Commit ·
5a48a00
1
Parent(s): 794a7cd
upload fastwam-idm and fastwam-joint LIBERO fine-tuned checkpoints
Browse files- fastwam_idm_libero_full_finetune_bs16/checkpoints/step-021700-epoch-10-loss=0.0906.safetensors +3 -0
- fastwam_idm_libero_full_finetune_bs16/config.json +475 -0
- fastwam_idm_libero_full_finetune_bs16/config.yaml +382 -0
- fastwam_idm_libero_full_finetune_bs16/dataset_statistics.json +104 -0
- fastwam_idm_libero_full_finetune_bs16/fastwam_idm_libero_full_finetune_2026_08_17_21_48_53.jsonl +0 -0
- fastwam_joint_libero_full_finetune_bs16/checkpoints/step-021700-epoch-10-loss=0.0980.safetensors +3 -0
- fastwam_joint_libero_full_finetune_bs16/config.json +475 -0
- fastwam_joint_libero_full_finetune_bs16/config.yaml +382 -0
- fastwam_joint_libero_full_finetune_bs16/dataset_statistics.json +104 -0
- fastwam_joint_libero_full_finetune_bs16/fastwam_joint_libero_full_finetune_2026_08_17_22_14_43.jsonl +0 -0
fastwam_idm_libero_full_finetune_bs16/checkpoints/step-021700-epoch-10-loss=0.0906.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:9b5dd21865788790f756f4279052a36fd4cb110643c767ca90c509d8faefd8ac
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size 49625513412
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fastwam_idm_libero_full_finetune_bs16/config.json
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| 1 |
+
{
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| 2 |
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"_action_window_size": 32,
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| 3 |
+
"_ckpt_root": "./checkpoints",
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| 4 |
+
"_data_root_paths": [
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| 5 |
+
"datasets/libero_spatial_no_noops_lerobotv2.1",
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| 6 |
+
"datasets/libero_object_no_noops_lerobotv2.1",
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| 7 |
+
"datasets/libero_goal_no_noops_lerobotv2.1",
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| 8 |
+
"datasets/libero_10_no_noops_lerobotv2.1"
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| 9 |
+
],
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| 10 |
+
"_frame_sample_stride": 4,
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| 11 |
+
"_frame_window_size": 9,
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| 12 |
+
"_statistic_name": "libero_all_no_noops",
|
| 13 |
+
"_text_prompt_template": "A video recorded from a robot's point of view executing the following instruction: {task}",
|
| 14 |
+
"_tokenizer": "./checkpoints/fastwam_base_full/tokenizer",
|
| 15 |
+
"eval": {
|
| 16 |
+
"manager": {
|
| 17 |
+
"launch_delay": 0.5,
|
| 18 |
+
"master_port_base": 29690,
|
| 19 |
+
"max_tasks_per_gpu": 2,
|
| 20 |
+
"monitor_interval": 5,
|
| 21 |
+
"num_gpus": 8,
|
| 22 |
+
"status_interval": 30
|
| 23 |
+
},
|
| 24 |
+
"runner": {
|
| 25 |
+
"dataset": {
|
| 26 |
+
"img_buffer_len": 1,
|
| 27 |
+
"transforms": [
|
| 28 |
+
{
|
| 29 |
+
"img_keys": [
|
| 30 |
+
"agentview_image",
|
| 31 |
+
"robot0_eye_in_hand_image"
|
| 32 |
+
],
|
| 33 |
+
"type": "ProcessLiberoEvalInputs"
|
| 34 |
+
},
|
| 35 |
+
{
|
| 36 |
+
"image_resize_strategy": "resize-naive",
|
| 37 |
+
"input_sizes": [
|
| 38 |
+
[
|
| 39 |
+
3,
|
| 40 |
+
224,
|
| 41 |
+
224
|
| 42 |
+
],
|
| 43 |
+
[
|
| 44 |
+
3,
|
| 45 |
+
224,
|
| 46 |
+
224
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"means": [
|
| 50 |
+
[
|
| 51 |
+
127.5,
|
| 52 |
+
127.5,
|
| 53 |
+
127.5
|
| 54 |
+
],
|
| 55 |
+
[
|
| 56 |
+
127.5,
|
| 57 |
+
127.5,
|
| 58 |
+
127.5
|
| 59 |
+
]
|
| 60 |
+
],
|
| 61 |
+
"stds": [
|
| 62 |
+
[
|
| 63 |
+
127.5,
|
| 64 |
+
127.5,
|
| 65 |
+
127.5
|
| 66 |
+
],
|
| 67 |
+
[
|
| 68 |
+
127.5,
|
| 69 |
+
127.5,
|
| 70 |
+
127.5
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"type": "TransformImage"
|
| 74 |
+
},
|
| 75 |
+
{
|
| 76 |
+
"norm_type": "min_max",
|
| 77 |
+
"out_key": "states",
|
| 78 |
+
"stat_key": "proprio",
|
| 79 |
+
"state_dim": 8,
|
| 80 |
+
"type": "LiberoProprioFromInputs"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"max_len": 128,
|
| 84 |
+
"prompt_template": "A video recorded from a robot's point of view executing the following instruction: {task}",
|
| 85 |
+
"tokenizer": {
|
| 86 |
+
"model_path": "./checkpoints/fastwam_base_full/tokenizer",
|
| 87 |
+
"type": "PretrainedTokenizer"
|
| 88 |
+
},
|
| 89 |
+
"type": "LiberoPromptFromInputs",
|
| 90 |
+
"use_conversation": false
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"frame_window_size": 1,
|
| 94 |
+
"num_views": 2,
|
| 95 |
+
"tile_direction": "horizontal",
|
| 96 |
+
"type": "PrepareVideo"
|
| 97 |
+
}
|
| 98 |
+
],
|
| 99 |
+
"type": "LiberoParquetEvalDataset"
|
| 100 |
+
},
|
| 101 |
+
"denormalize_action": {
|
| 102 |
+
"action_dim": 7,
|
| 103 |
+
"norm_type": "min_max",
|
| 104 |
+
"type": "DenormalizeLiberoAction"
|
| 105 |
+
},
|
| 106 |
+
"enable_mixed_precision_training": true,
|
| 107 |
+
"eval_chunk_size": 10,
|
| 108 |
+
"eval_shard_strategy": "task",
|
| 109 |
+
"inference_seed": 42,
|
| 110 |
+
"max_steps": {
|
| 111 |
+
"libero_10": 700,
|
| 112 |
+
"libero_goal": 400,
|
| 113 |
+
"libero_object": 400,
|
| 114 |
+
"libero_spatial": 400
|
| 115 |
+
},
|
| 116 |
+
"mixed_precision_dtype": "bf16",
|
| 117 |
+
"model_build_device": "cuda",
|
| 118 |
+
"model_build_dtype": "bf16",
|
| 119 |
+
"model_family": "fastwam",
|
| 120 |
+
"norm_stats_key": "libero_all_no_noops",
|
| 121 |
+
"num_inference_steps": 10,
|
| 122 |
+
"num_steps_wait": 30,
|
| 123 |
+
"num_trials_per_task": 50,
|
| 124 |
+
"preprocess_every_step": false,
|
| 125 |
+
"resize_size": 224,
|
| 126 |
+
"save_multi_view_rollout_videos": true,
|
| 127 |
+
"save_rollout_videos": true,
|
| 128 |
+
"seed": 42,
|
| 129 |
+
"task_ids": null,
|
| 130 |
+
"task_suite_name": [
|
| 131 |
+
"libero_spatial",
|
| 132 |
+
"libero_object",
|
| 133 |
+
"libero_goal",
|
| 134 |
+
"libero_10"
|
| 135 |
+
],
|
| 136 |
+
"type": "LiberoEvalRunner"
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"eval_dataset": null,
|
| 140 |
+
"inference_model": {
|
| 141 |
+
"action_horizon": 32,
|
| 142 |
+
"frame_window_size": 9,
|
| 143 |
+
"mot_checkpoint_mixed_attn": true,
|
| 144 |
+
"num_views": 2,
|
| 145 |
+
"pretrained_name_or_path": "./checkpoints/fastwam_base_full/fastwam_base_full.safetensors",
|
| 146 |
+
"proprio_dim": 8,
|
| 147 |
+
"torch_dtype": "bf16",
|
| 148 |
+
"type": "FastWAMVLA",
|
| 149 |
+
"vla_head": {
|
| 150 |
+
"action_dit_config": {
|
| 151 |
+
"action_dim": 7,
|
| 152 |
+
"attn_head_dim": 128,
|
| 153 |
+
"eps": 1e-06,
|
| 154 |
+
"ffn_dim": 4096,
|
| 155 |
+
"freq_dim": 256,
|
| 156 |
+
"hidden_dim": 1024,
|
| 157 |
+
"num_heads": 24,
|
| 158 |
+
"num_layers": 30,
|
| 159 |
+
"text_dim": 4096,
|
| 160 |
+
"use_gradient_checkpointing": true
|
| 161 |
+
},
|
| 162 |
+
"action_scheduler": {
|
| 163 |
+
"infer_shift": 5.0,
|
| 164 |
+
"num_train_timesteps": 1000,
|
| 165 |
+
