thanhkt commited on
Commit
6987c25
·
verified ·
1 Parent(s): 161fa20

Upload train_planbind_s1001 from run_all.sh

Browse files
Files changed (36) hide show
  1. train_planbind_s1001/checkpoints/020000/pretrained_model/config.json +121 -0
  2. train_planbind_s1001/checkpoints/020000/pretrained_model/model.safetensors +3 -0
  3. train_planbind_s1001/checkpoints/020000/pretrained_model/policy_postprocessor.json +32 -0
  4. train_planbind_s1001/checkpoints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  5. train_planbind_s1001/checkpoints/020000/pretrained_model/policy_preprocessor.json +64 -0
  6. train_planbind_s1001/checkpoints/020000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  7. train_planbind_s1001/checkpoints/020000/pretrained_model/train_config.json +346 -0
  8. train_planbind_s1001/checkpoints/020000/training_state/optimizer_param_groups.json +298 -0
  9. train_planbind_s1001/checkpoints/020000/training_state/optimizer_state.safetensors +3 -0
  10. train_planbind_s1001/checkpoints/020000/training_state/rng_state.safetensors +3 -0
  11. train_planbind_s1001/checkpoints/020000/training_state/scheduler_state.json +15 -0
  12. train_planbind_s1001/checkpoints/020000/training_state/training_step.json +13 -0
  13. train_planbind_s1001/checkpoints/040000/pretrained_model/config.json +121 -0
  14. train_planbind_s1001/checkpoints/040000/pretrained_model/model.safetensors +3 -0
  15. train_planbind_s1001/checkpoints/040000/pretrained_model/policy_postprocessor.json +32 -0
  16. train_planbind_s1001/checkpoints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  17. train_planbind_s1001/checkpoints/040000/pretrained_model/policy_preprocessor.json +64 -0
  18. train_planbind_s1001/checkpoints/040000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  19. train_planbind_s1001/checkpoints/040000/pretrained_model/train_config.json +346 -0
  20. train_planbind_s1001/checkpoints/040000/training_state/optimizer_param_groups.json +298 -0
  21. train_planbind_s1001/checkpoints/040000/training_state/optimizer_state.safetensors +3 -0
  22. train_planbind_s1001/checkpoints/040000/training_state/rng_state.safetensors +3 -0
  23. train_planbind_s1001/checkpoints/040000/training_state/scheduler_state.json +15 -0
  24. train_planbind_s1001/checkpoints/040000/training_state/training_step.json +13 -0
  25. train_planbind_s1001/checkpoints/060000/pretrained_model/config.json +121 -0
  26. train_planbind_s1001/checkpoints/060000/pretrained_model/model.safetensors +3 -0
  27. train_planbind_s1001/checkpoints/060000/pretrained_model/policy_postprocessor.json +32 -0
  28. train_planbind_s1001/checkpoints/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors +3 -0
  29. train_planbind_s1001/checkpoints/060000/pretrained_model/policy_preprocessor.json +64 -0
  30. train_planbind_s1001/checkpoints/060000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors +3 -0
  31. train_planbind_s1001/checkpoints/060000/pretrained_model/train_config.json +346 -0
  32. train_planbind_s1001/checkpoints/060000/training_state/optimizer_param_groups.json +298 -0
  33. train_planbind_s1001/checkpoints/060000/training_state/optimizer_state.safetensors +3 -0
  34. train_planbind_s1001/checkpoints/060000/training_state/rng_state.safetensors +3 -0
  35. train_planbind_s1001/checkpoints/060000/training_state/scheduler_state.json +15 -0
  36. train_planbind_s1001/checkpoints/060000/training_state/training_step.json +13 -0
train_planbind_s1001/checkpoints/020000/pretrained_model/config.json ADDED
@@ -0,0 +1,121 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "bspline",
3
+ "n_obs_steps": 2,
4
+ "input_features": {
5
+ "observation.images.image": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 256,
10
+ 256
11
+ ]
12
+ },
13
+ "observation.images.image2": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 256,
18
+ 256
19
+ ]
20
+ },
21
+ "observation.state": {
22
+ "type": "STATE",
23
+ "shape": [
24
+ 8
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 7
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "dtype": null,
38
+ "use_amp": false,
39
+ "use_peft": false,
40
+ "push_to_hub": false,
41
+ "repo_id": null,
42
+ "private": null,
43
+ "tags": null,
44
+ "license": null,
45
+ "pretrained_path": null,
46
+ "pretrained_revision": null,
47
+ "horizon": 16,
48
+ "n_action_steps": 32,
49
+ "normalization_mapping": {
50
+ "VISUAL": "MEAN_STD",
51
+ "STATE": "MIN_MAX",
52
+ "ACTION": "MIN_MAX"
53
+ },
54
+ "drop_n_last_frames": 0,
55
+ "vision_backbone": "resnet18",
56
+ "resize_shape": [
57
+ 128,
58
+ 128
59
+ ],
60
+ "crop_ratio": 1.0,
61
+ "crop_shape": null,
62
+ "crop_is_random": true,
63
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
64
+ "use_group_norm": false,
65
+ "spatial_softmax_num_keypoints": 32,
66
+ "use_separate_rgb_encoder_per_camera": true,
67
+ "down_dims": [
68
+ 512,
69
+ 1024,
70
+ 2048
71
+ ],
72
+ "kernel_size": 5,
73
+ "n_groups": 8,
74
+ "diffusion_step_embed_dim": 128,
75
+ "use_film_scale_modulation": true,
76
+ "gradient_checkpointing": false,
77
+ "noise_scheduler_type": "DDPM",
78
+ "num_train_timesteps": 100,
79
+ "beta_schedule": "squaredcos_cap_v2",
80
+ "beta_start": 0.0001,
81
+ "beta_end": 0.02,
82
+ "prediction_type": "epsilon",
83
+ "clip_sample": true,
84
+ "clip_sample_range": 1.5,
85
+ "num_inference_steps": null,
86
+ "compile_model": false,
87
+ "compile_mode": "reduce-overhead",
88
+ "do_mask_loss_for_padding": false,
89
+ "optimizer_lr": 0.0001,
90
+ "optimizer_betas": [
91
+ 0.95,
92
+ 0.999
93
+ ],
94
+ "optimizer_eps": 1e-08,
95
+ "optimizer_weight_decay": 1e-06,
96
+ "scheduler_name": "cosine",
97
+ "scheduler_warmup_steps": 500,
98
+ "bspline_degree": 3,
99
+ "bspline_chunk_size": 10,
100
+ "bspline_window": 32,
101
+ "bspline_max_error": 0.01,
102
+ "bspline_speed_up": 1.0,
103
+ "bspline_fit_workers": 0,
104
+ "bspline_mode": "planbind",
105
+ "planbind_fine_spacing": 2,
106
+ "planbind_subdivision": 4,
107
+ "planbind_max_plan_age": 16,
108
+ "planbind_plan_noise": 0.02,
109
+ "planbind_replan_threshold": 0.0,
110
+ "planbind_latency": 0,
111
+ "planbind_commit": "latency",
112
+ "planbind_position_limit": 0.0,
113
+ "planbind_velocity_limit": 0.0,
114
+ "planbind_acceleration_limit": 0.0,
115
+ "planbind_call_every": 0,
116
+ "planbind_onestep_input": "zeros",
117
+ "task_condition": "hash",
118
+ "task_hash_buckets": 4096,
119
+ "task_max_tokens": 24,
120
+ "bspline_runtime": false
121
+ }
train_planbind_s1001/checkpoints/020000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9068a4ef7b3147cf9540fe43b58855e640d67bfab67538bd43c879686ec9eecc
3
+ size 1128654500
train_planbind_s1001/checkpoints/020000/pretrained_model/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 7
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MIN_MAX",
19
+ "ACTION": "MIN_MAX"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
train_planbind_s1001/checkpoints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a002c0df7f79c5b169c5a899ad151d4ea1bed246c7d82bd93ed1556558d517a9
