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Add SmolVLA RoboCasa frozen-VLM checkpoint

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  1. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/checkpoints/step-100000-epoch-04-loss=0.0626.safetensors +3 -0
  2. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/config.json +455 -0
  3. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/config.yaml +363 -0
  4. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/dataset_statistics.json +276 -0
  5. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/tokenizer/added_tokens.json +130 -0
  6. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/tokenizer/chat_template.json +3 -0
  7. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/tokenizer/chat_template.json.metadata +3 -0
  8. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/tokenizer/merges.txt +0 -0
  9. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/tokenizer/merges.txt.metadata +3 -0
  10. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/tokenizer/special_tokens_map.json +39 -0
  11. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/tokenizer/tokenizer.json +0 -0
  12. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/tokenizer/tokenizer.json.metadata +3 -0
  13. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/tokenizer/tokenizer_config.json +1192 -0
  14. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/tokenizer/tokenizer_config.json.metadata +3 -0
  15. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/tokenizer/vocab.json +0 -0
  16. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/tokenizer/vocab.json.metadata +3 -0
  17. smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/vlm_backbone_config.json +28 -0
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smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/config.json ADDED
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+ {
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+ "_ACTION_DIM": 29,
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+ "_ACTION_HORIZON": 50,
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+ "_CKPT_ROOT": "./checkpoints",
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+ "_DEFAULT_ROBOCASA_DATA_ROOT": "./datasets/robocasa_lerobot_V2.1",
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+ "_IMAGE_SIZE": 512,
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+ "_LOCAL_ROBOCASA_DATA_ROOT": "./datasets/robocasa_lerobot_V2.1",
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+ "_MAX_ACTION_DIM": 32,
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+ "_MAX_STATE_DIM": 32,
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+ "_MAX_STEPS": 100000,
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+ "_PER_DEVICE_BATCH_SIZE": 64,
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+ "_ROBOCASA_DATA_ROOT": "./datasets/robocasa_lerobot_V2.1",
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+ "_ROBOCASA_ENV_SUFFIX": "_GR1ArmsAndWaistFourierHands_Env",
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+ "_ROBOCASA_TASK_DIRS": [
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+ "PnPBottleToCabinetClose",
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+ "PnPCanToDrawerClose",
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+ "PnPCupToDrawerClose",
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+ "PnPMilkToMicrowaveClose",
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+ "PnPPotatoToMicrowaveClose",
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+ "PnPWineToCabinetClose",
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+ "PosttrainPnPNovelFromCuttingboardToBasketSplitA",
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+ "PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA",
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+ "PosttrainPnPNovelFromCuttingboardToPanSplitA",
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+ "PosttrainPnPNovelFromCuttingboardToPotSplitA",
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+ "PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA",
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+ "PosttrainPnPNovelFromPlacematToBasketSplitA",
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+ "PosttrainPnPNovelFromPlacematToBowlSplitA",
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+ "PosttrainPnPNovelFromPlacematToPlateSplitA",
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+ "PosttrainPnPNovelFromPlacematToTieredshelfSplitA",
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+ "PosttrainPnPNovelFromPlateToBowlSplitA",
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+ "PosttrainPnPNovelFromPlateToCardboardboxSplitA",
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+ "PosttrainPnPNovelFromPlateToPanSplitA",
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+ "PosttrainPnPNovelFromPlateToPlateSplitA",
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+ "PosttrainPnPNovelFromTrayToCardboardboxSplitA",
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+ "PosttrainPnPNovelFromTrayToPlateSplitA",
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+ "PosttrainPnPNovelFromTrayToPotSplitA",
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+ "PosttrainPnPNovelFromTrayToTieredbasketSplitA",
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+ "PosttrainPnPNovelFromTrayToTieredshelfSplitA"
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+ ],