"train_shift": 5.0
|
| 166 |
+
},
|
| 167 |
+
"loss": {
|
| 168 |
+
"lambda_action": 1.0,
|
| 169 |
+
"lambda_video": 1.0
|
| 170 |
+
},
|
| 171 |
+
"type": "FastWAMIDMHead",
|
| 172 |
+
"video_dit_config": {
|
| 173 |
+
"action_conditioned": false,
|
| 174 |
+
"action_dim": 7,
|
| 175 |
+
"action_group_causal_mask_mode": "group_diagonal",
|
| 176 |
+
"attn_head_dim": 128,
|
| 177 |
+
"eps": 1e-06,
|
| 178 |
+
"ffn_dim": 14336,
|
| 179 |
+
"freq_dim": 256,
|
| 180 |
+
"fuse_vae_embedding_in_latents": true,
|
| 181 |
+
"has_image_input": false,
|
| 182 |
+
"hidden_dim": 3072,
|
| 183 |
+
"in_dim": 48,
|
| 184 |
+
"num_heads": 24,
|
| 185 |
+
"num_layers": 30,
|
| 186 |
+
"out_dim": 48,
|
| 187 |
+
"patch_size": [
|
| 188 |
+
1,
|
| 189 |
+
2,
|
| 190 |
+
2
|
| 191 |
+
],
|
| 192 |
+
"require_clip_embedding": false,
|
| 193 |
+
"require_vae_embedding": false,
|
| 194 |
+
"seperated_timestep": true,
|
| 195 |
+
"text_dim": 4096,
|
| 196 |
+
"use_gradient_checkpointing": true,
|
| 197 |
+
"video_attention_mask_mode": "first_frame_causal"
|
| 198 |
+
},
|
| 199 |
+
"video_scheduler": {
|
| 200 |
+
"infer_shift": 5.0,
|
| 201 |
+
"num_train_timesteps": 1000,
|
| 202 |
+
"train_shift": 5.0
|
| 203 |
+
}
|
| 204 |
+
},
|
| 205 |
+
"vlm_backbone": {
|
| 206 |
+
"text_embed_cache_context_len": 128,
|
| 207 |
+
"text_embed_cache_device": "cpu",
|
| 208 |
+
"text_embed_cache_size": 256,
|
| 209 |
+
"type": "Wan22Backbone"
|
| 210 |
+
}
|
| 211 |
+
},
|
| 212 |
+
"model": {
|
| 213 |
+
"action_horizon": 32,
|
| 214 |
+
"frame_window_size": 9,
|
| 215 |
+
"mot_checkpoint_mixed_attn": true,
|
| 216 |
+
"num_views": 2,
|
| 217 |
+
"pretrained_name_or_path": "./checkpoints/fastwam_base_full/fastwam_base_full.safetensors",
|
| 218 |
+
"proprio_dim": 8,
|
| 219 |
+
"torch_dtype": "bf16",
|
| 220 |
+
"type": "FastWAMVLA",
|
| 221 |
+
"vla_head": {
|
| 222 |
+
"action_dit_config": {
|
| 223 |
+
"action_dim": 7,
|
| 224 |
+
"attn_head_dim": 128,
|
| 225 |
+
"eps": 1e-06,
|
| 226 |
+
"ffn_dim": 4096,
|
| 227 |
+
"freq_dim": 256,
|
| 228 |
+
"hidden_dim": 1024,
|
| 229 |
+
"num_heads": 24,
|
| 230 |
+
"num_layers": 30,
|
| 231 |
+
"text_dim": 4096,
|
| 232 |
+
"use_gradient_checkpointing": true
|
| 233 |
+
},
|
| 234 |
+
"action_scheduler": {
|
| 235 |
+
"infer_shift": 5.0,
|
| 236 |
+
"num_train_timesteps": 1000,
|
| 237 |
+
"train_shift": 5.0
|
| 238 |
+
},
|
| 239 |
+
"loss": {
|
| 240 |
+
"lambda_action": 1.0,
|
| 241 |
+
"lambda_video": 1.0
|
| 242 |
+
},
|
| 243 |
+
"type": "FastWAMIDMHead",
|
| 244 |
+
"video_dit_config": {
|
| 245 |
+
"action_conditioned": false,
|
| 246 |
+
"action_dim": 7,
|
| 247 |
+
"action_group_causal_mask_mode": "group_diagonal",
|
| 248 |
+
"attn_head_dim": 128,
|
| 249 |
+
"eps": 1e-06,
|
| 250 |
+
"ffn_dim": 14336,
|
| 251 |
+
"freq_dim": 256,
|
| 252 |
+
"fuse_vae_embedding_in_latents": true,
|
| 253 |
+
"has_image_input": false,
|
| 254 |
+
"hidden_dim": 3072,
|
| 255 |
+
"in_dim": 48,
|
| 256 |
+
"num_heads": 24,
|
| 257 |
+
"num_layers": 30,
|
| 258 |
+
"out_dim": 48,
|
| 259 |
+
"patch_size": [
|
| 260 |
+
1,
|
| 261 |
+
2,
|
| 262 |
+
2
|
| 263 |
+
],
|
| 264 |
+
"require_clip_embedding": false,
|
| 265 |
+
"require_vae_embedding": false,
|
| 266 |
+
"seperated_timestep": true,
|
| 267 |
+
"text_dim": 4096,
|
| 268 |
+
"use_gradient_checkpointing": true,
|
| 269 |
+
"video_attention_mask_mode": "first_frame_causal"
|
| 270 |
+
},
|
| 271 |
+
"video_scheduler": {
|
| 272 |
+
"infer_shift": 5.0,
|
| 273 |
+
"num_train_timesteps": 1000,
|
| 274 |
+
"train_shift": 5.0
|
| 275 |
+
}
|
| 276 |
+
},
|
| 277 |
+
"vlm_backbone": {
|
| 278 |
+
"text_embed_cache_context_len": 128,
|
| 279 |
+
"text_embed_cache_device": "cpu",
|
| 280 |
+
"text_embed_cache_size": 256,
|
| 281 |
+
"type": "Wan22Backbone"
|
| 282 |
+
}
|
| 283 |
+
},
|
| 284 |
+
"runner": {
|
| 285 |
+
"collator": {
|
| 286 |
+
"keys": [
|
| 287 |
+
"states",
|
| 288 |
+
"images",
|
| 289 |
+
"img_masks",
|
| 290 |
+
"actions",
|
| 291 |
+
"action_masks",
|
| 292 |
+
"embodiment_ids",
|
| 293 |
+
"frame_masks",
|
| 294 |
+
"lang_tokens",
|
| 295 |
+
"lang_masks"
|
| 296 |
+
],
|
| 297 |
+
"meta_keys": [
|
| 298 |
+
"task_description",
|
| 299 |
+
"info",
|
| 300 |
+
"stats",
|
| 301 |
+
"timestamp"
|
| 302 |
+
],
|
| 303 |
+
"type": "DictCollator"
|
| 304 |
+
},
|
| 305 |
+
"enable_gradient_checkpointing": false,
|
| 306 |
+
"enable_mixed_precision_training": true,
|
| 307 |
+
"evaluator": {
|
| 308 |
+
"eval_every": 1000,
|
| 309 |
+
"num_inference_steps": 10,
|
| 310 |
+
"save_video": true,
|
| 311 |
+
"seed": 42,
|
| 312 |
+
"type": "training-eval",
|
| 313 |
+
"video_fps": 8
|
| 314 |
+
},
|
| 315 |
+
"grad_accumulation_steps": 1,
|
| 316 |
+
"lr_scheduler": {
|
| 317 |
+
"betas": [
|
| 318 |
+
0.9,
|
| 319 |
+
0.95
|
| 320 |
+
],
|
| 321 |
+
"min_lr_ratio": 0.01,
|
| 322 |
+
"type": "linear-warmup+cosine-decay-min-lr",
|
| 323 |
+
"warmup_ratio": 0.05,
|
| 324 |
+
"weight_decay_style": "uniform"
|
| 325 |
+
},
|
| 326 |
+
"max_epochs": 10,
|
| 327 |
+
"max_grad_norm": 1.0,
|
| 328 |
+
"max_keep_ckpts": 10,
|
| 329 |
+
"max_steps": null,
|
| 330 |
+
"metric": {
|
| 331 |
+
"active_trackers": [
|
| 332 |
+
"jsonl",
|
| 333 |
+
"wandb"
|
| 334 |
+
],
|
| 335 |
+
"run_dir": "work_dirs",
|
| 336 |
+
"type": "VLAMetric",
|
| 337 |
+
"window_size": 1
|
| 338 |
+
},
|
| 339 |
+
"mixed_precision_dtype": "bf16",
|
| 340 |
+
"optimizer": {
|
| 341 |
+
"lr": 0.0001,
|
| 342 |
+
"type": "AdamW",
|
| 343 |
+
"weight_decay": 0.01
|
| 344 |
+
},
|
| 345 |
+
"reduce_in_full_precision": true,
|
| 346 |
+
"sampler": null,
|
| 347 |
+
"save_epoch_interval": 1,
|
| 348 |
+
"save_iter_interval": 10000,
|
| 349 |
+
"sharding_strategy": "shard-grad-op",
|
| 350 |
+
"type": "FSDPTrainRunner"
|
| 351 |
+
},
|
| 352 |
+
"seed": 42,
|
| 353 |
+
"train_dataloader": {
|
| 354 |
+
"dataset": {
|
| 355 |
+
"batch_shard_size": 8,
|
| 356 |
+
"datasets": {
|
| 357 |
+
"action_key": "action",
|
| 358 |
+
"action_window_size": 32,
|
| 359 |
+
"data_root_path": [
|
| 360 |
+
"datasets/libero_spatial_no_noops_lerobotv2.1",
|
| 361 |
+
"datasets/libero_object_no_noops_lerobotv2.1",
|
| 362 |
+
"datasets/libero_goal_no_noops_lerobotv2.1",
|
| 363 |
+
"datasets/libero_10_no_noops_lerobotv2.1"
|
| 364 |
+
],
|
| 365 |
+
"frame_sample_stride": 4,
|
| 366 |
+
"frame_window_size": 9,
|
| 367 |
+
"statistic_name": "libero_all_no_noops",
|
| 368 |
+
"transforms": [
|
| 369 |
+
{
|
| 370 |
+
"embodiment_id": 0,
|
| 371 |
+
"name_mappings": {
|
| 372 |
+
"actions": [
|
| 373 |
+
"actions"
|
| 374 |
+
],
|
| 375 |
+
"observation.state": [
|
| 376 |
+
"states"
|
| 377 |
+
]
|
| 378 |
+
},
|
| 379 |
+
"parquet_keys": [
|
| 380 |
+
"observation.state",
|
| 381 |
+
"timestamp",
|
| 382 |
+
"actions",
|
| 383 |
+
"info",
|
| 384 |
+
"stats",
|
| 385 |
+
"action_masks"
|
| 386 |
+
],
|
| 387 |
+
"type": "ProcessParquetInputs",
|
| 388 |
+
"video_backend": "torchcodec",
|
| 389 |
+
"video_keys": [
|
| 390 |
+
"observation.images.image",
|
| 391 |
+