3
+ size 7668
train_planbind_s1001/checkpoints/020000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.images.image": {
27
+ "type": "VISUAL",
28
+ "shape": [
29
+ 3,
30
+ 256,
31
+ 256
32
+ ]
33
+ },
34
+ "observation.images.image2": {
35
+ "type": "VISUAL",
36
+ "shape": [
37
+ 3,
38
+ 256,
39
+ 256
40
+ ]
41
+ },
42
+ "observation.state": {
43
+ "type": "STATE",
44
+ "shape": [
45
+ 8
46
+ ]
47
+ },
48
+ "action": {
49
+ "type": "ACTION",
50
+ "shape": [
51
+ 7
52
+ ]
53
+ }
54
+ },
55
+ "norm_map": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MIN_MAX",
58
+ "ACTION": "MIN_MAX"
59
+ }
60
+ },
61
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
62
+ }
63
+ ]
64
+ }
train_planbind_s1001/checkpoints/020000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f98234b21ce8ffacf1b86657f3cf8e24ac6c31ebcd6a3b83cecd484439674306
3
+ size 7676
train_planbind_s1001/checkpoints/020000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,346 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "lerobot/libero",
4
+ "repo_type": "dataset",
5
+ "root": null,
6
+ "episodes": null,
7
+ "exclude_episodes": null,
8
+ "image_transforms": {
9
+ "enable": false,
10
+ "backend": "dataloader",
11
+ "gpu_compile": true,
12
+ "gpu_chunk_size": 32,
13
+ "max_num_transforms": 3,
14
+ "random_order": false,
15
+ "tfs": {
16
+ "brightness": {
17
+ "weight": 1.0,
18
+ "type": "ColorJitter",
19
+ "kwargs": {
20
+ "brightness": [
21
+ 0.8,
22
+ 1.2
23
+ ]
24
+ }
25
+ },
26
+ "contrast": {
27
+ "weight": 1.0,
28
+ "type": "ColorJitter",
29
+ "kwargs": {
30
+ "contrast": [
31
+ 0.8,
32
+ 1.2
33
+ ]
34
+ }
35
+ },
36
+ "saturation": {
37
+ "weight": 1.0,
38
+ "type": "ColorJitter",
39
+ "kwargs": {
40
+ "saturation": [
41
+ 0.5,
42
+ 1.5
43
+ ]
44
+ }
45
+ },
46
+ "hue": {
47
+ "weight": 1.0,
48
+ "type": "ColorJitter",
49
+ "kwargs": {
50
+ "hue": [
51
+ -0.05,
52
+ 0.05
53
+ ]
54
+ }
55
+ },
56
+ "sharpness": {
57
+ "weight": 1.0,
58
+ "type": "SharpnessJitter",
59
+ "kwargs": {
60
+ "sharpness": [
61
+ 0.5,
62
+ 1.5
63
+ ]
64
+ }
65
+ },
66
+ "affine": {
67
+ "weight": 1.0,
68
+ "type": "RandomAffine",
69
+ "kwargs": {
70
+ "degrees": [
71
+ -5.0,
72
+ 5.0
73
+ ],
74
+ "translate": [
75
+ 0.05,
76
+ 0.05
77
+ ]
78
+ }
79
+ }
80
+ }
81
+ },
82
+ "revision": "a1aaacb7f6cd6ee5fb43120f673cebb0cfea7dd4",
83
+ "use_imagenet_stats": true,
84
+ "video_backend": "torchcodec",
85
+ "return_uint8": false,
86
+ "depth_output_unit": "mm",
87
+ "streaming": false,
88
+ "streaming_episode_pool_size": null,
89
+ "streaming_sampling_strategy": "remaining",
90
+ "streaming_prefetch_episodes": 8,
91
+ "streaming_byte_budget_gb": 8.0,
92
+ "streaming_decode_threads": 2,
93
+ "streaming_decoded_queue_size": 8,
94
+ "streaming_native_http_connections": null,
95
+ "streaming_native_http_subranges": 1,
96
+ "streaming_sidecar_lock_timeout_s": 1800,
97
+ "video_decoder_cache_size": null,
98
+ "eval_split": 0.0
99
+ },
100
+ "env": null,
101
+ "policy": {
102
+ "type": "bspline",
103
+ "n_obs_steps": 2,
104
+ "input_features": {
105
+ "observation.images.image": {
106
+ "type": "VISUAL",
107
+ "shape": [
108
+ 3,
109
+ 256,
110
+ 256
111
+ ]
112
+ },
113
+ "observation.images.image2": {
114
+ "type": "VISUAL",
115
+ "shape": [
116
+ 3,
117
+ 256,
118
+ 256
119
+ ]
120
+ },
121
+ "observation.state": {
122
+ "type": "STATE",
123
+ "shape": [
124
+ 8
125
+ ]
126
+ }
127
+ },
128
+ "output_features": {
129
+ "action": {
130
+ "type": "ACTION",
131
+ "shape": [
132
+ 7
133
+ ]
134
+ }
135
+ },
136
+ "device": "cuda",
137
+ "dtype": null,
138
+ "use_amp": false,
139
+ "use_peft": false,
140
+ "push_to_hub": false,
141
+ "repo_id": null,
142
+ "private": null,
143
+ "tags": null,
144
+ "license": null,
145
+ "pretrained_path": null,
146
+ "pretrained_revision": null,
147
+ "horizon": 16,
148
+ "n_action_steps": 32,
149
+ "normalization_mapping": {
150
+ "VISUAL": "MEAN_STD",
151
+ "STATE": "MIN_MAX",
152
+ "ACTION": "MIN_MAX"
153
+ },
154
+ "drop_n_last_frames": 0,
155
+ "vision_backbone": "resnet18",
156
+ "resize_shape": [
157
+ 128,
158
+ 128
159
+ ],
160
+ "crop_ratio": 1.0,
161
+ "crop_shape": null,
162
+ "crop_is_random": true,
163
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
164
+ "use_group_norm": false,
165
+ "spatial_softmax_num_keypoints": 32,
166
+ "use_separate_rgb_encoder_per_camera": true,
167
+ "down_dims": [
168
+ 512,
169
+ 1024,
170
+ 2048
171
+ ],
172
+ "kernel_size": 5,
173
+ "n_groups": 8,
174
+ "diffusion_step_embed_dim": 128,
175
+ "use_film_scale_modulation": true,
176
+ "gradient_checkpointing": false,
177
+ "noise_scheduler_type": "DDPM",
178
+ "num_train_timesteps": 100,
179
+ "beta_schedule": "squaredcos_cap_v2",
180
+ "beta_start": 0.0001,
181
+ "beta_end": 0.02,
182
+ "prediction_type": "epsilon",
183
+ "clip_sample": true,
184
+ "clip_sample_range": 1.5,
185
+ "num_inference_steps": null,
186
+ "compile_model": false,
187
+ "compile_mode": "reduce-overhead",
188
+ "do_mask_loss_for_padding": false,
189
+ "optimizer_lr": 0.0001,
190
+ "optimizer_betas": [
191
+ 0.95,
192
+ 0.999
193
+ ],
194
+ "optimizer_eps": 1e-08,
195
+ "optimizer_weight_decay": 1e-06,
196
+ "scheduler_name": "cosine",
197
+ "scheduler_warmup_steps": 500,
198
+ "bspline_degree": 3,
199
+ "bspline_chunk_size": 10,
200
+ "bspline_window": 32,
201
+ "bspline_max_error": 0.01,
202
+ "bspline_speed_up": 1.0,
203
+ "bspline_fit_workers": 0,
204
+ "bspline_mode": "planbind",
205
+ "planbind_fine_spacing": 2,
206
+ "planbind_subdivision": 4,
207
+ "planbind_max_plan_age": 16,
208
+ "planbind_plan_noise": 0.02,
209
+ "planbind_replan_threshold": 0.0,
210
+ "planbind_latency": 0,
211
+ "planbind_commit": "latency",
212
+ "planbind_position_limit": 0.0,
213
+ "planbind_velocity_limit": 0.0,
214
+ "planbind_acceleration_limit": 0.0,
215
+ "planbind_call_every": 0,
216
+ "planbind_onestep_input": "zeros",
217
+ "task_condition": "hash",
218
+ "task_hash_buckets": 4096,
219
+ "task_max_tokens": 24,
220
+ "bspline_runtime": false
221
+ },
222
+ "reward_model": null,
223
+ "output_dir": "/home/25thanh.tk/plan-bind/experiments/261105-plan-bind-libero/outputs/full/train_planbind_s1001",
224
+ "job_name": "plan-bind-d4-planbind-s1001",
225
+ "resume": false,
226
+ "seed": 1001,
227
+ "cudnn_deterministic": false,
228
+ "num_workers": 2,
229
+ "batch_size": 32,
230
+ "prefetch_factor": 4,
231
+ "persistent_workers": true,
232
+ "dataloader_multiprocessing_context": "spawn",
233
+ "steps": 60000,
234
+ "env_eval_freq": 0,
235
+ "log_freq": 100,
236
+ "eval_steps": 0,
237
+ "max_eval_samples": 0,
238
+ "tolerance_s": 0.0001,
239
+ "save_checkpoint": true,
240
+ "save_freq": 20000,
241
+ "checkpoint_format": "safetensors",
242
+ "use_policy_training_preset": true,
243
+ "optimizer": {
244
+ "type": "adam",
245
+ "lr": 0.0001,
246
+ "weight_decay": 1e-06,
247
+ "grad_clip_norm": 10.0,
248
+ "betas": [
249
+ 0.95,
250
+ 0.999
251
+ ],