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+ "_ROBOCASA_TASK_PREFIX": "gr1_unified",
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+ "_SAVE_ITER_INTERVAL": 5000,
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+ "_SHARED_ROBOCASA_DATA_ROOT": "/mnt/data/cpfs/mnt/data/yiming/fluxvla/datasets/robocasa_lerobot_V2.1",
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+ "_SMOLVLA_CHECKPOINT": "./checkpoints/smolvla_base/model.safetensors",
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+ "_SMOLVLA_TOKENIZER": "./checkpoints/SmolVLM2-500M-Video-Instruct",
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+ "_STATISTIC_NAME": "robocasa_gr1_24tasks_absolute",
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+ "_TOKENIZER": {
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+ "model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
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+ "type": "PretrainedTokenizer"
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+ },
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+ "_TRANSFORMS": [
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+ {
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+ "name_mappings": {
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+ "actions": [
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+ "actions"
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+ ],
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+ "observation.state": [
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+ "states"
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+ "observation.state",
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+ "timestamp",
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+ "actions",
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+ "info",
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+ "stats",
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+ "action_masks"
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+ ],
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+ "type": "ProcessParquetInputs",
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+ "video_keys": [
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+ "observation.images.ego_view"
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+ ]
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+ },
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+ {
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+ "action_dim": 32,
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+ "action_key": "action",
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+ "norm_type": "mean_std",
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+ "state_dim": 32,
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+ "state_key": "proprio",
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+ "type": "NormalizeStatesAndActions"
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+ },
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+ {
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+ "add_new_line": true,
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+ "type": "ParquetPrompter",
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+ "use_conversation": false
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+ },
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+ {
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+ "tokenizer": {
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+ "model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
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+ "type": "PretrainedTokenizer"
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+ },
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+ "type": "ProcessPrompts"
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+ },
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+ {
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+ "height": 512,
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+ "pad_direction": "top-left",
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+ "type": "ResizeImagesWithPad",
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+ "width": 512
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+ },
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+ {
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+ "type": "SimpleNormalizeImages"
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+ }
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+ ],
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+ "eval": {
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+ "action_order": "fluxvla",
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+ "benchmark": "robocasa",
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+ "dataset": {
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+ "transforms": [
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+ {
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+ "center_crop_scale": null,
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+ "img_key": "video.ego_view_bg_crop_pad_res256_freq20",
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+ "normalize": false,
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+ "resize_size": 512,
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+ "type": "ProcessRobocasaEvalInputs"
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+ },
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+ {