"observation.images.wrist_image"
|
| 392 |
+
]
|
| 393 |
+
},
|
| 394 |
+
{
|
| 395 |
+
"backend": "torchvision",
|
| 396 |
+
"height": 224,
|
| 397 |
+
"scale_to_unit_interval": true,
|
| 398 |
+
"type": "ResizeImages",
|
| 399 |
+
"width": 224
|
| 400 |
+
},
|
| 401 |
+
{
|
| 402 |
+
"means": [
|
| 403 |
+
0.5,
|
| 404 |
+
0.5,
|
| 405 |
+
0.5
|
| 406 |
+
],
|
| 407 |
+
"stds": [
|
| 408 |
+
0.5,
|
| 409 |
+
0.5,
|
| 410 |
+
0.5
|
| 411 |
+
],
|
| 412 |
+
"type": "NormalizeImages"
|
| 413 |
+
},
|
| 414 |
+
{
|
| 415 |
+
"action_dim": 7,
|
| 416 |
+
"action_key": "action",
|
| 417 |
+
"delta_action_dim_mask": [
|
| 418 |
+
true,
|
| 419 |
+
true,
|
| 420 |
+
true,
|
| 421 |
+
true,
|
| 422 |
+
true,
|
| 423 |
+
true,
|
| 424 |
+
false
|
| 425 |
+
],
|
| 426 |
+
"norm_type": "min_max",
|
| 427 |
+
"pad_invalid_action_delta_dims": true,
|
| 428 |
+
"state_dim": 8,
|
| 429 |
+
"state_key": "proprio",
|
| 430 |
+
"type": "NormalizeStatesAndActions"
|
| 431 |
+
},
|
| 432 |
+
{
|
| 433 |
+
"frame_window_size": 9,
|
| 434 |
+
"num_views": 2,
|
| 435 |
+
"tile_direction": "horizontal",
|
| 436 |
+
"type": "PrepareVideo"
|
| 437 |
+
},
|
| 438 |
+
{
|
| 439 |
+
"max_len": 128,
|
| 440 |
+
"prompt_template": "A video recorded from a robot's point of view executing the following instruction: {task}",
|
| 441 |
+
"tokenizer": {
|
| 442 |
+
"model_path": "./checkpoints/fastwam_base_full/tokenizer",
|
| 443 |
+
"type": "PretrainedTokenizer"
|
| 444 |
+
},
|
| 445 |
+
"type": "LiberoPromptFromInputs",
|
| 446 |
+
"use_conversation": false
|
| 447 |
+
}
|
| 448 |
+
],
|
| 449 |
+
"type": "ParquetDataset",
|
| 450 |
+
"use_delta": false,
|
| 451 |
+
"window_start_idx": 0
|
| 452 |
+
},
|
| 453 |
+
"name_mappings": {
|
| 454 |
+
"action": [
|
| 455 |
+
"action"
|
| 456 |
+
],
|
| 457 |
+
"observation.state": [
|
| 458 |
+
"proprio"
|
| 459 |
+
]
|
| 460 |
+
},
|
| 461 |
+
"reshuffle_each_epoch": true,
|
| 462 |
+
"seed": 42,
|
| 463 |
+
"statistic_keys": [
|
| 464 |
+
"observation.state",
|
| 465 |
+
"timestamp",
|
| 466 |
+
"action"
|
| 467 |
+
],
|
| 468 |
+
"statistic_name": "libero_all_no_noops",
|
| 469 |
+
"type": "DistributedRepeatingDataset"
|
| 470 |
+
},
|
| 471 |
+
"per_device_batch_size": 8,
|
| 472 |
+
"per_device_num_workers": 8
|
| 473 |
+
},
|
| 474 |
+
"val_dataloader": null
|
| 475 |
+
}
|
fastwam_idm_libero_full_finetune_bs16/config.yaml
ADDED
|
@@ -0,0 +1,382 @@
|
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|
| 1 |
+
_action_window_size: 32
|
| 2 |
+
_ckpt_root: ./checkpoints
|
| 3 |
+
_data_root_paths:
|
| 4 |
+
- datasets/libero_spatial_no_noops_lerobotv2.1
|
| 5 |
+
- datasets/libero_object_no_noops_lerobotv2.1
|
| 6 |
+
- datasets/libero_goal_no_noops_lerobotv2.1
|
| 7 |
+
- datasets/libero_10_no_noops_lerobotv2.1
|
| 8 |
+
_frame_sample_stride: 4
|
| 9 |
+
_frame_window_size: 9
|
| 10 |
+
_statistic_name: libero_all_no_noops
|
| 11 |
+
_text_prompt_template: 'A video recorded from a robot''s point of view executing the
|
| 12 |
+
following instruction: {task}'
|
| 13 |
+
_tokenizer: ./checkpoints/fastwam_base_full/tokenizer
|
| 14 |
+
eval:
|
| 15 |
+
manager:
|
| 16 |
+
launch_delay: 0.5
|
| 17 |
+
master_port_base: 29690
|
| 18 |
+
max_tasks_per_gpu: 2
|
| 19 |
+
monitor_interval: 5
|
| 20 |
+
num_gpus: 8
|
| 21 |
+
status_interval: 30
|
| 22 |
+
runner:
|
| 23 |
+
dataset:
|
| 24 |
+
img_buffer_len: 1
|
| 25 |
+
transforms:
|
| 26 |
+
- img_keys:
|
| 27 |
+
- agentview_image
|
| 28 |
+
- robot0_eye_in_hand_image
|
| 29 |
+
type: ProcessLiberoEvalInputs
|
| 30 |
+
- image_resize_strategy: resize-naive
|
| 31 |
+
input_sizes:
|
| 32 |
+
- - 3
|
| 33 |
+
- 224
|
| 34 |
+
- 224
|
| 35 |
+
- - 3
|
| 36 |
+
- 224
|
| 37 |
+
- 224
|
| 38 |
+
means:
|
| 39 |
+
- - 127.5
|
| 40 |
+
- 127.5
|
| 41 |
+
- 127.5
|
| 42 |
+
- - 127.5
|
| 43 |
+
- 127.5
|
| 44 |
+
- 127.5
|
| 45 |
+
stds:
|
| 46 |
+
- - 127.5
|
| 47 |
+
- 127.5
|
| 48 |
+
- 127.5
|
| 49 |
+
- - 127.5
|
| 50 |
+
- 127.5
|
| 51 |
+
- 127.5
|
| 52 |
+
type: TransformImage
|
| 53 |
+
- norm_type: min_max
|
| 54 |
+
out_key: states
|
| 55 |
+
stat_key: proprio
|
| 56 |
+
state_dim: 8
|
| 57 |
+
type: LiberoProprioFromInputs
|
| 58 |
+
- max_len: 128
|
| 59 |
+
prompt_template: 'A video recorded from a robot''s point of view executing
|
| 60 |
+
the following instruction: {task}'
|
| 61 |
+
tokenizer:
|
| 62 |
+
model_path: ./checkpoints/fastwam_base_full/tokenizer
|
| 63 |
+
type: PretrainedTokenizer
|
| 64 |
+
type: LiberoPromptFromInputs
|
| 65 |
+
use_conversation: false
|
| 66 |
+
- frame_window_size: 1
|
| 67 |
+
num_views: 2
|
| 68 |
+
tile_direction: horizontal
|
| 69 |
+
type: PrepareVideo
|
| 70 |
+
type: LiberoParquetEvalDataset
|
| 71 |
+
denormalize_action:
|
| 72 |
+
action_dim: 7
|
| 73 |
+
norm_type: min_max
|
| 74 |
+
type: DenormalizeLiberoAction
|
| 75 |
+
enable_mixed_precision_training: true
|
| 76 |
+
eval_chunk_size: 10
|
| 77 |
+
eval_shard_strategy: task
|
| 78 |
+
inference_seed: 42
|
| 79 |
+
max_steps:
|
| 80 |
+
libero_10: 700
|
| 81 |
+
libero_goal: 400
|
| 82 |
+
libero_object: 400
|
| 83 |
+
libero_spatial: 400
|
| 84 |
+
mixed_precision_dtype: bf16
|
| 85 |
+
model_build_device: cuda
|
| 86 |
+
model_build_dtype: bf16
|
| 87 |
+
model_family: fastwam
|
| 88 |
+
norm_stats_key: libero_all_no_noops
|
| 89 |
+
num_inference_steps: 10
|
| 90 |
+
num_steps_wait: 30
|
| 91 |
+
num_trials_per_task: 50
|
| 92 |
+
preprocess_every_step: false
|
| 93 |
+
resize_size: 224
|
| 94 |
+
save_multi_view_rollout_videos: true
|
| 95 |
+
save_rollout_videos: true
|
| 96 |
+
seed: 42
|
| 97 |
+
task_ids: null
|
| 98 |
+
task_suite_name:
|
| 99 |
+
- libero_spatial
|
| 100 |
+
- libero_object
|
| 101 |
+
- libero_goal
|
| 102 |
+
- libero_10
|
| 103 |
+
type: LiberoEvalRunner
|
| 104 |
+
eval_dataset: null
|
| 105 |
+
inference_model:
|
| 106 |
+
action_horizon: 32
|
| 107 |
+
frame_window_size: 9
|
| 108 |
+
mot_checkpoint_mixed_attn: true
|
| 109 |
+
num_views: 2
|
| 110 |
+
pretrained_name_or_path: ./checkpoints/fastwam_base_full/fastwam_base_full.safetensors
|
| 111 |
+
proprio_dim: 8
|
| 112 |
+
torch_dtype: bf16
|
| 113 |
+
type: FastWAMVLA
|
| 114 |
+
vla_head:
|
| 115 |
+
action_dit_config:
|
| 116 |
+
action_dim: 7
|
| 117 |
+
attn_head_dim: 128
|
| 118 |
+
eps: 1.0e-06
|
| 119 |
+
ffn_dim: 4096
|
| 120 |
+
freq_dim: 256
|
| 121 |
+
hidden_dim: 1024
|
| 122 |
+
num_heads: 24
|
| 123 |
+
num_layers: 30
|
| 124 |
+
text_dim: 4096
|
| 125 |
+
use_gradient_checkpointing: true
|
| 126 |
+
action_scheduler:
|
| 127 |
+
infer_shift: 5.0
|
| 128 |
+
num_train_timesteps: 1000
|
| 129 |
+
train_shift: 5.0
|
| 130 |
+
loss:
|
| 131 |
+
lambda_action: 1.0
|
| 132 |
+
lambda_video: 1.0
|
| 133 |
+
type: FastWAMIDMHead
|
| 134 |
+
video_dit_config:
|
| 135 |
+
action_conditioned: false
|
| 136 |
+
action_dim: 7
|
| 137 |
+
action_group_causal_mask_mode: group_diagonal
|
| 138 |
+
attn_head_dim: 128
|
| 139 |
+
eps: 1.0e-06
|
| 140 |
+
ffn_dim: 14336
|
| 141 |
+
freq_dim: 256
|
| 142 |
+
fuse_vae_embedding_in_latents: true