252
+ "eps": 1e-08,
253
+ "fused": null
254
+ },
255
+ "scheduler": {
256
+ "type": "diffuser",
257
+ "num_warmup_steps": 500,
258
+ "name": "cosine"
259
+ },
260
+ "parallelism": {
261
+ "dp_replicate": 1,
262
+ "dp_shard": 1,
263
+ "context_parallel": {
264
+ "ring_degree": 1,
265
+ "ulysses_degree": 1
266
+ },
267
+ "cfg_parallel": 1
268
+ },
269
+ "accelerator": {
270
+ "mixed_precision": "no",
271
+ "gradient_accumulation": {
272
+ "steps": 1
273
+ },
274
+ "grad_scaler": {
275
+ "init_scale": 65536.0,
276
+ "growth_factor": 2.0,
277
+ "backoff_factor": 0.5,
278
+ "growth_interval": 2000
279
+ },
280
+ "fsdp": {
281
+ "reshard_after_forward": true,
282
+ "wrap_modules": null,
283
+ "min_num_params": null,
284
+ "cpu_offload": false,
285
+ "ignored_modules": null
286
+ },
287
+ "ddp": {
288
+ "find_unused_parameters": true,
289
+ "gradient_as_bucket_view": false,
290
+ "static_graph": false
291
+ },
292
+ "compile": {
293
+ "enabled": false,
294
+ "backend": "inductor",
295
+ "mode": null,
296
+ "regional": true
297
+ },
298
+ "activation_checkpointing": {
299
+ "mode": "none"
300
+ }
301
+ },
302
+ "eval": {
303
+ "n_episodes": 50,
304
+ "batch_size": 44,
305
+ "use_async_envs": true,
306
+ "recording": false,
307
+ "recording_repo_id": null,
308
+ "recording_private": false
309
+ },
310
+ "ema": {
311
+ "enable": false,
312
+ "decay": null,
313
+ "update_after_step": 0,
314
+ "inv_gamma": 1.0,
315
+ "power": 0.75,
316
+ "min_decay": 0.0,
317
+ "max_decay": 0.9999,
318
+ "use_for_eval": true
319
+ },
320
+ "wandb": {
321
+ "enable": false,
322
+ "disable_artifact": false,
323
+ "project": "lerobot-nexarm",
324
+ "entity": null,
325
+ "notes": null,
326
+ "run_id": null,
327
+ "resume": null,
328
+ "mode": null,
329
+ "console": "wrap",
330
+ "console_multipart": false,
331
+ "console_chunk_max_seconds": 0,
332
+ "add_tags": true
333
+ },
334
+ "peft": null,
335
+ "job": {
336
+ "target": null,
337
+ "image": "huggingface/lerobot-gpu:latest",
338
+ "timeout": "2d",
339
+ "detach": false,
340
+ "tags": []
341
+ },
342
+ "save_checkpoint_to_hub": false,
343
+ "sample_weighting": null,
344
+ "rename_map": {},
345
+ "checkpoint_path": null
346
+ }
train_planbind_s1001/checkpoints/020000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,298 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 7.57581893473448e-05,
4
+ "betas": [
5
+ 0.95,
6
+ 0.999
7
+ ],
8
+ "eps": 1e-08,
9
+ "weight_decay": 1e-06,
10
+ "amsgrad": false,
11
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": false,
17
+ "initial_lr": 0.0001,
18
+ "params": [
19
+ 0,
20
+ 1,
21
+ 2,
22
+ 3,
23
+ 4,
24
+ 5,
25
+ 6,
26
+ 7,
27
+ 8,
28
+ 9,
29
+ 10,
30
+ 11,
31
+ 12,
32
+ 13,
33
+ 14,
34
+ 15,
35
+ 16,
36
+ 17,
37
+ 18,
38
+ 19,
39
+ 20,
40
+ 21,
41
+ 22,
42
+ 23,
43
+ 24,
44
+ 25,
45
+ 26,
46
+ 27,
47
+ 28,
48
+ 29,
49
+ 30,
50
+ 31,
51
+ 32,
52
+ 33,
53
+ 34,
54
+ 35,
55
+ 36,
56
+ 37,
57
+ 38,
58
+ 39,
59
+ 40,
60
+ 41,
61
+ 42,
62
+ 43,
63
+ 44,
64
+ 45,
65
+ 46,
66
+ 47,
67
+ 48,
68
+ 49,
69
+ 50,
70
+ 51,
71
+ 52,
72
+ 53,
73
+ 54,
74
+ 55,
75
+ 56,
76
+ 57,
77
+ 58,
78
+ 59,
79
+ 60,
80
+ 61,
81
+ 62,
82
+ 63,
83
+ 64,
84
+ 65,
85
+ 66,
86
+ 67,
87
+ 68,
88
+ 69,
89
+ 70,
90
+ 71,
91
+ 72,
92
+ 73,
93
+ 74,
94
+ 75,
95
+ 76,
96
+ 77,
97
+ 78,
98
+ 79,
99
+ 80,
100
+ 81,
101
+ 82,
102
+ 83,
103
+ 84,
104
+ 85,
105
+ 86,
106
+ 87,
107
+ 88,
108
+ 89,
109
+ 90,
110
+ 91,
111
+ 92,
112
+ 93,
113
+ 94,
114
+ 95,
115
+ 96,
116
+ 97,
117
+ 98,
118
+ 99,
119
+ 100,
120
+ 101,
121
+ 102,
122
+ 103,
123
+ 104,
124
+ 105,
125
+ 106,
126
+ 107,
127
+ 108,
128
+ 109,
129
+ 110,
130
+ 111,
131
+ 112,
132
+ 113,
133
+ 114,
134
+ 115,
135
+ 116,
136
+ 117,
137
+ 118,
138
+ 119,
139
+ 120,
140
+ 121,
141
+ 122,
142
+ 123,
143
+ 124,
144
+ 125,
145
+ 126,
146
+ 127,
147
+ 128,
148
+ 129,
149
+ 130,
150
+ 131,
151
+ 132,
152
+ 133,
153
+ 134,
154
+ 135,
155
+ 136,
156
+ 137,
157
+ 138,
158
+ 139,
159
+ 140,
160
+ 141,
161
+ 142,
162
+ 143,
163
+ 144,
164
+ 145,
165
+ 146,
166
+ 147,
167
+ 148,
168
+ 149,
169
+ 150,
170
+ 151,
171
+ 152,
172
+ 153,
173
+ 154,
174
+ 155,
175
+ 156,
176
+ 157,
177
+ 158,
178
+ 159,
179
+ 160,
180
+ 161,
181
+ 162,
182
+ 163,
183
+ 164,
184
+ 165,
185
+ 166,
186
+ 167,
187
+ 168,
188
+ 169,
189
+ 170,
190
+ 171,
191
+ 172,
192
+ 173,
193
+ 174,
194
+ 175,
195
+ 176,
196
+ 177,
197
+ 178,
198
+ 179,
199
+ 180,
200
+ 181,
201
+ 182,
202
+ 183,
203
+ 184,
204
+ 185,
205
+ 186,
206
+ 187,
207
+ 188,
208
+ 189,
209
+ 190,
210
+ 191,
211
+ 192,
212
+ 193,
213
+ 194,
214
+ 195,
215
+ 196,
216
+ 197,
217
+ 198,
218
+ 199,
219
+ 200,
220
+ 201,
221
+ 202,
222
+ 203,
223
+ 204,
224
+ 205,
225
+ 206,
226
+ 207,
227
+ 208,
228
+ 209,
229
+ 210,
230
+ 211,
231
+ 212,
232
+ 213,
233
+ 214,
234
+ 215,
235
+ 216,
236
+ 217,
237
+ 218,
238
+ 219,
239
+ 220,
240
+ 221,
241
+ 222,
242
+ 223,
243
+ 224,
244
+ 225,
245
+ 226,
246
+ 227,
247
+ 228,
248
+ 229,
249
+ 230,
250
+ 231,
251
+ 232,
252
+ 233,
253
+ 234,
254
+ 235,
255
+ 236,
256
+ 237,
257
+ 238,
258
+ 239,
259
+ 240,
260
+ 241,
261
+ 242,
262
+ 243,
263
+ 244,
264
+ 245,
265
+ 246,
266
+ 247,
267
+ 248,
268
+ 249,
269
+ 250,
270
+ 251,
271
+ 252,
272
+ 253,
273
+ 254,
274
+ 255,
275
+ 256,
276
+ 257,
277
+ 258,
278
+ 259,
279
+ 260,
280
+ 261,
281
+ 262,
282
+ 263,
283
+ 264,
284
+ 265,
285
+ 266,
286
+ 267,
287
+ 268,
288
+ 269,
289
+ 270,
290
+ 271,
291
+ 272,
292
+ 273,
293
+ 274,
294
+ 275,
295
+ 276
296
+ ]
297
+ }
298
+ ]
train_planbind_s1001/checkpoints/020000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c43cac8dd4dc4d6dd727ce3db78069c86e9d0e5cfbf0889a8a8666f6223973db
3
+ size 2257133500
train_planbind_s1001/checkpoints/020000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9287831af8927f57c8bc1e8cbd86a0b0e2a8980b97427b56ea7443650b7dad4f
3
+ size 15712
train_planbind_s1001/checkpoints/020000/training_state/scheduler_state.json ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "base_lrs": [
3
+ 0.0001
4
+ ],
5
+ "last_epoch": 20000,
6
+ "_step_count": 20001,
7
+ "_is_initial": false,
8
+ "_get_lr_called_within_step": false,
9
+ "_last_lr": [
10
+ 7.57581893473448e-05
11
+ ],
12
+ "lr_lambdas": [
13
+ null
14
+ ]
15
+ }
train_planbind_s1001/checkpoints/020000/training_state/training_step.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "step": 20000,
3
+ "dp_world_size": 1,
4
+ "batch_size": 32,
5
+ "grad_accum_steps": 1,
6
+ "mixed_precision": "no",
7
+ "parallelism": {
8
+ "dp_replicate": 1,
9
+ "dp_shard": 1,
10
+ "ring_degree": 1,
11
+ "ulysses_degree": 1
12
+ }
13
+ }
train_planbind_s1001/checkpoints/040000/pretrained_model/config.json ADDED
@@ -0,0 +1,121 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "bspline",
3
+ "n_obs_steps": 2,
4
+ "input_features": {
5
+ "observation.images.image": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 256,
10
+ 256
11
+ ]
12
+ },
13
+ "observation.images.image2": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 256,
18
+ 256
19
+ ]