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+ "action_key": null,
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+ "norm_type": "mean_std",
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+ "state_dim": 32,
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+ "state_key": "proprio",
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+ "type": "NormalizeStatesAndActions"
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+ },
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+ {
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+ "add_new_line": true,
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+ "type": "ParquetPrompter",
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+ "use_conversation": false
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+ },
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+ {
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+ "tokenizer": {
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+ "model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
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+ "type": "PretrainedTokenizer"
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+ },
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+ "type": "ProcessPrompts"
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+ },
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+ {
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+ "means": [
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+ [
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+ 127.5,
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+ 127.5,
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+ 127.5
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+ ]
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+ ],
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+ "stds": [
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+ [
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+ 127.5,
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+ 127.5,
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+ 127.5
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+ ]
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+ ],
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+ "type": "NormalizeImages"
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+ }
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+ ],
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+ "type": "RobocasaEvalDataset",
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+ "unnorm_key": "robocasa_gr1_24tasks_absolute"
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+ },
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+ "denormalize_action": {
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+ "action_dim": 29,
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+ "clip_actions": false,
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+ "norm_type": "mean_std",
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+ "stats_order": "native",
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+ "type": "DenormalizeRobocasaAction"
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+ },
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+ "enable_mixed_precision_training": true,
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+ "eval_chunk_size": 10,
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+ "max_episode_steps": 720,
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+ "mixed_precision_dtype": "bf16",
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+ "model_family": "smolvla",
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+ "num_trials_per_task": 20,
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+ "seed": 7,
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+ "task_list": [
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+ "gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromCuttingboardToPanSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromCuttingboardToPotSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromPlacematToBowlSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromPlacematToPlateSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromPlacematToTieredshelfSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromPlateToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromPlateToPanSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromPlateToPlateSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromTrayToPlateSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromTrayToPotSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromTrayToTieredbasketSplitA_GR1ArmsAndWaistFourierHands_Env",
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+ "gr1_unified/PosttrainPnPNovelFromTrayToTieredshelfSplitA_GR1ArmsAndWaistFourierHands_Env"
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+ ],
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+ "task_suite_name": "robocasa",
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+ "total_tasks": 24,
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+ "type": "RobocasaEvalRunner",
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+ "unnorm_key": "robocasa_gr1_24tasks_absolute"
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+ },
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+ "model": {
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+ "in_dim": 32,
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+ "out_dim": 720,