|
| 143 |
+
has_image_input: false
|
| 144 |
+
hidden_dim: 3072
|
| 145 |
+
in_dim: 48
|
| 146 |
+
num_heads: 24
|
| 147 |
+
num_layers: 30
|
| 148 |
+
out_dim: 48
|
| 149 |
+
patch_size:
|
| 150 |
+
- 1
|
| 151 |
+
- 2
|
| 152 |
+
- 2
|
| 153 |
+
require_clip_embedding: false
|
| 154 |
+
require_vae_embedding: false
|
| 155 |
+
seperated_timestep: true
|
| 156 |
+
text_dim: 4096
|
| 157 |
+
use_gradient_checkpointing: true
|
| 158 |
+
video_attention_mask_mode: first_frame_causal
|
| 159 |
+
video_scheduler:
|
| 160 |
+
infer_shift: 5.0
|
| 161 |
+
num_train_timesteps: 1000
|
| 162 |
+
train_shift: 5.0
|
| 163 |
+
vlm_backbone:
|
| 164 |
+
text_embed_cache_context_len: 128
|
| 165 |
+
text_embed_cache_device: cpu
|
| 166 |
+
text_embed_cache_size: 256
|
| 167 |
+
type: Wan22Backbone
|
| 168 |
+
model:
|
| 169 |
+
action_horizon: 32
|
| 170 |
+
frame_window_size: 9
|
| 171 |
+
mot_checkpoint_mixed_attn: true
|
| 172 |
+
num_views: 2
|
| 173 |
+
pretrained_name_or_path: ./checkpoints/fastwam_base_full/fastwam_base_full.safetensors
|
| 174 |
+
proprio_dim: 8
|
| 175 |
+
torch_dtype: bf16
|
| 176 |
+
type: FastWAMVLA
|
| 177 |
+
vla_head:
|
| 178 |
+
action_dit_config:
|
| 179 |
+
action_dim: 7
|
| 180 |
+
attn_head_dim: 128
|
| 181 |
+
eps: 1.0e-06
|
| 182 |
+
ffn_dim: 4096
|
| 183 |
+
freq_dim: 256
|
| 184 |
+
hidden_dim: 1024
|
| 185 |
+
num_heads: 24
|
| 186 |
+
num_layers: 30
|
| 187 |
+
text_dim: 4096
|
| 188 |
+
use_gradient_checkpointing: true
|
| 189 |
+
action_scheduler:
|
| 190 |
+
infer_shift: 5.0
|
| 191 |
+
num_train_timesteps: 1000
|
| 192 |
+
train_shift: 5.0
|
| 193 |
+
loss:
|
| 194 |
+
lambda_action: 1.0
|
| 195 |
+
lambda_video: 1.0
|
| 196 |
+
type: FastWAMIDMHead
|
| 197 |
+
video_dit_config:
|
| 198 |
+
action_conditioned: false
|
| 199 |
+
action_dim: 7
|
| 200 |
+
action_group_causal_mask_mode: group_diagonal
|
| 201 |
+
attn_head_dim: 128
|
| 202 |
+
eps: 1.0e-06
|
| 203 |
+
ffn_dim: 14336
|
| 204 |
+
freq_dim: 256
|
| 205 |
+
fuse_vae_embedding_in_latents: true
|
| 206 |
+
has_image_input: false
|
| 207 |
+
hidden_dim: 3072
|
| 208 |
+
in_dim: 48
|
| 209 |
+
num_heads: 24
|
| 210 |
+
num_layers: 30
|
| 211 |
+
out_dim: 48
|
| 212 |
+
patch_size:
|
| 213 |
+
- 1
|
| 214 |
+
- 2
|
| 215 |
+
- 2
|
| 216 |
+
require_clip_embedding: false
|
| 217 |
+
require_vae_embedding: false
|
| 218 |
+
seperated_timestep: true
|
| 219 |
+
text_dim: 4096
|
| 220 |
+
use_gradient_checkpointing: true
|
| 221 |
+
video_attention_mask_mode: first_frame_causal
|
| 222 |
+
video_scheduler:
|
| 223 |
+
infer_shift: 5.0
|
| 224 |
+
num_train_timesteps: 1000
|
| 225 |
+
train_shift: 5.0
|
| 226 |
+
vlm_backbone:
|
| 227 |
+
text_embed_cache_context_len: 128
|
| 228 |
+
text_embed_cache_device: cpu
|
| 229 |
+
text_embed_cache_size: 256
|
| 230 |
+
type: Wan22Backbone
|
| 231 |
+
runner:
|
| 232 |
+
collator:
|
| 233 |
+
keys:
|
| 234 |
+
- states
|
| 235 |
+
- images
|
| 236 |
+
- img_masks
|
| 237 |
+
- actions
|
| 238 |
+
- action_masks
|
| 239 |
+
- embodiment_ids
|
| 240 |
+
- frame_masks
|
| 241 |
+
- lang_tokens
|
| 242 |
+
- lang_masks
|
| 243 |
+
meta_keys:
|
| 244 |
+
- task_description
|
| 245 |
+
- info
|
| 246 |
+
- stats
|
| 247 |
+
- timestamp
|
| 248 |
+
type: DictCollator
|
| 249 |
+
enable_gradient_checkpointing: false
|
| 250 |
+
enable_mixed_precision_training: true
|
| 251 |
+
evaluator:
|
| 252 |
+
eval_every: 1000
|
| 253 |
+
num_inference_steps: 10
|
| 254 |
+
save_video: true
|
| 255 |
+
seed: 42
|
| 256 |
+
type: training-eval
|
| 257 |
+
video_fps: 8
|
| 258 |
+
grad_accumulation_steps: 1
|
| 259 |
+
lr_scheduler:
|
| 260 |
+
betas:
|
| 261 |
+
- 0.9
|
| 262 |
+
- 0.95
|
| 263 |
+
min_lr_ratio: 0.01
|
| 264 |
+
type: linear-warmup+cosine-decay-min-lr
|
| 265 |
+
warmup_ratio: 0.05
|
| 266 |
+
weight_decay_style: uniform
|
| 267 |
+
max_epochs: 10
|
| 268 |
+
max_grad_norm: 1.0
|
| 269 |
+
max_keep_ckpts: 10
|
| 270 |
+
max_steps: null
|
| 271 |
+
metric:
|
| 272 |
+
active_trackers:
|
| 273 |
+
- jsonl
|
| 274 |
+
- wandb
|
| 275 |
+
run_dir: work_dirs
|
| 276 |
+
type: VLAMetric
|
| 277 |
+
window_size: 1
|
| 278 |
+
mixed_precision_dtype: bf16
|
| 279 |
+
optimizer:
|
| 280 |
+
lr: 0.0001
|
| 281 |
+
type: AdamW
|
| 282 |
+
weight_decay: 0.01
|
| 283 |
+
reduce_in_full_precision: true
|
| 284 |
+
sampler: null
|
| 285 |
+
save_epoch_interval: 1
|
| 286 |
+
save_iter_interval: 10000
|
| 287 |
+
sharding_strategy: shard-grad-op
|
| 288 |
+
type: FSDPTrainRunner
|
| 289 |
+
seed: 42
|
| 290 |
+
train_dataloader:
|
| 291 |
+
dataset:
|
| 292 |
+
batch_shard_size: 8
|
| 293 |
+
datasets:
|
| 294 |
+
action_key: action
|
| 295 |
+
action_window_size: 32
|
| 296 |
+
data_root_path:
|
| 297 |
+
- datasets/libero_spatial_no_noops_lerobotv2.1
|
| 298 |
+
- datasets/libero_object_no_noops_lerobotv2.1
|
| 299 |
+
- datasets/libero_goal_no_noops_lerobotv2.1
|
| 300 |
+
- datasets/libero_10_no_noops_lerobotv2.1
|
| 301 |
+
frame_sample_stride: 4
|
| 302 |
+
frame_window_size: 9
|
| 303 |
+
statistic_name: libero_all_no_noops
|
| 304 |
+
transforms:
|
| 305 |
+
- embodiment_id: 0
|
| 306 |
+
name_mappings:
|
| 307 |
+
actions:
|
| 308 |
+
- actions
|
| 309 |
+
observation.state:
|
| 310 |
+
- states
|
| 311 |
+
parquet_keys:
|
| 312 |
+
- observation.state
|
| 313 |
+
- timestamp
|
| 314 |
+
- actions
|
| 315 |
+
- info
|
| 316 |
+
- stats
|
| 317 |
+
- action_masks
|
| 318 |
+
type: ProcessParquetInputs
|
| 319 |
+
video_backend: torchcodec
|
| 320 |
+
video_keys:
|
| 321 |
+
- observation.images.image
|
| 322 |
+
- observation.images.wrist_image
|
| 323 |
+
- backend: torchvision
|
| 324 |
+
height: 224
|
| 325 |
+
scale_to_unit_interval: true
|
| 326 |
+
type: ResizeImages
|
| 327 |
+
width: 224
|
| 328 |
+
- means:
|
| 329 |
+
- 0.5
|
| 330 |
+
- 0.5
|
| 331 |
+
- 0.5
|
| 332 |
+
stds:
|
| 333 |
+
- 0.5
|
| 334 |
+
- 0.5
|
| 335 |
+
- 0.5
|
| 336 |
+
type: NormalizeImages
|
| 337 |
+
- action_dim: 7
|
| 338 |
+
action_key: action
|
| 339 |
+
delta_action_dim_mask:
|
| 340 |
+
- true
|
| 341 |
+
- true
|
| 342 |
+
- true
|
| 343 |
+
- true
|
| 344 |
+
- true
|
| 345 |
+
- true
|
| 346 |
+
- false
|
| 347 |
+
norm_type: min_max
|
| 348 |
+
pad_invalid_action_delta_dims: true
|
| 349 |
+
state_dim: 8
|
| 350 |
+
state_key: proprio
|
| 351 |
+
type: NormalizeStatesAndActions
|
| 352 |
+
- frame_window_size: 9
|
| 353 |
+
num_views: 2
|
| 354 |
+
tile_direction: horizontal
|
| 355 |
+
type: PrepareVideo
|
| 356 |
+
- max_len: 128
|
| 357 |
+
prompt_template: 'A video recorded from a robot''s point of view executing
|
| 358 |
+
the following instruction: {task}'
|
| 359 |
+
tokenizer:
|
| 360 |
+
model_path: ./checkpoints/fastwam_base_full/tokenizer
|
| 361 |
+
type: PretrainedTokenizer
|
| 362 |
+
type: LiberoPromptFromInputs
|
| 363 |
+
use_conversation: false
|
| 364 |
+
type: ParquetDataset
|
| 365 |
+
use_delta: false
|
| 366 |
+
window_start_idx: 0
|
| 367 |
+
name_mappings:
|
| 368 |
+
action:
|
| 369 |
+
- action
|
| 370 |
+
observation.state:
|
| 371 |
