diff --git a/fastwam_idm_libero_full_finetune_bs16/checkpoints/step-021700-epoch-10-loss=0.0906.safetensors b/fastwam_idm_libero_full_finetune_bs16/checkpoints/step-021700-epoch-10-loss=0.0906.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..91b371ab5b5ea2355d581262e60e61cb8f0527cf --- /dev/null +++ b/fastwam_idm_libero_full_finetune_bs16/checkpoints/step-021700-epoch-10-loss=0.0906.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b5dd21865788790f756f4279052a36fd4cb110643c767ca90c509d8faefd8ac +size 49625513412 diff --git a/fastwam_idm_libero_full_finetune_bs16/config.json b/fastwam_idm_libero_full_finetune_bs16/config.json new file mode 100644 index 0000000000000000000000000000000000000000..b73a2d2a642df89b9adb9171300c66dfc19f53dc --- /dev/null +++ b/fastwam_idm_libero_full_finetune_bs16/config.json @@ -0,0 +1,475 @@ +{ + "_action_window_size": 32, + "_ckpt_root": "./checkpoints", + "_data_root_paths": [ + "datasets/libero_spatial_no_noops_lerobotv2.1", + "datasets/libero_object_no_noops_lerobotv2.1", + "datasets/libero_goal_no_noops_lerobotv2.1", + "datasets/libero_10_no_noops_lerobotv2.1" + ], + "_frame_sample_stride": 4, + "_frame_window_size": 9, + "_statistic_name": "libero_all_no_noops", + "_text_prompt_template": "A video recorded from a robot's point of view executing the following instruction: {task}", + "_tokenizer": "./checkpoints/fastwam_base_full/tokenizer", + "eval": { + "manager": { + "launch_delay": 0.5, + "master_port_base": 29690, + "max_tasks_per_gpu": 2, + "monitor_interval": 5, + "num_gpus": 8, + "status_interval": 30 + }, + "runner": { + "dataset": { + "img_buffer_len": 1, + "transforms": [ + { + "img_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "type": "ProcessLiberoEvalInputs" + }, + { + "image_resize_strategy": "resize-naive", + "input_sizes": [ + [ + 3, + 224, + 224 + ], + [ + 3, + 224, + 224 + ] + ], + "means": [ + [ + 127.5, + 127.5, + 127.5 + ], + [ + 127.5, + 127.5, + 127.5 + ] + ], + "stds": [ + [ + 127.5, + 127.5, + 127.5 + ], + [ + 127.5, + 127.5, + 127.5 + ] + ], + "type": "TransformImage" + }, + { + "norm_type": "min_max", + "out_key": "states", + "stat_key": "proprio", + "state_dim": 8, + "type": "LiberoProprioFromInputs" + }, + { + "max_len": 128, + "prompt_template": "A video recorded from a robot's point of view executing the following instruction: {task}", + "tokenizer": { + "model_path": "./checkpoints/fastwam_base_full/tokenizer", + "type": "PretrainedTokenizer" + }, + "type": "LiberoPromptFromInputs", + "use_conversation": false + }, + { + "frame_window_size": 1, + "num_views": 2, + "tile_direction": "horizontal", + "type": "PrepareVideo" + } + ], + "type": "LiberoParquetEvalDataset" + }, + "denormalize_action": { + "action_dim": 7, + "norm_type": "min_max", + "type": "DenormalizeLiberoAction" + }, + "enable_mixed_precision_training": true, + "eval_chunk_size": 10, + "eval_shard_strategy": "task", + "inference_seed": 42, + "max_steps": { + "libero_10": 700, + "libero_goal": 400, + "libero_object": 400, + "libero_spatial": 400 + }, + "mixed_precision_dtype": "bf16", + "model_build_device": "cuda", + "model_build_dtype": "bf16", + "model_family": "fastwam", + "norm_stats_key": "libero_all_no_noops", + "num_inference_steps": 10, + "num_steps_wait": 30, + "num_trials_per_task": 50, + "preprocess_every_step": false, + "resize_size": 224, + "save_multi_view_rollout_videos": true, + "save_rollout_videos": true, + "seed": 42, + "task_ids": null, + "task_suite_name": [ + "libero_spatial", + "libero_object", + "libero_goal", + "libero_10" + ], + "type": "LiberoEvalRunner" + } + }, + "eval_dataset": null, + "inference_model": { + "action_horizon": 32, + "frame_window_size": 9, + "mot_checkpoint_mixed_attn": true, + "num_views": 2, + "pretrained_name_or_path": "./checkpoints/fastwam_base_full/fastwam_base_full.safetensors", + "proprio_dim": 8, + "torch_dtype": "bf16", + "type": "FastWAMVLA", + "vla_head": { + "action_dit_config": { + "action_dim": 7, + "attn_head_dim": 128, + "eps": 1e-06, + "ffn_dim": 4096, + "freq_dim": 256, + "hidden_dim": 1024, + "num_heads": 24, + "num_layers": 30, + "text_dim": 4096, + "use_gradient_checkpointing": true + }, + "action_scheduler": { + "infer_shift": 5.0, + "num_train_timesteps": 1000, + "train_shift": 5.0 + }, + "loss": { + "lambda_action": 1.0, + "lambda_video": 