20
+ },
21
+ "observation.state": {
22
+ "type": "STATE",
23
+ "shape": [
24
+ 8
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 7
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "dtype": null,
38
+ "use_amp": false,
39
+ "use_peft": false,
40
+ "push_to_hub": false,
41
+ "repo_id": null,
42
+ "private": null,
43
+ "tags": null,
44
+ "license": null,
45
+ "pretrained_path": null,
46
+ "pretrained_revision": null,
47
+ "horizon": 16,
48
+ "n_action_steps": 32,
49
+ "normalization_mapping": {
50
+ "VISUAL": "MEAN_STD",
51
+ "STATE": "MIN_MAX",
52
+ "ACTION": "MIN_MAX"
53
+ },
54
+ "drop_n_last_frames": 0,
55
+ "vision_backbone": "resnet18",
56
+ "resize_shape": [
57
+ 128,
58
+ 128
59
+ ],
60
+ "crop_ratio": 1.0,
61
+ "crop_shape": null,
62
+ "crop_is_random": true,
63
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
64
+ "use_group_norm": false,
65
+ "spatial_softmax_num_keypoints": 32,
66
+ "use_separate_rgb_encoder_per_camera": true,
67
+ "down_dims": [
68
+ 512,
69
+ 1024,
70
+ 2048
71
+ ],
72
+ "kernel_size": 5,
73
+ "n_groups": 8,
74
+ "diffusion_step_embed_dim": 128,
75
+ "use_film_scale_modulation": true,
76
+ "gradient_checkpointing": false,
77
+ "noise_scheduler_type": "DDPM",
78
+ "num_train_timesteps": 100,
79
+ "beta_schedule": "squaredcos_cap_v2",
80
+ "beta_start": 0.0001,
81
+ "beta_end": 0.02,
82
+ "prediction_type": "epsilon",
83
+ "clip_sample": true,
84
+ "clip_sample_range": 1.5,
85
+ "num_inference_steps": null,
86
+ "compile_model": false,
87
+ "compile_mode": "reduce-overhead",
88
+ "do_mask_loss_for_padding": false,
89
+ "optimizer_lr": 0.0001,
90
+ "optimizer_betas": [
91
+ 0.95,
92
+ 0.999
93
+ ],
94
+ "optimizer_eps": 1e-08,
95
+ "optimizer_weight_decay": 1e-06,
96
+ "scheduler_name": "cosine",
97
+ "scheduler_warmup_steps": 500,
98
+ "bspline_degree": 3,
99
+ "bspline_chunk_size": 10,
100
+ "bspline_window": 32,
101
+ "bspline_max_error": 0.01,
102
+ "bspline_speed_up": 1.0,
103
+ "bspline_fit_workers": 0,
104
+ "bspline_mode": "planbind",
105
+ "planbind_fine_spacing": 2,
106
+ "planbind_subdivision": 4,
107
+ "planbind_max_plan_age": 16,
108
+ "planbind_plan_noise": 0.02,
109
+ "planbind_replan_threshold": 0.0,
110
+ "planbind_latency": 0,
111
+ "planbind_commit": "latency",
112
+ "planbind_position_limit": 0.0,
113
+ "planbind_velocity_limit": 0.0,
114
+ "planbind_acceleration_limit": 0.0,
115
+ "planbind_call_every": 0,
116
+ "planbind_onestep_input": "zeros",
117
+ "task_condition": "hash",
118
+ "task_hash_buckets": 4096,
119
+ "task_max_tokens": 24,
120
+ "bspline_runtime": false
121
+ }
train_planbind_s1001/checkpoints/040000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3af1aff9369e7cf7d1a7f045055542bfde6a24b879fd1fd2daea425f56412f4d
3
+ size 1128654500
train_planbind_s1001/checkpoints/040000/pretrained_model/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 7
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MIN_MAX",
19
+ "ACTION": "MIN_MAX"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
train_planbind_s1001/checkpoints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a002c0df7f79c5b169c5a899ad151d4ea1bed246c7d82bd93ed1556558d517a9
3
+ size 7668
train_planbind_s1001/checkpoints/040000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.images.image": {
27
+ "type": "VISUAL",
28
+ "shape": [
29
+ 3,
30
+ 256,
31
+ 256
32
+ ]
33
+ },
34
+ "observation.images.image2": {
35
+ "type": "VISUAL",
36
+ "shape": [
37
+ 3,
38
+ 256,
39
+ 256
40
+ ]
41
+ },
42
+ "observation.state": {
43
+ "type": "STATE",
44
+ "shape": [
45
+ 8
46
+ ]
47
+ },
48
+ "action": {
49
+ "type": "ACTION",
50
+ "shape": [
51
+ 7
52
+ ]
53
+ }
54
+ },
55
+ "norm_map": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MIN_MAX",
58
+ "ACTION": "MIN_MAX"
59
+ }
60
+ },
61
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
62
+ }
63
+ ]
64
+ }
train_planbind_s1001/checkpoints/040000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f98234b21ce8ffacf1b86657f3cf8e24ac6c31ebcd6a3b83cecd484439674306
3
+ size 7676
train_planbind_s1001/checkpoints/040000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,346 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "lerobot/libero",
4
+ "repo_type": "dataset",
5
+ "root": null,
6
+ "episodes": null,
7
+ "exclude_episodes": null,
8
+ "image_transforms": {
9
+ "enable": false,
10
+ "backend": "dataloader",
11
+ "gpu_compile": true,
12
+ "gpu_chunk_size": 32,
13
+ "max_num_transforms": 3,
14
+ "random_order": false,
15
+ "tfs": {
16
+ "brightness": {
17
+ "weight": 1.0,
18
+ "type": "ColorJitter",
19
+ "kwargs": {
20
+ "brightness": [
21
+ 0.8,
22
+ 1.2
23
+ ]
24
+ }
25
+ },
26
+ "contrast": {
27
+ "weight": 1.0,
28
+ "type": "ColorJitter",
29
+ "kwargs": {
30
+ "contrast": [
31
+ 0.8,
32
+ 1.2
33
+ ]
34
+ }
35
+ },
36
+ "saturation": {
37
+ "weight": 1.0,
38
+ "type": "ColorJitter",
39
+ "kwargs": {
40
+ "saturation": [
41
+ 0.5,
42
+ 1.5
43
+ ]
44
+ }
45
+ },
46
+ "hue": {
47
+ "weight": 1.0,
48
+ "type": "ColorJitter",
49
+ "kwargs": {
50
+ "hue": [
51
+ -0.05,
52
+ 0.05
53
+ ]
54
+ }
55
+ },
56
+ "sharpness": {
57
+ "weight": 1.0,
58
+ "type": "SharpnessJitter",
59
+ "kwargs": {
60
+ "sharpness": [
61
+ 0.5,
62
+ 1.5
63
+ ]
64
+ }
65
+ },
66
+ "affine": {
67
+ "weight": 1.0,
68
+ "type": "RandomAffine",
69
+ "kwargs": {
70
+ "degrees": [
71
+ -5.0,
72
+ 5.0
73
+ ],
74
+ "translate": [
75
+ 0.05,
76
+ 0.05
77
+ ]
78
+ }
79
+ }
80
+ }
81
+ },
82
+ "revision": "a1aaacb7f6cd6ee5fb43120f673cebb0cfea7dd4",
83
+ "use_imagenet_stats": true,
84
+ "video_backend": "torchcodec",
85
+ "return_uint8": false,
86
+ "depth_output_unit": "mm",
87
+ "streaming": false,
88
+ "streaming_episode_pool_size": null,
89
+ "streaming_sampling_strategy": "remaining",
90
+ "streaming_prefetch_episodes": 8,
91
+ "streaming_byte_budget_gb": 8.0,
92
+ "streaming_decode_threads": 2,
93
+ "streaming_decoded_queue_size": 8,
94
+ "streaming_native_http_connections": null,
95
+ "streaming_native_http_subranges": 1,
96
+ "streaming_sidecar_lock_timeout_s": 1800,
97
+ "video_decoder_cache_size": null,
98
+ "eval_split": 0.0
99
+ },
100
+ "env": null,
101
+ "policy": {
102
+ "type": "bspline",
103
+ "n_obs_steps": 2,
104
+ "input_features": {
105
+ "observation.images.image": {
106
+ "type": "VISUAL",
107
+ "shape": [
108
+ 3,
109
+ 256,
110
+ 256
111
+ ]
112
+ },
113
+ "observation.images.image2": {
114
+ "type": "VISUAL",
115
+ "shape": [
116
+ 3,
117
+ 256,
118
+ 256
119
+ ]
120
+ },
121
+ "observation.state": {
122
+ "type": "STATE",
123
+ "shape": [
124
+ 8
125
+ ]
126
+ }
127
+ },
128
+ "output_features": {
129
+ "action": {
130
+ "type": "ACTION",
131
+ "shape": [
132
+ 7
133
+ ]
134
+ }
135
+ },
136
+ "device": "cuda",
137
+ "dtype": null,
138
+ "use_amp": false,
139
+ "use_peft": false,
140
+ "push_to_hub": false,
141
+ "repo_id": null,
142
+ "private": null,
143
+ "tags": null,
144
+ "license": null,
145
+ "pretrained_path": null,
146
+ "pretrained_revision": null,
147
+ "horizon": 16,