+
- proprio
|
| 372 |
+
reshuffle_each_epoch: true
|
| 373 |
+
seed: 42
|
| 374 |
+
statistic_keys:
|
| 375 |
+
- observation.state
|
| 376 |
+
- timestamp
|
| 377 |
+
- action
|
| 378 |
+
statistic_name: libero_all_no_noops
|
| 379 |
+
type: DistributedRepeatingDataset
|
| 380 |
+
per_device_batch_size: 8
|
| 381 |
+
per_device_num_workers: 8
|
| 382 |
+
val_dataloader: null
|
fastwam_idm_libero_full_finetune_bs16/dataset_statistics.json
ADDED
|
@@ -0,0 +1,104 @@
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
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|
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|
|
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|
|
| 1 |
+
{
|
| 2 |
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"libero_all_no_noops": {
|
| 3 |
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"proprio": {
|
| 4 |
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"mean": [
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|
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| 13 |
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],
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| 14 |
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| 15 |
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|
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|
| 23 |
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|
| 24 |
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| 25 |
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| 34 |
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| 35 |
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},
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| 47 |
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"timestamp": {
|
| 48 |
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| 49 |
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|
| 50 |
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| 53 |
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],
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| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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|
| 63 |
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"action": {
|
| 64 |
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| 65 |
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|
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|
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],
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"std": [
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| 75 |
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|
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|
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|
| 82 |
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"min": [
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| 83 |
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| 84 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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| 90 |
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],
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"max": [
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| 92 |
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| 93 |
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| 94 |
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|
| 96 |
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| 100 |
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|
| 101 |
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"q99": null
|
| 102 |
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}
|
| 103 |
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}
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| 104 |
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}
|
fastwam_idm_libero_full_finetune_bs16/fastwam_idm_libero_full_finetune_2026_08_17_21_48_53.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
fastwam_joint_libero_full_finetune_bs16/checkpoints/step-021700-epoch-10-loss=0.0980.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:4898467d9d35440764760f4646acf16a546159b02208a310aab8e22862e97f78
|
| 3 |
+
size 49625513412
|
fastwam_joint_libero_full_finetune_bs16/config.json
ADDED
|
@@ -0,0 +1,475 @@
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|
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+
"video_backend": "torchcodec",
|
| 389 |
+
"video_keys": [
|
| 390 |
+
"observation.images.image",
|
| 391 |
+
"observation.images.wrist_image"
|
| 392 |
+
]
|
| 393 |
+
},
|
| 394 |
+
{
|
| 395 |
+
"backend": "torchvision",
|
| 396 |
+
"height": 224,
|
| 397 |
+
"scale_to_unit_interval": true,
|
| 398 |
+
"type": "ResizeImages",
|
| 399 |
+
"width": 224
|
| 400 |
+
},
|
| 401 |
+
{
|
| 402 |
+
"means": [
|
| 403 |
+
0.5,
|
| 404 |
+
0.5,
|
| 405 |
+
0.5
|
| 406 |
+
],
|
| 407 |
+
"stds": [
|
| 408 |
+
0.5,
|
| 409 |
+
0.5,
|
| 410 |
+
0.5
|
| 411 |
+
],
|
| 412 |
+
"type": "NormalizeImages"
|
| 413 |
+
},
|
| 414 |
+
{
|
| 415 |
+
"action_dim": 7,
|
| 416 |
+
"action_key": "action",
|
| 417 |
+
"delta_action_dim_mask": [
|
| 418 |
+
true,
|
| 419 |
+
true,
|
| 420 |
+
true,
|
| 421 |
+
true,
|
| 422 |
+
true,
|
| 423 |
+
true,
|
| 424 |
+
false
|
| 425 |
+
],
|
| 426 |
+
"norm_type": "min_max",
|
| 427 |
+
"pad_invalid_action_delta_dims": true,
|
| 428 |
+
"state_dim": 8,
|
| 429 |
+
"state_key": "proprio",
|
| 430 |
+
"type": "NormalizeStatesAndActions"
|
| 431 |
+
},
|
| 432 |
+
{
|
| 433 |
+
"frame_window_size": 9,
|
| 434 |
+
"num_views": 2,
|
| 435 |
+
"tile_direction": "horizontal",
|
| 436 |
+
"type": "PrepareVideo"
|
| 437 |
+
},
|
| 438 |
+
{
|
| 439 |
+
"max_len": 128,
|
| 440 |
+
"prompt_template": "A video recorded from a robot's point of view executing the following instruction: {task}",
|
| 441 |
+
"tokenizer": {
|
| 442 |
+
"model_path": "./checkpoints/fastwam_base_full/tokenizer",
|
| 443 |
+
"type": "PretrainedTokenizer"
|
| 444 |
+
},
|
| 445 |
+
"type": "LiberoPromptFromInputs",
|
| 446 |
+
"use_conversation": false
|
| 447 |
+
}
|
| 448 |
+
],
|
| 449 |
+
"type": "ParquetDataset",
|
| 450 |
+
"use_delta": false,
|
| 451 |
+
"window_start_idx": 0
|
| 452 |
+
},
|
| 453 |
+
"name_mappings": {
|
| 454 |
+
"action": [
|
| 455 |
+
"action"
|
| 456 |
+
],
|
| 457 |
+
"observation.state": [
|
| 458 |
+
"proprio"
|
| 459 |
+
]
|
| 460 |
+
},
|
| 461 |
+
"reshuffle_each_epoch": true,
|
| 462 |
+
"seed": 42,
|
| 463 |
+
"statistic_keys": [
|
| 464 |
+
"observation.state",
|
| 465 |
+
"timestamp",
|
| 466 |
+
"action"
|
| 467 |
+
],
|
| 468 |
+
"statistic_name": "libero_all_no_noops",
|
| 469 |
+
"type": "DistributedRepeatingDataset"
|
| 470 |
+
},
|
| 471 |
+
"per_device_batch_size": 8,
|
| 472 |
+
"per_device_num_workers": 8
|
| 473 |
+
},
|
| 474 |
+
"val_dataloader": null
|
| 475 |
+
}
|
fastwam_joint_libero_full_finetune_bs16/config.yaml
ADDED
|
@@ -0,0 +1,382 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
|
