Download final/metadata.json from shreethar/B0_LIBERO_Spatial: direct link, hf CLI and curl.
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- Download file 5.92 kB
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https://huggingface.co/shreethar/B0_LIBERO_Spatial/resolve/main/final/metadata.json
- Command line
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hf download hf://shreethar/B0_LIBERO_Spatial/final/metadata.json
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curl -L -o metadata.json https://huggingface.co/shreethar/B0_LIBERO_Spatial/resolve/main/final/metadata.json
5.92 kB
| { | |
| "global_step": 10000, | |
| "effective_global_batch": 32, | |
| "pretrained_model": "robotics-diffusion-transformer/rdt-1b", | |
| "model_report": { | |
| "trainable": 1207875712, | |
| "total": 1244332160, | |
| "percentage": 97.07019964829969, | |
| "finetune_mode": "full", | |
| "qwen_fusion": "hidden_cross_attention", | |
| "plan_conditioning_trainable": true, | |
| "rdt_state_dim": 128, | |
| "state_adaptor_frozen": true, | |
| "condition_adaptors_frozen": true, | |
| "language_adaptor_frozen": true, | |
| "image_adaptor_frozen": true, | |
| "native_state_encoder": true, | |
| "native_action_encoder": true, | |
| "action_adaptor_trainable": false, | |
| "lora_target_count": 0, | |
| "pretrained": null, | |
| "base_artifact": { | |
| "format": "upstream_libero_rdt_ema", | |
| "checkpoint": "output_3/checkpoints/RDT-1B-LIBERO-Base/ema/model.safetensors", | |
| "loaded_tensors": 618, | |
| "loaded_runner_interfaces": [ | |
| "lang_adaptor", | |
| "img_adaptor", | |
| "state_adaptor" | |
| ], | |
| "reinitialized_tensors": [], | |
| "adapted_tensors": [ | |
| "model.lang_cond_pos_embed" | |
| ], | |
| "shape_mismatches": { | |
| "model.lang_cond_pos_embed": [ | |
| [ | |
| 1, | |
| 1024, | |
| 2048 | |
| ], | |
| [ | |
| 1, | |
| 128, | |
| 2048 | |
| ] | |
| ] | |
| } | |
| } | |
| }, | |
| "horizon_loss_weights": null, | |
| "mask_noisy_gripper_input": true, | |
| "training_objective": { | |
| "horizon_loss_weights": null, | |
| "mask_noisy_gripper_input": true, | |
| "xyz_loss_weight": 0.0, | |
| "gripper_bce_weight": 1.0, | |
| "gripper_bce_logit_scale": 5.0, | |
| "rotation_geodesic_weight": 0.0, | |
| "qwen_fusion_loss_weight": 0.5, | |
| "qwen_fusion_loss_margin": 0.002 | |
| }, | |
| "config": { | |
| "seed": 42, | |
| "rdt_repo": "/home/ubuntu/RoboticsDiffusionTransformer", | |
| "pretrained_model": "robotics-diffusion-transformer/rdt-1b", | |
| "output_dir": "/workspace/ThinkFlow-RDT-1B/output_2/libero_spatial_b0_hidden_from_libero_base_10k", | |
| "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": "hidden_cross_attention", | |
| "conditioning_variant": "b0", | |
| "spatial_token_count": 1, | |
| "waypoint_dim": 2, | |
| "waypoint_embed_dim": 64, | |
| "rdt_state_dim": 128, | |
| "freeze_state_adaptor": true, | |
| "freeze_condition_adaptors": true, | |
| "freeze_language_adaptor": null, | |
| "freeze_image_adaptor": null, | |
| "state_encoder_layout": "rdt_native_128", | |
| "action_encoder_layout": "rdt_native_128", | |
| "native_rdt_128_mapping": "libero_joint_eef_delta", | |
| "convert_cached_gripper_closed_to_open": false, | |
| "allow_random_frozen_state_adaptor": false, | |
| "pretrained_copy_mode": "compatible", | |
| "cache_state_dim": 9, | |
| "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": "/workspace/ThinkFlow-RDT-1B/output_2/libero_spatial_b0_hidden_from_libero_base_10k/manifests/train_manifest.jsonl", | |
| "val_manifest": "/workspace/ThinkFlow-RDT-1B/output_2/libero_spatial_b0_hidden_from_libero_base_10k/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": null | |
| }, | |
| "training": { | |
| "max_steps": 10000, | |
| "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": 8, | |
| "sample_validation_batches": 1, | |
| "mixed_precision": "bf16", | |
| "report_to": "wandb", | |
| "global_batch_size": 32, | |
| "learning_rate": 0.0001, | |
| "wandb_project": "ThinkLite B0 LIBERO", | |
| "wandb_run_name": "libero-spatial-b0-hidden-10k", | |
| "validation_seed": 12345, | |
| "validation_samples": 256, | |
| "skip_nonfinite_updates": true, | |
| "max_consecutive_nonfinite_updates": 10, | |
| "log_gradient_stats": true, | |
| "qualitative_validation_examples": 32, | |
| "validation_batch_size": 32, | |
| "sampled_validation_horizons": [ | |
| 10 | |
| ], | |
| "qwen_fusion_loss_weight": 0.5, | |
| "qwen_fusion_loss_margin": 0.002, | |
| "conditioning_warmup_steps": 0, | |
| "conditioning_warmup_fusion_loss_weight": null, | |
| "learning_rate_rdt_backbone": 0.0001, | |
| "learning_rate_rdt_cross_attention": 0.0001, | |
| "learning_rate_plan_projector": 0.0001, | |
| "conditioning_warmup_cross_attention_learning_rate": 0.0001 | |
| } | |
| }, | |
| "segment_stop_step": 10000, | |
| "conditioning_interface": { | |
| "type": "hidden_cross_attention", | |
| "cached_kv_retained_but_unused": true, | |
| "spatial_token_count": 1, | |
| "qwen_hidden_size": 2560, | |
| "rdt_condition_dim": 2048, | |
| "qwen_token_selector": "think_end", | |
| "conditioning_variant": "b0" | |
| } | |
| } |