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+ "type": "LinearProjector"
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+ },
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+ "in_dim": 1440,
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+ "out_dim": 720,
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+ "type": "LinearProjector"
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+ },
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+ "action_time_mlp_out": {
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+ "in_dim": 720,
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+ "out_dim": 720,
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+ "type": "LinearProjector"
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+ },
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+ "add_image_special_tokens": false,
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+ "chunk_size": 50,
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+ "freeze_vlm_backbone": true,
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+ "llm_expert": {
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+ "attention_bias": false,
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+ "attention_mode": "cross_attn",
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+ "head_dim": 64,
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+ "hidden_act": "silu",
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+ "hidden_size": 720,
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+ "intermediate_size": -1,
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+ "max_position_embeddings": 8192,
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+ "num_attention_heads": 15,
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+ "num_hidden_layers": 16,
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+ "num_key_value_heads": 5,
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+ "rms_norm_eps": 1e-05,
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+ "self_attn_every_n_layers": 2,
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+ "torch_dtype": "bfloat16",
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+ "type": "SmolVLMExpert",
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+ "vlm_kv_dim": 320,
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+ "vocab_size": 49280
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+ },
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+ "max_action_dim": 32,
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+ "name_mapping": {
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+ "action_in_proj.projector": "model.action_in_proj",
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+ "action_out_proj.projector": "model.action_out_proj",
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+ "action_time_mlp_in.projector": "model.action_time_mlp_in",
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+ "action_time_mlp_out.projector": "model.action_time_mlp_out",
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+ "llm_expert.expert": "model.vlm_with_expert.lm_expert",
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+ "state_proj.projector": "model.state_proj",
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+ "vlm_backbone.vlm": "model.vlm_with_expert.vlm.model"
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+ },
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+ "num_steps": 10,
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+ "ori_action_dim": 29,
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+ "pretrained_name_or_path": "./checkpoints/smolvla_base/model.safetensors",
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+ "state_proj": {
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+ "in_dim": 32,
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+ "out_dim": 960,
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+ "type": "LinearProjector"
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+ },
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+ "type": "SmolVLAFlowMatching",
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+ "vlm_backbone": {
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+ "num_vlm_layers": 16,
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+ "scale_factor": 4,
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+ "text_config": {
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+ "head_dim": 64,
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+ "hidden_act": "silu",
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+ "hidden_size": 960,
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+ "intermediate_size": 2560,
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+ "max_position_embeddings": 8192,
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+ "num_attention_heads": 15,
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+ "num_hidden_layers": 32,
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+ "num_key_value_heads": 5,
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+ "rms_norm_eps": 1e-05,
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+ "vocab_size": 49280
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+ },
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+ "torch_dtype": "bfloat16",
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+ "type": "SmolVLMBackbone",
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+ "vision_config": {