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|
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|
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|
|
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|
|
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|
|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
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|
|
|
|
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|
|
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|
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|
|
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|
|
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|
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|
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|
|
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|
|
|
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|
|
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|
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|
|
|
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|
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|
|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
_action_window_size: 32
|
| 2 |
+
_ckpt_root: ./checkpoints
|
| 3 |
+
_data_root_paths:
|
| 4 |
+
- datasets/libero_spatial_no_noops_lerobotv2.1
|
| 5 |
+
- datasets/libero_object_no_noops_lerobotv2.1
|
| 6 |
+
- datasets/libero_goal_no_noops_lerobotv2.1
|
| 7 |
+
- datasets/libero_10_no_noops_lerobotv2.1
|
| 8 |
+
_frame_sample_stride: 4
|
| 9 |
+
_frame_window_size: 9
|
| 10 |
+
_statistic_name: libero_all_no_noops
|
| 11 |
+
_text_prompt_template: 'A video recorded from a robot''s point of view executing the
|
| 12 |
+
following instruction: {task}'
|
| 13 |
+
_tokenizer: ./checkpoints/fastwam_base_full/tokenizer
|
| 14 |
+
eval:
|
| 15 |
+
manager:
|
| 16 |
+
launch_delay: 0.5
|
| 17 |
+
master_port_base: 29690
|
| 18 |
+
max_tasks_per_gpu: 2
|
| 19 |
+
monitor_interval: 5
|
| 20 |
+
num_gpus: 8
|
| 21 |
+
status_interval: 30
|
| 22 |
+
runner:
|
| 23 |
+
dataset:
|
| 24 |
+
img_buffer_len: 1
|
| 25 |
+
transforms:
|
| 26 |
+
- img_keys:
|
| 27 |
+
- agentview_image
|
| 28 |
+
- robot0_eye_in_hand_image
|
| 29 |
+
type: ProcessLiberoEvalInputs
|
| 30 |
+
- image_resize_strategy: resize-naive
|
| 31 |
+
input_sizes:
|
| 32 |
+
- - 3
|
| 33 |
+
- 224
|
| 34 |
+
- 224
|
| 35 |
+
- - 3
|
| 36 |
+
- 224
|
| 37 |
+
- 224
|
| 38 |
+
means:
|
| 39 |
+
- - 127.5
|
| 40 |
+
- 127.5
|
| 41 |
+
- 127.5
|
| 42 |
+
- - 127.5
|
| 43 |
+
- 127.5
|
| 44 |
+
- 127.5
|
| 45 |
+
stds:
|
| 46 |
+
- - 127.5
|
| 47 |
+
- 127.5
|
| 48 |
+
- 127.5
|
| 49 |
+
- - 127.5
|
| 50 |
+
- 127.5
|
| 51 |
+
- 127.5
|
| 52 |
+
type: TransformImage
|
| 53 |
+
- norm_type: min_max
|
| 54 |
+
out_key: states
|
| 55 |
+
stat_key: proprio
|
| 56 |
+
state_dim: 8
|
| 57 |
+
type: LiberoProprioFromInputs
|
| 58 |
+
- max_len: 128
|
| 59 |
+
prompt_template: 'A video recorded from a robot''s point of view executing
|
| 60 |
+
the following instruction: {task}'
|
| 61 |
+
tokenizer:
|
| 62 |
+
model_path: ./checkpoints/fastwam_base_full/tokenizer
|
| 63 |
+
type: PretrainedTokenizer
|
| 64 |
+
type: LiberoPromptFromInputs
|
| 65 |
+
use_conversation: false
|
| 66 |
+
- frame_window_size: 1
|
| 67 |
+
num_views: 2
|
| 68 |
+
tile_direction: horizontal
|
| 69 |
+
type: PrepareVideo
|
| 70 |
+
type: LiberoParquetEvalDataset
|
| 71 |
+
denormalize_action:
|
| 72 |
+
action_dim: 7
|
| 73 |
+
norm_type: min_max
|
| 74 |
+
type: DenormalizeLiberoAction
|
| 75 |
+
enable_mixed_precision_training: true
|
| 76 |
+
eval_chunk_size: 10
|
| 77 |
+
eval_shard_strategy: task
|
| 78 |
+
inference_seed: 42
|
| 79 |
+
max_steps:
|
| 80 |
+
libero_10: 700
|
| 81 |
+
libero_goal: 400
|
| 82 |
+
libero_object: 400
|
| 83 |
+
libero_spatial: 400
|
| 84 |
+
mixed_precision_dtype: bf16
|
| 85 |
+
model_build_device: cuda
|
| 86 |
+
model_build_dtype: bf16
|
| 87 |
+
model_family: fastwam
|
| 88 |
+
norm_stats_key: libero_all_no_noops
|
| 89 |
+
num_inference_steps: 10
|
| 90 |
+
num_steps_wait: 30
|
| 91 |
+
num_trials_per_task: 50
|
| 92 |
+
preprocess_every_step: false
|
| 93 |
+
resize_size: 224
|
| 94 |
+
save_multi_view_rollout_videos: true
|
| 95 |
+
save_rollout_videos: true
|
| 96 |
+
seed: 42
|
| 97 |
+
task_ids: null
|
| 98 |
+
task_suite_name:
|
| 99 |
+
- libero_spatial
|
| 100 |
+
- libero_object
|
| 101 |
+
- libero_goal
|
| 102 |
+
- libero_10
|
| 103 |
+
type: LiberoEvalRunner
|
| 104 |
+
eval_dataset: null
|
| 105 |
+
inference_model:
|
| 106 |
+
action_horizon: 32
|
| 107 |
+
frame_window_size: 9
|
| 108 |
+
mot_checkpoint_mixed_attn: true
|
| 109 |
+
num_views: 2
|
| 110 |
+
pretrained_name_or_path: ./checkpoints/fastwam_base_full/fastwam_base_full.safetensors
|
| 111 |
+
proprio_dim: 8
|
| 112 |
+
torch_dtype: bf16
|
| 113 |
+
type: FastWAMVLA
|
| 114 |
+
vla_head:
|
| 115 |
+
action_dit_config:
|
| 116 |
+
action_dim: 7
|
| 117 |
+
attn_head_dim: 128
|
| 118 |
+
eps: 1.0e-06
|
| 119 |
+
ffn_dim: 4096
|
| 120 |
+
freq_dim: 256
|
| 121 |
+
hidden_dim: 1024
|
| 122 |
+
num_heads: 24
|
| 123 |
+
num_layers: 30
|
| 124 |
+
text_dim: 4096
|
| 125 |
+
use_gradient_checkpointing: true
|
| 126 |
+
action_scheduler:
|
| 127 |
+
infer_shift: 5.0
|
| 128 |
+
num_train_timesteps: 1000
|
| 129 |
+
train_shift: 5.0
|
| 130 |
+
loss:
|
| 131 |
+
lambda_action: 1.0
|
| 132 |
+
lambda_video: 1.0
|
| 133 |
+
type: FastWAMJointHead
|
| 134 |
+
video_dit_config:
|
| 135 |
+
action_conditioned: false
|
| 136 |
+
action_dim: 7
|
| 137 |
+
action_group_causal_mask_mode: group_diagonal
|
| 138 |
+
attn_head_dim: 128
|
| 139 |
+
eps: 1.0e-06
|
| 140 |
+
ffn_dim: 14336
|
| 141 |
+
freq_dim: 256
|
| 142 |
+
fuse_vae_embedding_in_latents: true
|
| 143 |
+
has_image_input: false
|
| 144 |
+
hidden_dim: 3072
|
| 145 |
+
in_dim: 48
|
| 146 |
+
num_heads: 24
|
| 147 |
+
num_layers: 30
|
| 148 |
+
out_dim: 48
|
| 149 |
+
patch_size:
|
| 150 |
+
- 1
|
| 151 |
+
- 2
|
| 152 |
+
- 2
|
| 153 |
+
require_clip_embedding: false
|
| 154 |
+
require_vae_embedding: false
|
| 155 |
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seperated_timestep: true
|
| 156 |
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text_dim: 4096
|
| 157 |
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use_gradient_checkpointing: true
|
| 158 |
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video_attention_mask_mode: first_frame_causal
|
| 159 |
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video_scheduler:
|
| 160 |
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infer_shift: 5.0
|
| 161 |
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num_train_timesteps: 1000
|
| 162 |
+
train_shift: 5.0
|
| 163 |
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vlm_backbone:
|
| 164 |
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text_embed_cache_context_len: 128
|
| 165 |
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text_embed_cache_device: cpu
|
| 166 |