148
+ "n_action_steps": 32,
149
+ "normalization_mapping": {
150
+ "VISUAL": "MEAN_STD",
151
+ "STATE": "MIN_MAX",
152
+ "ACTION": "MIN_MAX"
153
+ },
154
+ "drop_n_last_frames": 0,
155
+ "vision_backbone": "resnet18",
156
+ "resize_shape": [
157
+ 128,
158
+ 128
159
+ ],
160
+ "crop_ratio": 1.0,
161
+ "crop_shape": null,
162
+ "crop_is_random": true,
163
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
164
+ "use_group_norm": false,
165
+ "spatial_softmax_num_keypoints": 32,
166
+ "use_separate_rgb_encoder_per_camera": true,
167
+ "down_dims": [
168
+ 512,
169
+ 1024,
170
+ 2048
171
+ ],
172
+ "kernel_size": 5,
173
+ "n_groups": 8,
174
+ "diffusion_step_embed_dim": 128,
175
+ "use_film_scale_modulation": true,
176
+ "gradient_checkpointing": false,
177
+ "noise_scheduler_type": "DDPM",
178
+ "num_train_timesteps": 100,
179
+ "beta_schedule": "squaredcos_cap_v2",
180
+ "beta_start": 0.0001,
181
+ "beta_end": 0.02,
182
+ "prediction_type": "epsilon",
183
+ "clip_sample": true,
184
+ "clip_sample_range": 1.5,
185
+ "num_inference_steps": null,
186
+ "compile_model": false,
187
+ "compile_mode": "reduce-overhead",
188
+ "do_mask_loss_for_padding": false,
189
+ "optimizer_lr": 0.0001,
190
+ "optimizer_betas": [
191
+ 0.95,
192
+ 0.999
193
+ ],
194
+ "optimizer_eps": 1e-08,
195
+ "optimizer_weight_decay": 1e-06,
196
+ "scheduler_name": "cosine",
197
+ "scheduler_warmup_steps": 500,
198
+ "bspline_degree": 3,
199
+ "bspline_chunk_size": 10,
200
+ "bspline_window": 32,
201
+ "bspline_max_error": 0.01,
202
+ "bspline_speed_up": 1.0,
203
+ "bspline_fit_workers": 0,
204
+ "bspline_mode": "planbind",
205
+ "planbind_fine_spacing": 2,
206
+ "planbind_subdivision": 4,
207
+ "planbind_max_plan_age": 16,
208
+ "planbind_plan_noise": 0.02,
209
+ "planbind_replan_threshold": 0.0,
210
+ "planbind_latency": 0,
211
+ "planbind_commit": "latency",
212
+ "planbind_position_limit": 0.0,
213
+ "planbind_velocity_limit": 0.0,
214
+ "planbind_acceleration_limit": 0.0,
215
+ "planbind_call_every": 0,
216
+ "planbind_onestep_input": "zeros",
217
+ "task_condition": "hash",
218
+ "task_hash_buckets": 4096,
219
+ "task_max_tokens": 24,
220
+ "bspline_runtime": false
221
+ },
222
+ "reward_model": null,
223
+ "output_dir": "/home/25thanh.tk/plan-bind/experiments/261105-plan-bind-libero/outputs/full/train_planbind_s1001",
224
+ "job_name": "plan-bind-d4-planbind-s1001",
225
+ "resume": false,
226
+ "seed": 1001,
227
+ "cudnn_deterministic": false,
228
+ "num_workers": 2,
229
+ "batch_size": 32,
230
+ "prefetch_factor": 4,
231
+ "persistent_workers": true,
232
+ "dataloader_multiprocessing_context": "spawn",
233
+ "steps": 60000,
234
+ "env_eval_freq": 0,
235
+ "log_freq": 100,
236
+ "eval_steps": 0,
237
+ "max_eval_samples": 0,
238
+ "tolerance_s": 0.0001,
239
+ "save_checkpoint": true,
240
+ "save_freq": 20000,
241
+ "checkpoint_format": "safetensors",
242
+ "use_policy_training_preset": true,
243
+ "optimizer": {
244
+ "type": "adam",
245
+ "lr": 0.0001,
246
+ "weight_decay": 1e-06,
247
+ "grad_clip_norm": 10.0,
248
+ "betas": [
249
+ 0.95,
250
+ 0.999
251
+ ],
252
+ "eps": 1e-08,
253
+ "fused": null
254
+ },
255
+ "scheduler": {
256
+ "type": "diffuser",
257
+ "num_warmup_steps": 500,
258
+ "name": "cosine"
259
+ },
260
+ "parallelism": {
261
+ "dp_replicate": 1,
262
+ "dp_shard": 1,
263
+ "context_parallel": {
264
+ "ring_degree": 1,
265
+ "ulysses_degree": 1
266
+ },
267
+ "cfg_parallel": 1
268
+ },
269
+ "accelerator": {
270
+ "mixed_precision": "no",
271
+ "gradient_accumulation": {
272
+ "steps": 1
273
+ },
274
+ "grad_scaler": {
275
+ "init_scale": 65536.0,
276
+ "growth_factor": 2.0,
277
+ "backoff_factor": 0.5,
278
+ "growth_interval": 2000
279
+ },
280
+ "fsdp": {
281
+ "reshard_after_forward": true,
282
+ "wrap_modules": null,
283
+ "min_num_params": null,
284
+ "cpu_offload": false,
285
+ "ignored_modules": null
286
+ },
287
+ "ddp": {
288
+ "find_unused_parameters": true,
289
+ "gradient_as_bucket_view": false,
290
+ "static_graph": false
291
+ },
292
+ "compile": {
293
+ "enabled": false,
294
+ "backend": "inductor",
295
+ "mode": null,
296
+ "regional": true
297
+ },
298
+ "activation_checkpointing": {
299
+ "mode": "none"
300
+ }
301
+ },
302
+ "eval": {
303
+ "n_episodes": 50,
304
+ "batch_size": 44,
305
+ "use_async_envs": true,
306
+ "recording": false,
307
+ "recording_repo_id": null,
308
+ "recording_private": false
309
+ },
310
+ "ema": {
311
+ "enable": false,
312
+ "decay": null,
313
+ "update_after_step": 0,
314
+ "inv_gamma": 1.0,
315
+ "power": 0.75,
316
+ "min_decay": 0.0,
317
+ "max_decay": 0.9999,
318
+ "use_for_eval": true
319
+ },
320
+ "wandb": {
321
+ "enable": false,
322
+ "disable_artifact": false,
323
+ "project": "lerobot-nexarm",
324
+ "entity": null,
325
+ "notes": null,
326
+ "run_id": null,
327
+ "resume": null,
328
+ "mode": null,
329
+ "console": "wrap",
330
+ "console_multipart": false,
331
+ "console_chunk_max_seconds": 0,
332
+ "add_tags": true
333
+ },
334
+ "peft": null,
335
+ "job": {
336
+ "target": null,
337
+ "image": "huggingface/lerobot-gpu:latest",
338
+ "timeout": "2d",
339
+ "detach": false,
340
+ "tags": []
341
+ },
342
+ "save_checkpoint_to_hub": false,
343
+ "sample_weighting": null,
344
+ "rename_map": {},
345
+ "checkpoint_path": null
346
+ }
train_planbind_s1001/checkpoints/040000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,298 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 2.5382013357782893e-05,
4
+ "betas": [
5
+ 0.95,
6
+ 0.999
7
+ ],
8
+ "eps": 1e-08,
9
+ "weight_decay": 1e-06,
10
+ "amsgrad": false,
11
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": false,
17
+ "initial_lr": 0.0001,
18
+ "params": [
19
+ 0,
20
+ 1,
21
+ 2,
22
+ 3,
23
+ 4,
24
+ 5,
25
+ 6,
26
+ 7,
27
+ 8,
28
+ 9,
29
+ 10,
30
+ 11,
31
+ 12,
32
+ 13,
33
+ 14,
34
+ 15,
35
+ 16,
36
+ 17,
37
+ 18,
38
+ 19,
39
+ 20,
40
+ 21,
41
+ 22,
42
+ 23,
43
+ 24,
44
+ 25,
45
+ 26,
46
+ 27,
47
+ 28,
48
+ 29,
49
+ 30,
50
+ 31,
51
+ 32,
52
+ 33,
53
+ 34,
54
+ 35,
55
+ 36,
56
+ 37,
57
+ 38,
58
+ 39,
59
+ 40,
60
+ 41,
61
+ 42,
62
+ 43,
63
+ 44,
64
+ 45,
65
+ 46,
66
+ 47,
67
+ 48,
68
+ 49,
69
+ 50,
70
+ 51,
71
+ 52,
72
+ 53,
73
+ 54,
74
+ 55,
75
+ 56,
76
+ 57,
77
+ 58,
78
+ 59,
79
+ 60,
80
+ 61,
81
+ 62,
82
+ 63,
83
+ 64,
84
+ 65,
85
+ 66,
86
+ 67,
87
+ 68,
88
+ 69,
89
+ 70,
90
+ 71,
91
+ 72,
92
+ 73,
93
+ 74,
94
+ 75,
95
+ 76,
96
+ 77,
97
+ 78,
98
+ 79,
99
+ 80,
100
+ 81,
101
+ 82,
102
+ 83,
103
+ 84,
104
+ 85,
105
+ 86,
106
+ 87,
107
+ 88,
108
+ 89,
109
+ 90,
110
+ 91,
111
+ 92,
112
+ 93,
113
+ 94,
114
+ 95,
115
+ 96,
116
+ 97,
117
+ 98,
118
+ 99,
119
+ 100,
120
+ 101,
121
+ 102,
122
+ 103,
123
+ 104,
124
+ 105,
125
+ 106,
126
+ 107,
127
+ 108,
128
+ 109,
129
+ 110,
130
+ 111,
131
+ 112,
132
+ 113,
133
+ 114,
134
+ 115,
135
+ 116,
136
+ 117,
137
+ 118,
138
+ 119,
139
+ 120,
140
+ 121,
141
+ 122,
142
+ 123,
143
+ 124,
144
+ 125,
145
+ 126,
146
+ 127,
147
+ 128,
148
+ 129,
149
+ 130,
150
+ 131,
151
+ 132,
152
+ 133,
153
+ 134,
154