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+ "hidden_act": "gelu_pytorch_tanh",
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+ "hidden_size": 768,
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+ "image_size": 512,
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+ "intermediate_size": 3072,
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+ "layer_norm_eps": 1e-06,
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+ "num_attention_heads": 12,
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+ "num_hidden_layers": 12,
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+ "patch_size": 16
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+ }
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+ }
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+ },
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+ "runner": {
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+ "change_key_name": false,
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+ "collator": {
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+ "states",
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+ "timestamp",
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+ "images",
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+ "img_masks",
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+ "lang_tokens",
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+ "lang_masks",
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+ "actions",
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+ "action_masks"
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+ ],
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+ "meta_keys": [
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+ "task_description",
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+ "prompt",
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+ "info",
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+ "stats"
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+ ],
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+ "type": "DictCollator"
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+ },
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+ "enable_gradient_checkpointing": true,
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+ "enable_mixed_precision_training": true,
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+ "lr_scheduler": {
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+ "type": "linear-warmup+cosine-decay",
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+ },
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+ "max_steps": 100000,
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+ "metric": {
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+ "run_dir": "work_dirs",
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+ "type": "VLAMetric",
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+ },
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+ "sampler": null,
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+ "save_iter_interval": 5000,
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+ "sharding_strategy": "no-shard",
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+ "tokenizer": {
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+ "model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
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+ "type": "PretrainedTokenizer"
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+ },
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+ "type": "FSDPTrainRunner"
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+ },
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+ "train_dataloader": {
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+ "datasets": {
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+ "action_key": "action",
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+ "action_window_size": 50,
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+ "data_root_path": [
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+ "./datasets/robocasa_lerobot_V2.1/PnPBottleToCabinetClose",
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+ "./datasets/robocasa_lerobot_V2.1/PnPCanToDrawerClose",
352
+ "./datasets/robocasa_lerobot_V2.1/PnPCupToDrawerClose",
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+ "./datasets/robocasa_lerobot_V2.1/PnPMilkToMicrowaveClose",
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+ "./datasets/robocasa_lerobot_V2.1/PnPPotatoToMicrowaveClose",
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+ "./datasets/robocasa_lerobot_V2.1/PnPWineToCabinetClose",
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+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromCuttingboardToBasketSplitA",
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+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA",
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+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromCuttingboardToPanSplitA",
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+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromCuttingboardToPotSplitA",
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+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA",
361
+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromPlacematToBasketSplitA",
362
+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromPlacematToBowlSplitA",
363
+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromPlacematToPlateSplitA",
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+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromPlacematToTieredshelfSplitA",
365
+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromPlateToBowlSplitA",
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+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromPlateToCardboardboxSplitA",
367
+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromPlateToPanSplitA",
368
+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromPlateToPlateSplitA",
369
+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromTrayToCardboardboxSplitA",
370
+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromTrayToPlateSplitA",
371
+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromTrayToPotSplitA",
372
+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromTrayToTieredbasketSplitA",
373
+ "./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromTrayToTieredshelfSplitA"
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+ ],
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+ "statistic_name": "robocasa_gr1_24tasks_absolute",
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+ "supervise_terminal_padding": true,
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+ "transforms": [
378
+ {
379
+ "name_mappings": {
380
+ "actions": [
381
+ "actions"
382
+ ],
383
+ "observation.state": [
384
+ "states"
385
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386
+ },
387
+ "parquet_keys": [
388
+ "observation.state",
389
+ "timestamp",
390
+ "actions",
391
+ "info",
392
+ "stats",
393
+ "action_masks"
394
+ ],
395
+ "type": "ProcessParquetInputs",
396
+ "video_keys": [
397
+ "observation.images.ego_view"
398
+ ]
399
+ },
400
+ {
401
+ "action_dim": 32,
402
+ "action_key": "action",
403
+ "norm_type": "mean_std",
404
+ "state_dim": 32,
405
+ "state_key": "proprio",
406
+ "type": "NormalizeStatesAndActions"
407
+ },
408
+ {
409
+ "add_new_line": true,
410
+ "type": "ParquetPrompter",
411
+ "use_conversation": false
412
+ },
413
+ {
414
+ "tokenizer": {
415
+ "model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
416
+ "type": "PretrainedTokenizer"
417
+ },
418
+ "type": "ProcessPrompts"
419
+ },
420
+ {
421
+ "height": 512,
422
+ "pad_direction": "top-left",
423
+ "type": "ResizeImagesWithPad",
424
+ "width": 512
425
+ },
426
+ {
427
+ "type": "SimpleNormalizeImages"
428
+ }
429
+ ],
430
+ "type": "ParquetDataset",
431
+ "use_delta": false,
432
+ "window_start_idx": 0
433
+ },
434
+ "name_mappings": {
435
+ "action": [
436
+ "action"
437
+ ],
438
+ "observation.state": [
439
+ "proprio"
440
+ ]
441
+ },
442
+ "reshuffle_each_epoch": true,
443
+ "seed": 42,
444
+ "statistic_keys": [
445
+ "observation.state",
446
+ "timestamp",
447
+ "action"
448
+ ],
449
+ "statistic_name": "robocasa_gr1_24tasks_absolute",
450
+ "type": "DistributedBalancedRepeatingDataset"
451
+ },
452
+ "per_device_batch_size": 64,
453
+ "per_device_num_workers": 4
454
+ }
455
+ }
smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/config.yaml ADDED
@@ -0,0 +1,363 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ _ACTION_DIM: 29
2
+ _ACTION_HORIZON: 50
3
+ _CKPT_ROOT: ./checkpoints
4
+ _DEFAULT_ROBOCASA_DATA_ROOT: ./datasets/robocasa_lerobot_V2.1
5
+ _IMAGE_SIZE: 512
6
+ _LOCAL_ROBOCASA_DATA_ROOT: ./datasets/robocasa_lerobot_V2.1
7
+ _MAX_ACTION_DIM: 32
8
+ _MAX_STATE_DIM: 32
9
+ _MAX_STEPS: 100000
10
+ _PER_DEVICE_BATCH_SIZE: 64
11
+ _ROBOCASA_DATA_ROOT: ./datasets/robocasa_lerobot_V2.1
12
+ _ROBOCASA_ENV_SUFFIX: _GR1ArmsAndWaistFourierHands_Env
13
+ _ROBOCASA_TASK_DIRS:
14
+ - PnPBottleToCabinetClose
15
+ - PnPCanToDrawerClose
16
+ - PnPCupToDrawerClose
17
+ - PnPMilkToMicrowaveClose
18
+ - PnPPotatoToMicrowaveClose
19
+ - PnPWineToCabinetClose
20
+ - PosttrainPnPNovelFromCuttingboardToBasketSplitA
21
+ - PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA
22
+ - PosttrainPnPNovelFromCuttingboardToPanSplitA
23
+ - PosttrainPnPNovelFromCuttingboardToPotSplitA
24
+ - PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA
25
+ - PosttrainPnPNovelFromPlacematToBasketSplitA
26
+ - PosttrainPnPNovelFromPlacematToBowlSplitA
27
+ - PosttrainPnPNovelFromPlacematToPlateSplitA
28
+ - PosttrainPnPNovelFromPlacematToTieredshelfSplitA
29
+ - PosttrainPnPNovelFromPlateToBowlSplitA
30
+ - PosttrainPnPNovelFromPlateToCardboardboxSplitA
31
+ - PosttrainPnPNovelFromPlateToPanSplitA
32
+ - PosttrainPnPNovelFromPlateToPlateSplitA
33
+ - PosttrainPnPNovelFromTrayToCardboardboxSplitA
34
+ - PosttrainPnPNovelFromTrayToPlateSplitA
35
+ - PosttrainPnPNovelFromTrayToPotSplitA
36
+ - PosttrainPnPNovelFromTrayToTieredbasketSplitA
37
+ - PosttrainPnPNovelFromTrayToTieredshelfSplitA
38
+ _ROBOCASA_TASK_PREFIX: gr1_unified
39
+ _SAVE_ITER_INTERVAL: 5000
40
+ _SHARED_ROBOCASA_DATA_ROOT: /mnt/data/cpfs/mnt/data/yiming/fluxvla/datasets/robocasa_lerobot_V2.1
41
+ _SMOLVLA_CHECKPOINT: ./checkpoints/smolvla_base/model.safetensors
42
+ _SMOLVLA_TOKENIZER: ./checkpoints/SmolVLM2-500M-Video-Instruct
43
+ _STATISTIC_NAME: robocasa_gr1_24tasks_absolute
44
+ _TOKENIZER:
45
+ model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
46
+ type: PretrainedTokenizer
47
+ _TRANSFORMS:
48
+ - name_mappings:
49
+ actions:
50
+ - actions
51
+ observation.state:
52
+ - states
53
+ parquet_keys:
54
+ - observation.state
55
+ - timestamp
56
+ - actions
57
+ - info
58
+ - stats
59
+ - action_masks
60
+ type: ProcessParquetInputs
61
+ video_keys:
62
+ - observation.images.ego_view
63
+ - action_dim: 32
64
+ action_key: action