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text_embed_cache_size: 256
|
| 167 |
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type: Wan22Backbone
|
| 168 |
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model:
|
| 169 |
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action_horizon: 32
|
| 170 |
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frame_window_size: 9
|
| 171 |
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mot_checkpoint_mixed_attn: true
|
| 172 |
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num_views: 2
|
| 173 |
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pretrained_name_or_path: ./checkpoints/fastwam_base_full/fastwam_base_full.safetensors
|
| 174 |
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proprio_dim: 8
|
| 175 |
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torch_dtype: bf16
|
| 176 |
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type: FastWAMVLA
|
| 177 |
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vla_head:
|
| 178 |
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action_dit_config:
|
| 179 |
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action_dim: 7
|
| 180 |
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|
| 181 |
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eps: 1.0e-06
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| 182 |
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|
| 183 |
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| 184 |
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| 185 |
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| 186 |
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num_layers: 30
|
| 187 |
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text_dim: 4096
|
| 188 |
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use_gradient_checkpointing: true
|
| 189 |
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action_scheduler:
|
| 190 |
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infer_shift: 5.0
|
| 191 |
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num_train_timesteps: 1000
|
| 192 |
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train_shift: 5.0
|
| 193 |
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loss:
|
| 194 |
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lambda_action: 1.0
|
| 195 |
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lambda_video: 1.0
|
| 196 |
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type: FastWAMJointHead
|
| 197 |
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video_dit_config:
|
| 198 |
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action_conditioned: false
|
| 199 |
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action_dim: 7
|
| 200 |
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action_group_causal_mask_mode: group_diagonal
|
| 201 |
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attn_head_dim: 128
|
| 202 |
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eps: 1.0e-06
|
| 203 |
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ffn_dim: 14336
|
| 204 |
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|
| 205 |
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fuse_vae_embedding_in_latents: true
|
| 206 |
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has_image_input: false
|
| 207 |
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hidden_dim: 3072
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|
| 209 |
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|
| 210 |
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num_layers: 30
|
| 211 |
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| 212 |
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patch_size:
|
| 213 |
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| 214 |
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|
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| 216 |
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| 217 |
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require_vae_embedding: false
|
| 218 |
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|
| 219 |
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text_dim: 4096
|
| 220 |
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use_gradient_checkpointing: true
|
| 221 |
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video_attention_mask_mode: first_frame_causal
|
| 222 |
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video_scheduler:
|
| 223 |
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infer_shift: 5.0
|
| 224 |
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num_train_timesteps: 1000
|
| 225 |
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train_shift: 5.0
|
| 226 |
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vlm_backbone:
|
| 227 |
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text_embed_cache_context_len: 128
|
| 228 |
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text_embed_cache_device: cpu
|
| 229 |
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text_embed_cache_size: 256
|
| 230 |
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type: Wan22Backbone
|
| 231 |
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|
| 232 |
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collator:
|
| 233 |
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keys:
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| 234 |
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- states
|
| 235 |
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|
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|
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|
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|
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|
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| 246 |
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|
| 247 |
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|
| 248 |
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type: DictCollator
|
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|
| 250 |
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|
| 251 |
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|
| 252 |
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eval_every: 1000
|
| 253 |
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num_inference_steps: 10
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| 254 |
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save_video: true
|
| 255 |
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seed: 42
|
| 256 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 264 |
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|
| 265 |
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warmup_ratio: 0.05
|
| 266 |
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|
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|
| 268 |
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max_grad_norm: 1.0