+ 135,
155
+ 136,
156
+ 137,
157
+ 138,
158
+ 139,
159
+ 140,
160
+ 141,
161
+ 142,
162
+ 143,
163
+ 144,
164
+ 145,
165
+ 146,
166
+ 147,
167
+ 148,
168
+ 149,
169
+ 150,
170
+ 151,
171
+ 152,
172
+ 153,
173
+ 154,
174
+ 155,
175
+ 156,
176
+ 157,
177
+ 158,
178
+ 159,
179
+ 160,
180
+ 161,
181
+ 162,
182
+ 163,
183
+ 164,
184
+ 165,
185
+ 166,
186
+ 167,
187
+ 168,
188
+ 169,
189
+ 170,
190
+ 171,
191
+ 172,
192
+ 173,
193
+ 174,
194
+ 175,
195
+ 176,
196
+ 177,
197
+ 178,
198
+ 179,
199
+ 180,
200
+ 181,
201
+ 182,
202
+ 183,
203
+ 184,
204
+ 185,
205
+ 186,
206
+ 187,
207
+ 188,
208
+ 189,
209
+ 190,
210
+ 191,
211
+ 192,
212
+ 193,
213
+ 194,
214
+ 195,
215
+ 196,
216
+ 197,
217
+ 198,
218
+ 199,
219
+ 200,
220
+ 201,
221
+ 202,
222
+ 203,
223
+ 204,
224
+ 205,
225
+ 206,
226
+ 207,
227
+ 208,
228
+ 209,
229
+ 210,
230
+ 211,
231
+ 212,
232
+ 213,
233
+ 214,
234
+ 215,
235
+ 216,
236
+ 217,
237
+ 218,
238
+ 219,
239
+ 220,
240
+ 221,
241
+ 222,
242
+ 223,
243
+ 224,
244
+ 225,
245
+ 226,
246
+ 227,
247
+ 228,
248
+ 229,
249
+ 230,
250
+ 231,
251
+ 232,
252
+ 233,
253
+ 234,
254
+ 235,
255
+ 236,
256
+ 237,
257
+ 238,
258
+ 239,
259
+ 240,
260
+ 241,
261
+ 242,
262
+ 243,
263
+ 244,
264
+ 245,
265
+ 246,
266
+ 247,
267
+ 248,
268
+ 249,
269
+ 250,
270
+ 251,
271
+ 252,
272
+ 253,
273
+ 254,
274
+ 255,
275
+ 256,
276
+ 257,
277
+ 258,
278
+ 259,
279
+ 260,
280
+ 261,
281
+ 262,
282
+ 263,
283
+ 264,
284
+ 265,
285
+ 266,
286
+ 267,
287
+ 268,
288
+ 269,
289
+ 270,
290
+ 271,
291
+ 272,
292
+ 273,
293
+ 274,
294
+ 275,
295
+ 276
296
+ ]
297
+ }
298
+ ]
train_planbind_s1001/checkpoints/040000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b5ff2b80e719fe33759567f839bb16062ba85381ab1e16a1ef284dc806f38034
3
+ size 2257133500
train_planbind_s1001/checkpoints/040000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a0a09abff3ff912793c4d814b282e4adc48081f750d6d3dc2cd66f2d437f647b
3
+ size 15712
train_planbind_s1001/checkpoints/040000/training_state/scheduler_state.json ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "base_lrs": [
3
+ 0.0001
4
+ ],
5
+ "last_epoch": 40000,
6
+ "_step_count": 40001,
7
+ "_is_initial": false,
8
+ "_get_lr_called_within_step": false,
9
+ "_last_lr": [
10
+ 2.5382013357782893e-05
11
+ ],
12
+ "lr_lambdas": [
13
+ null
14
+ ]
15
+ }
train_planbind_s1001/checkpoints/040000/training_state/training_step.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "step": 40000,
3
+ "dp_world_size": 1,
4
+ "batch_size": 32,
5
+ "grad_accum_steps": 1,
6
+ "mixed_precision": "no",
7
+ "parallelism": {
8
+ "dp_replicate": 1,
9
+ "dp_shard": 1,
10
+ "ring_degree": 1,
11
+ "ulysses_degree": 1
12
+ }
13
+ }
train_planbind_s1001/checkpoints/060000/pretrained_model/config.json ADDED
@@ -0,0 +1,121 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "type": "bspline",
3
+ "n_obs_steps": 2,
4
+ "input_features": {
5
+ "observation.images.image": {
6
+ "type": "VISUAL",
7
+ "shape": [
8
+ 3,
9
+ 256,
10
+ 256
11
+ ]
12
+ },
13
+ "observation.images.image2": {
14
+ "type": "VISUAL",
15
+ "shape": [
16
+ 3,
17
+ 256,
18
+ 256
19
+ ]
20
+ },
21
+ "observation.state": {
22
+ "type": "STATE",
23
+ "shape": [
24
+ 8
25
+ ]
26
+ }
27
+ },
28
+ "output_features": {
29
+ "action": {
30
+ "type": "ACTION",
31
+ "shape": [
32
+ 7
33
+ ]
34
+ }
35
+ },
36
+ "device": "cuda",
37
+ "dtype": null,
38
+ "use_amp": false,
39
+ "use_peft": false,
40
+ "push_to_hub": false,
41
+ "repo_id": null,
42
+ "private": null,
43
+ "tags": null,
44
+ "license": null,
45
+ "pretrained_path": null,
46
+ "pretrained_revision": null,
47
+ "horizon": 16,
48
+ "n_action_steps": 32,
49
+ "normalization_mapping": {
50
+ "VISUAL": "MEAN_STD",
51
+ "STATE": "MIN_MAX",
52
+ "ACTION": "MIN_MAX"
53
+ },
54
+ "drop_n_last_frames": 0,
55
+ "vision_backbone": "resnet18",
56
+ "resize_shape": [
57
+ 128,
58
+ 128
59
+ ],
60
+ "crop_ratio": 1.0,
61
+ "crop_shape": null,
62
+ "crop_is_random": true,
63
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
64
+ "use_group_norm": false,
65
+ "spatial_softmax_num_keypoints": 32,
66
+ "use_separate_rgb_encoder_per_camera": true,
67
+ "down_dims": [
68
+ 512,
69
+ 1024,
70
+ 2048
71
+ ],
72
+ "kernel_size": 5,
73
+ "n_groups": 8,
74
+ "diffusion_step_embed_dim": 128,
75
+ "use_film_scale_modulation": true,
76
+ "gradient_checkpointing": false,
77
+ "noise_scheduler_type": "DDPM",
78
+ "num_train_timesteps": 100,
79
+ "beta_schedule": "squaredcos_cap_v2",
80
+ "beta_start": 0.0001,
81
+ "beta_end": 0.02,
82
+ "prediction_type": "epsilon",
83
+ "clip_sample": true,
84
+ "clip_sample_range": 1.5,
85
+ "num_inference_steps": null,
86
+ "compile_model": false,
87
+ "compile_mode": "reduce-overhead",
88
+ "do_mask_loss_for_padding": false,
89
+ "optimizer_lr": 0.0001,
90
+ "optimizer_betas": [
91
+ 0.95,
92
+ 0.999
93
+ ],
94
+ "optimizer_eps": 1e-08,
95
+ "optimizer_weight_decay": 1e-06,
96
+ "scheduler_name": "cosine",
97
+ "scheduler_warmup_steps": 500,
98
+ "bspline_degree": 3,
99
+ "bspline_chunk_size": 10,
100
+ "bspline_window": 32,
101
+ "bspline_max_error": 0.01,
102
+ "bspline_speed_up": 1.0,
103
+ "bspline_fit_workers": 0,
104
+ "bspline_mode": "planbind",
105
+ "planbind_fine_spacing": 2,
106
+ "planbind_subdivision": 4,
107
+ "planbind_max_plan_age": 16,
108
+ "planbind_plan_noise": 0.02,
109
+ "planbind_replan_threshold": 0.0,
110
+ "planbind_latency": 0,
111
+ "planbind_commit": "latency",
112
+ "planbind_position_limit": 0.0,
113
+ "planbind_velocity_limit": 0.0,
114
+ "planbind_acceleration_limit": 0.0,
115
+ "planbind_call_every": 0,
116
+ "planbind_onestep_input": "zeros",
117
+ "task_condition": "hash",
118
+ "task_hash_buckets": 4096,
119
+ "task_max_tokens": 24,
120
+ "bspline_runtime": false
121
+ }
train_planbind_s1001/checkpoints/060000/pretrained_model/model.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2172a85f1c1546c9faee9b92281bc140cb3af42324d86d0bd82111de38c1a1e4
3
+ size 1128654500
train_planbind_s1001/checkpoints/060000/pretrained_model/policy_postprocessor.json ADDED
@@ -0,0 +1,32 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_postprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "unnormalizer_processor",
6
+ "config": {
7
+ "eps": 1e-08,
8
+ "features": {
9
+ "action": {
10
+ "type": "ACTION",
11
+ "shape": [
12
+ 7
13
+ ]
14
+ }
15
+ },
16
+ "norm_map": {
17
+ "VISUAL": "MEAN_STD",
18
+ "STATE": "MIN_MAX",
19
+ "ACTION": "MIN_MAX"
20
+ }
21
+ },
22
+ "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
23
+ },
24
+ {
25
+ "registry_name": "device_processor",
26
+ "config": {
27
+ "device": "cpu",
28
+ "float_dtype": null
29
+ }
30
+ }
31
+ ]
32
+ }
train_planbind_s1001/checkpoints/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a002c0df7f79c5b169c5a899ad151d4ea1bed246c7d82bd93ed1556558d517a9
3
+ size 7668
train_planbind_s1001/checkpoints/060000/pretrained_model/policy_preprocessor.json ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "name": "policy_preprocessor",
3
