0, "unexpected_after_partial_load": 0 }, "base_artifact": null }, "horizon_loss_weights": null, "mask_noisy_gripper_input": false, "training_objective": { "horizon_loss_weights": null, "mask_noisy_gripper_input": false, "gripper_bce_weight": 0.0, "gripper_bce_logit_scale": 1.0, "rotation_geodesic_weight": 0.0 }, "config": { "seed": 42, "rdt_repo": "/home/ubuntu/RoboticsDiffusionTransformer", "pretrained_model": "robotics-diffusion-transformer/rdt-1b", "output_dir": "/home/ubuntu/ThinkFlow-RDT-1B/output_2", "model": { "action_dim": 128, "state_dim": 128, "pred_horizon": 64, "qwen_hidden_size": 2560, "qwen_kv_dim": 2048, "lang_token_dim": 4096, "img_token_dim": 1152, "max_lang_tokens": 128, "image_tokens": 4374, "hidden_size": 2048, "depth": 28, "num_heads": 32, "dtype": "bfloat16", "lang_adaptor": "mlp2x_gelu", "img_adaptor": "mlp2x_gelu", "state_adaptor": "mlp3x_gelu", "copy_pretrained_final_fc1": true, "gradient_checkpointing": false, "finetune_mode": "full", "qwen_fusion": "fastthinkact_state_kv", "rdt_state_dim": 128, "freeze_state_adaptor": true, "freeze_condition_adaptors": true, "state_encoder_layout": "rdt_native_128", "action_encoder_layout": "rdt_native_128", "convert_cached_gripper_closed_to_open": false, "allow_random_frozen_state_adaptor": false, "pretrained_copy_mode": "compatible", "cache_state_dim": 7, "cache_action_dim": 7 }, "lora": { "rank": 32, "alpha": 64, "dropout": 0.05, "target_self_attention": true, "target_cross_attention": true, "target_ffn": true, "train_final_layer": true }, "noise_scheduler": { "num_train_timesteps": 1000, "num_inference_timesteps": 5, "beta_schedule": "squaredcos_cap_v2", "prediction_type": "sample", "clip_sample": false }, "data": { "train_manifest": "/home/ubuntu/ThinkFlow-RDT-1B/output_2/manifests/train_manifest.jsonl", "val_manifest": "/home/ubuntu/ThinkFlow-RDT-1B/output_2/manifests/val_manifest.jsonl", "num_workers": 4, "pin_memory": true, "persistent_workers": true, "excluded_dataset_ids": [], "episode_aware_shuffle": true, "shuffle_validation": false, "stratified_validation": true, "action_stats_paths": { "bc_z": "dataset/mock_dataset/bc_z_dataset/audit.json", "bridge": "dataset/mock_dataset/bridge_dataset/audit.json", "droid": "dataset/mock_dataset/droid_dataset/audit.json", "fractal": "dataset/mock_dataset/fractal_dataset/audit.json", "kuka": "dataset/mock_dataset/kuka_dataset/audit.json" } }, "training": { "max_steps": 20000, "micro_batch_size": 8, "gradient_accumulation_steps": 4, "learning_rate_lora": 0.0001, "learning_rate_interfaces": 0.0001, "weight_decay_interfaces": 0.01, "warmup_steps": 500, "max_grad_norm": 1.0, "log_every": 10, "validate_every": 500, "save_every": 1000, "validation_batches": 256, "sample_validation_batches": 1, "mixed_precision": "bf16", "report_to": "wandb", "global_batch_size": 32, "learning_rate": 0.0001, "wandb_project": "ThinkLite B0 OXE", "wandb_run_name": "oxe-rdt1b-native128-fastthinkact-full", "validation_seed": 12345, "validation_samples": 256, "skip_nonfinite_updates": true, "max_consecutive_nonfinite_updates": 10, "log_gradient_stats": true, "qualitative_validation_examples": 2 } } }