65
+ norm_type: mean_std
66
+ state_dim: 32
67
+ state_key: proprio
68
+ type: NormalizeStatesAndActions
69
+ - add_new_line: true
70
+ type: ParquetPrompter
71
+ use_conversation: false
72
+ - tokenizer:
73
+ model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
74
+ type: PretrainedTokenizer
75
+ type: ProcessPrompts
76
+ - height: 512
77
+ pad_direction: top-left
78
+ type: ResizeImagesWithPad
79
+ width: 512
80
+ - type: SimpleNormalizeImages
81
+ eval:
82
+ action_order: fluxvla
83
+ benchmark: robocasa
84
+ dataset:
85
+ transforms:
86
+ - center_crop_scale: null
87
+ img_key: video.ego_view_bg_crop_pad_res256_freq20
88
+ normalize: false
89
+ resize_size: 512
90
+ type: ProcessRobocasaEvalInputs
91
+ - action_key: null
92
+ norm_type: mean_std
93
+ state_dim: 32
94
+ state_key: proprio
95
+ type: NormalizeStatesAndActions
96
+ - add_new_line: true
97
+ type: ParquetPrompter
98
+ use_conversation: false
99
+ - tokenizer:
100
+ model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
101
+ type: PretrainedTokenizer
102
+ type: ProcessPrompts
103
+ - means:
104
+ - - 127.5
105
+ - 127.5
106
+ - 127.5
107
+ stds:
108
+ - - 127.5
109
+ - 127.5
110
+ - 127.5
111
+ type: NormalizeImages
112
+ type: RobocasaEvalDataset
113
+ unnorm_key: robocasa_gr1_24tasks_absolute
114
+ denormalize_action:
115
+ action_dim: 29
116
+ clip_actions: false
117
+ norm_type: mean_std
118
+ stats_order: native
119
+ type: DenormalizeRobocasaAction
120
+ enable_mixed_precision_training: true
121
+ eval_chunk_size: 10
122
+ max_episode_steps: 720
123
+ mixed_precision_dtype: bf16
124
+ model_family: smolvla
125
+ num_trials_per_task: 20
126
+ seed: 7
127
+ task_list:
128
+ - gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env
129
+ - gr1_unified/PnPCanToDrawerClose_GR1ArmsAndWaistFourierHands_Env
130
+ - gr1_unified/PnPCupToDrawerClose_GR1ArmsAndWaistFourierHands_Env
131
+ - gr1_unified/PnPMilkToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env
132
+ - gr1_unified/PnPPotatoToMicrowaveClose_GR1ArmsAndWaistFourierHands_Env
133
+ - gr1_unified/PnPWineToCabinetClose_GR1ArmsAndWaistFourierHands_Env
134
+ - gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env
135
+ - gr1_unified/PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env
136
+ - gr1_unified/PosttrainPnPNovelFromCuttingboardToPanSplitA_GR1ArmsAndWaistFourierHands_Env
137
+ - gr1_unified/PosttrainPnPNovelFromCuttingboardToPotSplitA_GR1ArmsAndWaistFourierHands_Env
138
+ - gr1_unified/PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA_GR1ArmsAndWaistFourierHands_Env
139
+ - gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env
140
+ - gr1_unified/PosttrainPnPNovelFromPlacematToBowlSplitA_GR1ArmsAndWaistFourierHands_Env
141
+ - gr1_unified/PosttrainPnPNovelFromPlacematToPlateSplitA_GR1ArmsAndWaistFourierHands_Env
142
+ - gr1_unified/PosttrainPnPNovelFromPlacematToTieredshelfSplitA_GR1ArmsAndWaistFourierHands_Env
143
+ - gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env
144
+ - gr1_unified/PosttrainPnPNovelFromPlateToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env
145
+ - gr1_unified/PosttrainPnPNovelFromPlateToPanSplitA_GR1ArmsAndWaistFourierHands_Env
146
+ - gr1_unified/PosttrainPnPNovelFromPlateToPlateSplitA_GR1ArmsAndWaistFourierHands_Env
147
+ - gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env
148
+ - gr1_unified/PosttrainPnPNovelFromTrayToPlateSplitA_GR1ArmsAndWaistFourierHands_Env
149
+ - gr1_unified/PosttrainPnPNovelFromTrayToPotSplitA_GR1ArmsAndWaistFourierHands_Env
150
+ - gr1_unified/PosttrainPnPNovelFromTrayToTieredbasketSplitA_GR1ArmsAndWaistFourierHands_Env
151
+ - gr1_unified/PosttrainPnPNovelFromTrayToTieredshelfSplitA_GR1ArmsAndWaistFourierHands_Env
152
+ task_suite_name: robocasa
153
+ total_tasks: 24
154
+ type: RobocasaEvalRunner
155
+ unnorm_key: robocasa_gr1_24tasks_absolute
156
+ model:
157
+ action_in_proj:
158
+ in_dim: 32
159
+ out_dim: 720
160
+ type: LinearProjector
161
+ action_out_proj:
162
+ in_dim: 720
163
+ out_dim: 32
164
+ type: LinearProjector
165
+ action_time_mlp_in:
166
+ in_dim: 1440
167
+ out_dim: 720
168
+ type: LinearProjector
169
+ action_time_mlp_out:
170
+ in_dim: 720
171
+ out_dim: 720
172
+ type: LinearProjector
173
+ add_image_special_tokens: false
174
+ chunk_size: 50
175
+ freeze_vlm_backbone: true
176
+ llm_expert:
177
+ attention_bias: false
178
+ attention_mode: cross_attn
179
+ head_dim: 64
180
+ hidden_act: silu
181
+ hidden_size: 720
182
+ intermediate_size: -1
183
+ max_position_embeddings: 8192
184
+ num_attention_heads: 15
185
+ num_hidden_layers: 16
186
+ num_key_value_heads: 5
187
+ rms_norm_eps: 1.0e-05
188
+ self_attn_every_n_layers: 2
189
+ torch_dtype: bfloat16
190
+ type: SmolVLMExpert
191
+ vlm_kv_dim: 320
192
+ vocab_size: 49280
193
+ max_action_dim: 32
194
+ name_mapping:
195
+ action_in_proj.projector: model.action_in_proj
196
+ action_out_proj.projector: model.action_out_proj
197
+ action_time_mlp_in.projector: model.action_time_mlp_in
198
+ action_time_mlp_out.projector: model.action_time_mlp_out
199
+ llm_expert.expert: model.vlm_with_expert.lm_expert
200
+ state_proj.projector: model.state_proj
201
+ vlm_backbone.vlm: model.vlm_with_expert.vlm.model
202
+ num_steps: 10
203
+ ori_action_dim: 29
204
+ pretrained_name_or_path: ./checkpoints/smolvla_base/model.safetensors
205
+ state_proj:
206
+ in_dim: 32
207
+ out_dim: 960
208
+ type: LinearProjector
209
+ type: SmolVLAFlowMatching
210
+ vlm_backbone:
211
+ num_vlm_layers: 16
212
+ scale_factor: 4