+ "steps": [
4
+ {
5
+ "registry_name": "rename_observations_processor",
6
+ "config": {
7
+ "rename_map": {}
8
+ }
9
+ },
10
+ {
11
+ "registry_name": "to_batch_processor",
12
+ "config": {}
13
+ },
14
+ {
15
+ "registry_name": "device_processor",
16
+ "config": {
17
+ "device": "cuda",
18
+ "float_dtype": null
19
+ }
20
+ },
21
+ {
22
+ "registry_name": "normalizer_processor",
23
+ "config": {
24
+ "eps": 1e-08,
25
+ "features": {
26
+ "observation.images.image": {
27
+ "type": "VISUAL",
28
+ "shape": [
29
+ 3,
30
+ 256,
31
+ 256
32
+ ]
33
+ },
34
+ "observation.images.image2": {
35
+ "type": "VISUAL",
36
+ "shape": [
37
+ 3,
38
+ 256,
39
+ 256
40
+ ]
41
+ },
42
+ "observation.state": {
43
+ "type": "STATE",
44
+ "shape": [
45
+ 8
46
+ ]
47
+ },
48
+ "action": {
49
+ "type": "ACTION",
50
+ "shape": [
51
+ 7
52
+ ]
53
+ }
54
+ },
55
+ "norm_map": {
56
+ "VISUAL": "MEAN_STD",
57
+ "STATE": "MIN_MAX",
58
+ "ACTION": "MIN_MAX"
59
+ }
60
+ },
61
+ "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
62
+ }
63
+ ]
64
+ }
train_planbind_s1001/checkpoints/060000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f98234b21ce8ffacf1b86657f3cf8e24ac6c31ebcd6a3b83cecd484439674306
3
+ size 7676
train_planbind_s1001/checkpoints/060000/pretrained_model/train_config.json ADDED
@@ -0,0 +1,346 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "dataset": {
3
+ "repo_id": "lerobot/libero",
4
+ "repo_type": "dataset",
5
+ "root": null,
6
+ "episodes": null,
7
+ "exclude_episodes": null,
8
+ "image_transforms": {
9
+ "enable": false,
10
+ "backend": "dataloader",
11
+ "gpu_compile": true,
12
+ "gpu_chunk_size": 32,
13
+ "max_num_transforms": 3,
14
+ "random_order": false,
15
+ "tfs": {
16
+ "brightness": {
17
+ "weight": 1.0,
18
+ "type": "ColorJitter",
19
+ "kwargs": {
20
+ "brightness": [
21
+ 0.8,
22
+ 1.2
23
+ ]
24
+ }
25
+ },
26
+ "contrast": {
27
+ "weight": 1.0,
28
+ "type": "ColorJitter",
29
+ "kwargs": {
30
+ "contrast": [
31
+ 0.8,
32
+ 1.2
33
+ ]
34
+ }
35
+ },
36
+ "saturation": {
37
+ "weight": 1.0,
38
+ "type": "ColorJitter",
39
+ "kwargs": {
40
+ "saturation": [
41
+ 0.5,
42
+ 1.5
43
+ ]
44
+ }
45
+ },
46
+ "hue": {
47
+ "weight": 1.0,
48
+ "type": "ColorJitter",
49
+ "kwargs": {
50
+ "hue": [
51
+ -0.05,
52
+ 0.05
53
+ ]
54
+ }
55
+ },
56
+ "sharpness": {
57
+ "weight": 1.0,
58
+ "type": "SharpnessJitter",
59
+ "kwargs": {
60
+ "sharpness": [
61
+ 0.5,
62
+ 1.5
63
+ ]
64
+ }
65
+ },
66
+ "affine": {
67
+ "weight": 1.0,
68
+ "type": "RandomAffine",
69
+ "kwargs": {
70
+ "degrees": [
71
+ -5.0,
72
+ 5.0
73
+ ],
74
+ "translate": [
75
+ 0.05,
76
+ 0.05
77
+ ]
78
+ }
79
+ }
80
+ }
81
+ },
82
+ "revision": "a1aaacb7f6cd6ee5fb43120f673cebb0cfea7dd4",
83
+ "use_imagenet_stats": true,
84
+ "video_backend": "torchcodec",
85
+ "return_uint8": false,
86
+ "depth_output_unit": "mm",
87
+ "streaming": false,
88
+ "streaming_episode_pool_size": null,
89
+ "streaming_sampling_strategy": "remaining",
90
+ "streaming_prefetch_episodes": 8,
91
+ "streaming_byte_budget_gb": 8.0,
92
+ "streaming_decode_threads": 2,
93
+ "streaming_decoded_queue_size": 8,
94
+ "streaming_native_http_connections": null,
95
+ "streaming_native_http_subranges": 1,
96
+ "streaming_sidecar_lock_timeout_s": 1800,
97
+ "video_decoder_cache_size": null,
98
+ "eval_split": 0.0
99
+ },
100
+ "env": null,
101
+ "policy": {
102
+ "type": "bspline",
103
+ "n_obs_steps": 2,
104
+ "input_features": {
105
+ "observation.images.image": {
106
+ "type": "VISUAL",
107
+ "shape": [
108
+ 3,
109
+ 256,
110
+ 256
111
+ ]
112
+ },
113
+ "observation.images.image2": {
114
+ "type": "VISUAL",
115
+ "shape": [
116
+ 3,
117
+ 256,
118
+ 256
119
+ ]
120
+ },
121
+ "observation.state": {
122
+ "type": "STATE",
123
+ "shape": [
124
+ 8
125
+ ]
126
+ }
127
+ },
128
+ "output_features": {
129
+ "action": {
130
+ "type": "ACTION",
131
+ "shape": [
132
+ 7
133
+ ]
134
+ }
135
+ },
136
+ "device": "cuda",
137
+ "dtype": null,
138
+ "use_amp": false,
139
+ "use_peft": false,
140
+ "push_to_hub": false,
141
+ "repo_id": null,
142
+ "private": null,
143
+ "tags": null,
144
+ "license": null,
145
+ "pretrained_path": null,
146
+ "pretrained_revision": null,
147
+ "horizon": 16,
148
+ "n_action_steps": 32,
149
+ "normalization_mapping": {
150
+ "VISUAL": "MEAN_STD",
151
+ "STATE": "MIN_MAX",
152
+ "ACTION": "MIN_MAX"
153
+ },
154
+ "drop_n_last_frames": 0,
155
+ "vision_backbone": "resnet18",
156
+ "resize_shape": [
157
+ 128,
158
+ 128
159
+ ],
160
+ "crop_ratio": 1.0,
161
+ "crop_shape": null,
162
+ "crop_is_random": true,
163
+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
164
+ "use_group_norm": false,
165
+ "spatial_softmax_num_keypoints": 32,
166
+ "use_separate_rgb_encoder_per_camera": true,
167
+ "down_dims": [
168
+ 512,
169
+ 1024,
170
+ 2048
171
+ ],
172
+ "kernel_size": 5,
173
+ "n_groups": 8,
174
+ "diffusion_step_embed_dim": 128,
175
+ "use_film_scale_modulation": true,
176
+ "gradient_checkpointing": false,
177
+ "noise_scheduler_type": "DDPM",
178
+ "num_train_timesteps": 100,
179
+ "beta_schedule": "squaredcos_cap_v2",
180
+ "beta_start": 0.0001,
181
+ "beta_end": 0.02,
182
+ "prediction_type": "epsilon",
183
+ "clip_sample": true,
184
+ "clip_sample_range": 1.5,
185
+ "num_inference_steps": null,
186
+ "compile_model": false,
187
+ "compile_mode": "reduce-overhead",
188
+ "do_mask_loss_for_padding": false,
189
+ "optimizer_lr": 0.0001,
190
+ "optimizer_betas": [
191
+ 0.95,
192
+ 0.999
193
+ ],
194
+ "optimizer_eps": 1e-08,
195
+ "optimizer_weight_decay": 1e-06,
196
+ "scheduler_name": "cosine",
197
+ "scheduler_warmup_steps": 500,
198
+ "bspline_degree": 3,
199
+ "bspline_chunk_size": 10,
200
+ "bspline_window": 32,
201
+ "bspline_max_error": 0.01,
202
+ "bspline_speed_up": 1.0,
203
+ "bspline_fit_workers": 0,
204
+ "bspline_mode": "planbind",
205
+ "planbind_fine_spacing": 2,
206
+ "planbind_subdivision": 4,
207
+ "planbind_max_plan_age": 16,
208
+ "planbind_plan_noise": 0.02,
209
+ "planbind_replan_threshold": 0.0,
210
+ "planbind_latency": 0,
211
+ "planbind_commit": "latency",
212
+ "planbind_position_limit": 0.0,
213
+ "planbind_velocity_limit": 0.0,
214
+ "planbind_acceleration_limit": 0.0,
215
+ "planbind_call_every": 0,
216
+ "planbind_onestep_input": "zeros",
217
+ "task_condition": "hash",
218
+ "task_hash_buckets": 4096,
219
+ "task_max_tokens": 24,
220
+ "bspline_runtime": false
221
+ },
222
+ "reward_model": null,
223
+ "output_dir": "/home/25thanh.tk/plan-bind/experiments/261105-plan-bind-libero/outputs/full/train_planbind_s1001",
224
+ "job_name": "plan-bind-d4-planbind-s1001",
225
+ "resume": false,
226
+ "seed": 1001,
227
+ "cudnn_deterministic": false,
228
+ "num_workers": 2,
229
+ "batch_size": 32,
230
+ "prefetch_factor": 4,
231
+ "persistent_workers": true,
232
+ "dataloader_multiprocessing_context": "spawn",
233
+ "steps": 60000,
234
+ "env_eval_freq": 0,
235
+ "log_freq": 100,
236
+ "eval_steps": 0,
237
+ "max_eval_samples": 0,
238
+ "tolerance_s": 0.0001,
239