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| 269 |
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| 270 |
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max_steps: null
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| 271 |
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|
| 272 |
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active_trackers:
|
| 273 |
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| 274 |
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|
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run_dir: work_dirs
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type: VLAMetric
|
| 277 |
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window_size: 1
|
| 278 |
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mixed_precision_dtype: bf16
|
| 279 |
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optimizer:
|
| 280 |
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lr: 0.0001
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| 281 |
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type: AdamW
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weight_decay: 0.01
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reduce_in_full_precision: true
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| 284 |
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| 286 |
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|
| 287 |
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|
| 288 |
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type: FSDPTrainRunner
|
| 289 |
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seed: 42
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| 290 |
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train_dataloader:
|
| 291 |
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|
| 292 |
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batch_shard_size: 8
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| 293 |
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|
| 294 |
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action_key: action
|
| 295 |
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action_window_size: 32
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| 296 |
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data_root_path:
|
| 297 |
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|
| 298 |
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- datasets/libero_object_no_noops_lerobotv2.1
|
| 299 |
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- datasets/libero_goal_no_noops_lerobotv2.1
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| 300 |
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- datasets/libero_10_no_noops_lerobotv2.1
|
| 301 |
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frame_sample_stride: 4
|
| 302 |
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frame_window_size: 9
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| 303 |
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statistic_name: libero_all_no_noops
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transforms:
|
| 305 |
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|
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|
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video_backend: torchcodec
|
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video_keys:
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|
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|
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|
| 324 |
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height: 224
|
| 325 |
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scale_to_unit_interval: true
|
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|
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|
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|
| 329 |
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pad_invalid_action_delta_dims: true
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state_dim: 8
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state_key: proprio
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type: NormalizeStatesAndActions
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|
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num_views: 2
|
| 354 |
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tile_direction: horizontal
|
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type: PrepareVideo
|
| 356 |
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|
| 357 |
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prompt_template: 'A video recorded from a robot''s point of view executing
|
| 358 |
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the following instruction: {task}'
|
| 359 |
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tokenizer:
|
| 360 |
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model_path: ./checkpoints/fastwam_base_full/tokenizer
|
| 361 |
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type: PretrainedTokenizer
|
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type: LiberoPromptFromInputs
|
| 363 |
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use_conversation: false
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type: ParquetDataset
|
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window_start_idx: 0
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name_mappings:
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action:
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- action
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- proprio
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reshuffle_each_epoch: true
|
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seed: 42
|
| 374 |
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statistic_keys:
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- observation.state
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- timestamp
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- action
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statistic_name: libero_all_no_noops
|
| 379 |
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type: DistributedRepeatingDataset
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| 380 |
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per_device_batch_size: 8
|
| 381 |
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per_device_num_workers: 8
|
| 382 |
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val_dataloader: null
|
fastwam_joint_libero_full_finetune_bs16/dataset_statistics.json
ADDED
|
@@ -0,0 +1,104 @@
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fastwam_joint_libero_full_finetune_bs16/fastwam_joint_libero_full_finetune_2026_08_17_22_14_43.jsonl
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The diff for this file is too large to render.
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