213
+ text_config:
214
+ head_dim: 64
215
+ hidden_act: silu
216
+ hidden_size: 960
217
+ intermediate_size: 2560
218
+ max_position_embeddings: 8192
219
+ num_attention_heads: 15
220
+ num_hidden_layers: 32
221
+ num_key_value_heads: 5
222
+ rms_norm_eps: 1.0e-05
223
+ vocab_size: 49280
224
+ torch_dtype: bfloat16
225
+ type: SmolVLMBackbone
226
+ vision_config:
227
+ hidden_act: gelu_pytorch_tanh
228
+ hidden_size: 768
229
+ image_size: 512
230
+ intermediate_size: 3072
231
+ layer_norm_eps: 1.0e-06
232
+ num_attention_heads: 12
233
+ num_hidden_layers: 12
234
+ patch_size: 16
235
+ runner:
236
+ change_key_name: false
237
+ collator:
238
+ keys:
239
+ - states
240
+ - timestamp
241
+ - images
242
+ - img_masks
243
+ - lang_tokens
244
+ - lang_masks
245
+ - actions
246
+ - action_masks
247
+ meta_keys:
248
+ - task_description
249
+ - prompt
250
+ - info
251
+ - stats
252
+ type: DictCollator
253
+ enable_gradient_checkpointing: true
254
+ enable_mixed_precision_training: true
255
+ lr_scheduler:
256
+ type: linear-warmup+cosine-decay
257
+ warmup_ratio: 0.03
258
+ max_grad_norm: 10.0
259
+ max_keep_ckpts: 2
260
+ max_steps: 100000
261
+ metric:
262
+ active_trackers:
263
+ - jsonl
264
+ - wandb
265
+ run_dir: work_dirs
266
+ type: VLAMetric
267
+ window_size: 1
268
+ mixed_precision_dtype: bf16
269
+ optimizer:
270
+ lr: 0.0002
271
+ type: AdamW
272
+ weight_decay: 0.0
273
+ sampler: null
274
+ save_iter_interval: 5000
275
+ sharding_strategy: no-shard
276
+ tokenizer:
277
+ model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
278
+ type: PretrainedTokenizer
279
+ type: FSDPTrainRunner
280
+ train_dataloader:
281
+ dataset:
282
+ datasets:
283
+ action_key: action
284
+ action_window_size: 50
285
+ data_root_path:
286
+ - ./datasets/robocasa_lerobot_V2.1/PnPBottleToCabinetClose
287
+ - ./datasets/robocasa_lerobot_V2.1/PnPCanToDrawerClose
288
+ - ./datasets/robocasa_lerobot_V2.1/PnPCupToDrawerClose
289
+ - ./datasets/robocasa_lerobot_V2.1/PnPMilkToMicrowaveClose
290
+ - ./datasets/robocasa_lerobot_V2.1/PnPPotatoToMicrowaveClose
291
+ - ./datasets/robocasa_lerobot_V2.1/PnPWineToCabinetClose
292
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromCuttingboardToBasketSplitA
293
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA
294
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromCuttingboardToPanSplitA
295
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromCuttingboardToPotSplitA
296
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA
297
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromPlacematToBasketSplitA
298
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromPlacematToBowlSplitA
299
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromPlacematToPlateSplitA
300
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromPlacematToTieredshelfSplitA
301
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromPlateToBowlSplitA
302
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromPlateToCardboardboxSplitA
303
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromPlateToPanSplitA
304
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromPlateToPlateSplitA
305
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromTrayToCardboardboxSplitA
306
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromTrayToPlateSplitA
307
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromTrayToPotSplitA
308
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromTrayToTieredbasketSplitA
309
+ - ./datasets/robocasa_lerobot_V2.1/PosttrainPnPNovelFromTrayToTieredshelfSplitA
310
+ statistic_name: robocasa_gr1_24tasks_absolute
311
+ supervise_terminal_padding: true
312
+ transforms:
313
+ - name_mappings:
314
+ actions:
315
+ - actions
316
+ observation.state:
317
+ - states
318
+ parquet_keys:
319
+ - observation.state
320
+ - timestamp
321
+ - actions
322
+ - info
323
+ - stats
324
+ - action_masks
325
+ type: ProcessParquetInputs
326
+ video_keys:
327
+ - observation.images.ego_view
328
+ - action_dim: 32
329
+ action_key: action
330
+ norm_type: mean_std
331
+ state_dim: 32
332
+ state_key: proprio
333
+ type: NormalizeStatesAndActions
334
+ - add_new_line: true
335
+ type: ParquetPrompter
336
+ use_conversation: false
337
+ - tokenizer:
338
+ model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
339
+ type: PretrainedTokenizer
340
+ type: ProcessPrompts
341
+ - height: 512
342
+ pad_direction: top-left
343
+ type: ResizeImagesWithPad
344
+ width: 512
345
+ - type: SimpleNormalizeImages
346
+ type: ParquetDataset
347
+ use_delta: false
348
+ window_start_idx: 0
349
+ name_mappings:
350
+ action:
351
+ - action
352
+ observation.state:
353
+ - proprio
354
+ reshuffle_each_epoch: true
355
+ seed: 42
356
+ statistic_keys:
357
+ - observation.state
358
+ - timestamp
359
+ - action
360
+ statistic_name: robocasa_gr1_24tasks_absolute
361
+ type: DistributedBalancedRepeatingDataset
362
+ per_device_batch_size: 64
363
+ per_device_num_workers: 4
smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/dataset_statistics.json ADDED
@@ -0,0 +1,276 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
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1
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smolvla_robocasa_full_data_finetune_freeze_vlm_bs512/vlm_backbone_config.json ADDED
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+ "rope_parameters": {
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+ "vocab_size": 49280
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