+ "save_checkpoint": true,
240
+ "save_freq": 20000,
241
+ "checkpoint_format": "safetensors",
242
+ "use_policy_training_preset": true,
243
+ "optimizer": {
244
+ "type": "adam",
245
+ "lr": 0.0001,
246
+ "weight_decay": 1e-06,
247
+ "grad_clip_norm": 10.0,
248
+ "betas": [
249
+ 0.95,
250
+ 0.999
251
+ ],
252
+ "eps": 1e-08,
253
+ "fused": null
254
+ },
255
+ "scheduler": {
256
+ "type": "diffuser",
257
+ "num_warmup_steps": 500,
258
+ "name": "cosine"
259
+ },
260
+ "parallelism": {
261
+ "dp_replicate": 1,
262
+ "dp_shard": 1,
263
+ "context_parallel": {
264
+ "ring_degree": 1,
265
+ "ulysses_degree": 1
266
+ },
267
+ "cfg_parallel": 1
268
+ },
269
+ "accelerator": {
270
+ "mixed_precision": "no",
271
+ "gradient_accumulation": {
272
+ "steps": 1
273
+ },
274
+ "grad_scaler": {
275
+ "init_scale": 65536.0,
276
+ "growth_factor": 2.0,
277
+ "backoff_factor": 0.5,
278
+ "growth_interval": 2000
279
+ },
280
+ "fsdp": {
281
+ "reshard_after_forward": true,
282
+ "wrap_modules": null,
283
+ "min_num_params": null,
284
+ "cpu_offload": false,
285
+ "ignored_modules": null
286
+ },
287
+ "ddp": {
288
+ "find_unused_parameters": true,
289
+ "gradient_as_bucket_view": false,
290
+ "static_graph": false
291
+ },
292
+ "compile": {
293
+ "enabled": false,
294
+ "backend": "inductor",
295
+ "mode": null,
296
+ "regional": true
297
+ },
298
+ "activation_checkpointing": {
299
+ "mode": "none"
300
+ }
301
+ },
302
+ "eval": {
303
+ "n_episodes": 50,
304
+ "batch_size": 44,
305
+ "use_async_envs": true,
306
+ "recording": false,
307
+ "recording_repo_id": null,
308
+ "recording_private": false
309
+ },
310
+ "ema": {
311
+ "enable": false,
312
+ "decay": null,
313
+ "update_after_step": 0,
314
+ "inv_gamma": 1.0,
315
+ "power": 0.75,
316
+ "min_decay": 0.0,
317
+ "max_decay": 0.9999,
318
+ "use_for_eval": true
319
+ },
320
+ "wandb": {
321
+ "enable": false,
322
+ "disable_artifact": false,
323
+ "project": "lerobot-nexarm",
324
+ "entity": null,
325
+ "notes": null,
326
+ "run_id": null,
327
+ "resume": null,
328
+ "mode": null,
329
+ "console": "wrap",
330
+ "console_multipart": false,
331
+ "console_chunk_max_seconds": 0,
332
+ "add_tags": true
333
+ },
334
+ "peft": null,
335
+ "job": {
336
+ "target": null,
337
+ "image": "huggingface/lerobot-gpu:latest",
338
+ "timeout": "2d",
339
+ "detach": false,
340
+ "tags": []
341
+ },
342
+ "save_checkpoint_to_hub": false,
343
+ "sample_weighting": null,
344
+ "rename_map": {},
345
+ "checkpoint_path": null
346
+ }
train_planbind_s1001/checkpoints/060000/training_state/optimizer_param_groups.json ADDED
@@ -0,0 +1,298 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "lr": 0.0,
4
+ "betas": [
5
+ 0.95,
6
+ 0.999
7
+ ],
8
+ "eps": 1e-08,
9
+ "weight_decay": 1e-06,
10
+ "amsgrad": false,
11
+ "maximize": false,
12
+ "foreach": null,
13
+ "capturable": false,
14
+ "differentiable": false,
15
+ "fused": null,
16
+ "decoupled_weight_decay": false,
17
+ "initial_lr": 0.0001,
18
+ "params": [
19
+ 0,
20
+ 1,
21
+ 2,
22
+ 3,
23
+ 4,
24
+ 5,
25
+ 6,
26
+ 7,
27
+ 8,
28
+ 9,
29
+ 10,
30
+ 11,
31
+ 12,
32
+ 13,
33
+ 14,
34
+ 15,
35
+ 16,
36
+ 17,
37
+ 18,
38
+ 19,
39
+ 20,
40
+ 21,
41
+ 22,
42
+ 23,
43
+ 24,
44
+ 25,
45
+ 26,
46
+ 27,
47
+ 28,
48
+ 29,
49
+ 30,
50
+ 31,
51
+ 32,
52
+ 33,
53
+ 34,
54
+ 35,
55
+ 36,
56
+ 37,
57
+ 38,
58
+ 39,
59
+ 40,
60
+ 41,
61
+ 42,
62
+ 43,
63
+ 44,
64
+ 45,
65
+ 46,
66
+ 47,
67
+ 48,
68
+ 49,
69
+ 50,
70
+ 51,
71
+ 52,
72
+ 53,
73
+ 54,
74
+ 55,
75
+ 56,
76
+ 57,
77
+ 58,
78
+ 59,
79
+ 60,
80
+ 61,
81
+ 62,
82
+ 63,
83
+ 64,
84
+ 65,
85
+ 66,
86
+ 67,
87
+ 68,
88
+ 69,
89
+ 70,
90
+ 71,
91
+ 72,
92
+ 73,
93
+ 74,
94
+ 75,
95
+ 76,
96
+ 77,
97
+ 78,
98
+ 79,
99
+ 80,
100
+ 81,
101
+ 82,
102
+ 83,
103
+ 84,
104
+ 85,
105
+ 86,
106
+ 87,
107
+ 88,
108
+ 89,
109
+ 90,
110
+ 91,
111
+ 92,
112
+ 93,
113
+ 94,
114
+ 95,
115
+ 96,
116
+ 97,
117
+ 98,
118
+ 99,
119
+ 100,
120
+ 101,
121
+ 102,
122
+ 103,
123
+ 104,
124
+ 105,
125
+ 106,
126
+ 107,
127
+ 108,
128
+ 109,
129
+ 110,
130
+ 111,
131
+ 112,
132
+ 113,
133
+ 114,
134
+ 115,
135
+ 116,
136
+ 117,
137
+ 118,
138
+ 119,
139
+ 120,
140
+ 121,
141
+ 122,
142
+ 123,
143
+ 124,
144
+ 125,
145
+ 126,
146
+ 127,
147
+ 128,
148
+ 129,
149
+ 130,
150
+ 131,
151
+ 132,
152
+ 133,
153
+ 134,
154
+ 135,
155
+ 136,
156
+ 137,
157
+ 138,
158
+ 139,
159
+ 140,
160
+ 141,
161
+ 142,
162
+ 143,
163
+ 144,
164
+ 145,
165
+ 146,
166
+ 147,
167
+ 148,
168
+ 149,
169
+ 150,
170
+ 151,
171
+ 152,
172
+ 153,
173
+ 154,
174
+ 155,
175
+ 156,
176
+ 157,
177
+ 158,
178
+ 159,
179
+ 160,
180
+ 161,
181
+ 162,
182
+ 163,
183
+ 164,
184
+ 165,
185
+ 166,
186
+ 167,
187
+ 168,
188
+ 169,
189
+ 170,
190
+ 171,
191
+ 172,
192
+ 173,
193
+ 174,
194
+ 175,
195
+ 176,
196
+ 177,
197
+ 178,
198
+ 179,
199
+ 180,
200
+ 181,
201
+ 182,
202
+ 183,
203
+ 184,
204
+ 185,
205
+ 186,
206
+ 187,
207
+ 188,
208
+ 189,
209
+ 190,
210
+ 191,
211
+ 192,
212
+ 193,
213
+ 194,
214
+ 195,
215
+ 196,
216
+ 197,
217
+ 198,
218
+ 199,
219
+ 200,
220
+ 201,
221
+ 202,
222
+ 203,
223
+ 204,
224
+ 205,
225
+ 206,
226
+ 207,
227
+ 208,
228
+ 209,
229
+ 210,
230
+ 211,
231
+ 212,
232
+ 213,
233
+ 214,
234
+ 215,
235
+ 216,
236
+ 217,
237
+ 218,
238
+ 219,
239
+ 220,
240
+ 221,
241
+ 222,
242
+ 223,
243
+ 224,
244
+ 225,
245
+ 226,
246
+ 227,
247
+ 228,
248
+ 229,
249
+ 230,
250
+ 231,
251
+ 232,
252
+ 233,
253
+ 234,
254
+ 235,
255
+ 236,
256
+ 237,
257
+ 238,
258
+ 239,
259
+ 240,
260
+ 241,
261
+ 242,
262
+ 243,
263
+ 244,
264
+ 245,
265
+ 246,
266
+ 247,
267
+ 248,
268
+ 249,
269
+ 250,
270
+ 251,
271
+ 252,
272
+ 253,
273
+ 254,
274
+ 255,
275
+ 256,
276
+ 257,
277
+ 258,
278
+ 259,
279
+ 260,
280
+ 261,
281
+ 262,
282
+ 263,
283
+ 264,
284
+ 265,
285
+ 266,
286
+ 267,
287
+ 268,
288
+ 269,
289
+ 270,
290
+ 271,
291
+ 272,
292
+ 273,
293
+ 274,
294
+ 275,
295
+ 276
296
+ ]
297
+ }
298
+ ]
train_planbind_s1001/checkpoints/060000/training_state/optimizer_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7981784b3baf15277029fe07e26ca917ed45d75474a88eaa7805ea1901fa9694
3
+ size 2257133500
train_planbind_s1001/checkpoints/060000/training_state/rng_state.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4b111818888a384d71d5bf5d7a34e8efcaecc37b902ad8e675e8698cad5f6cfc
3
+ size 15712
train_planbind_s1001/checkpoints/060000/training_state/scheduler_state.json ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "base_lrs": [
3
+ 0.0001
4
+ ],
5
+ "last_epoch": 60000,
6
+ "_step_count": 60001,
7
+ "_is_initial": false,
8
+ "_get_lr_called_within_step": false,
9
+ "_last_lr": [
10
+ 0.0
11
+ ],
12
+ "lr_lambdas": [
13
+ null
14
+ ]
15
+ }
train_planbind_s1001/checkpoints/060000/training_state/training_step.json ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "step": 60000,
3
+ "dp_world_size": 1,
4
+ "batch_size": 32,
5
+ "grad_accum_steps": 1,
6
+ "mixed_precision": "no",
7
+ "parallelism": {
8
+ "dp_replicate": 1,
9
+ "dp_shard": 1,
10
+ "ring_degree": 1,
11
+ "ulysses_degree": 1
12
+ }
13
+ }