1.0 + }, + "type": "FastWAMIDMHead", + "video_dit_config": { + "action_conditioned": false, + "action_dim": 7, + "action_group_causal_mask_mode": "group_diagonal", + "attn_head_dim": 128, + "eps": 1e-06, + "ffn_dim": 14336, + "freq_dim": 256, + "fuse_vae_embedding_in_latents": true, + "has_image_input": false, + "hidden_dim": 3072, + "in_dim": 48, + "num_heads": 24, + "num_layers": 30, + "out_dim": 48, + "patch_size": [ + 1, + 2, + 2 + ], + "require_clip_embedding": false, + "require_vae_embedding": false, + "seperated_timestep": true, + "text_dim": 4096, + "use_gradient_checkpointing": true, + "video_attention_mask_mode": "first_frame_causal" + }, + "video_scheduler": { + "infer_shift": 5.0, + "num_train_timesteps": 1000, + "train_shift": 5.0 + } + }, + "vlm_backbone": { + "text_embed_cache_context_len": 128, + "text_embed_cache_device": "cpu", + "text_embed_cache_size": 256, + "type": "Wan22Backbone" + } + }, + "model": { + "action_horizon": 32, + "frame_window_size": 9, + "mot_checkpoint_mixed_attn": true, + "num_views": 2, + "pretrained_name_or_path": "./checkpoints/fastwam_base_full/fastwam_base_full.safetensors", + "proprio_dim": 8, + "torch_dtype": "bf16", + "type": "FastWAMVLA", + "vla_head": { + "action_dit_config": { + "action_dim": 7, + "attn_head_dim": 128, + "eps": 1e-06, + "ffn_dim": 4096, + "freq_dim": 256, + "hidden_dim": 1024, + "num_heads": 24, + "num_layers": 30, + "text_dim": 4096, + "use_gradient_checkpointing": true + }, + "action_scheduler": { + "infer_shift": 5.0, + "num_train_timesteps": 1000, + "train_shift": 5.0 + }, + "loss": { + "lambda_action": 1.0, + "lambda_video": 1.0 + }, + "type": "FastWAMIDMHead", + "video_dit_config": { + "action_conditioned": false, + "action_dim": 7, + "action_group_causal_mask_mode": "group_diagonal", + "attn_head_dim": 128, + "eps": 1e-06, + "ffn_dim": 14336, + "freq_dim": 256, + "fuse_vae_embedding_in_latents": true, + "has_image_input": false, + "hidden_dim": 3072, + "in_dim": 48, + "num_heads": 24, + "num_layers": 30, + "out_dim": 48, + "patch_size": [ + 1, + 2, + 2 + ], + "require_clip_embedding": false, + "require_vae_embedding": false, + "seperated_timestep": true, + "text_dim": 4096, + "use_gradient_checkpointing": true, + "video_attention_mask_mode": "first_frame_causal" + }, + "video_scheduler": { + "infer_shift": 5.0, + "num_train_timesteps": 1000, + "train_shift": 5.0 + } + }, + "vlm_backbone": { + "text_embed_cache_context_len": 128, + "text_embed_cache_device": "cpu", + "text_embed_cache_size": 256, + "type": "Wan22Backbone" + } + }, + "runner": { + "collator": { + "keys": [ + "states", + "images", + "img_masks", + "actions", + "action_masks", + "embodiment_ids", + "frame_masks", + "lang_tokens", + "lang_masks" + ], + "meta_keys": [ + "task_description", + "info", + "stats", + "timestamp" + ], + "type": "DictCollator" + }, + "enable_gradient_checkpointing": false, + "enable_mixed_precision_training": true, + "evaluator": { + "eval_every": 1000, + "num_inference_steps": 10, + "save_video": true, + "seed": 42, + "type": "training-eval", + "video_fps": 8 + }, + "grad_accumulation_steps": 1, + "lr_scheduler": { + "betas": [ + 0.9, + 0.95 + ], + "min_lr_ratio": 0.01, + "type": "linear-warmup+cosine-decay-min-lr", + "warmup_ratio": 0.05, + "weight_decay_style": "uniform" + }, + "max_epochs": 10, + "max_grad_norm": 1.0, + "max_keep_ckpts": 10, + "max_steps": null, + "metric": { + "active_trackers": [ + "jsonl", + "wandb" + ], + "run_dir": "work_dirs", + "type": "VLAMetric", + "window_size": 1 + }, + "mixed_precision_dtype": "bf16", + "optimizer": { + "lr": 0.0001, + "type": "AdamW", + "weight_decay": 0.01 + }, + "reduce_in_full_precision": true, + "sampler": null, + "save_epoch_interval": 1, + "save_iter_interval": 10000, + "sharding_strategy": "shard-grad-op", + "type": "FSDPTrainRunner" + }, + "seed": 42, + "train_dataloader": { + "dataset": { + "batch_shard_size": 8, + "datasets": { + "action_key": "action", + "action_window_size": 32, + "data_root_path": [ + "datasets/libero_spatial_no_noops_lerobotv2.1", + "datasets/libero_object_no_noops_lerobotv2.1", + "datasets/libero_goal_no_noops_lerobotv2.1", + "datasets/libero_10_no_noops_lerobotv2.1" + ], + "frame_sample_stride": 4, + "frame_window_size": 9, + "statistic_name": "libero_all_no_noops", + "transforms": [ + { + "embodiment_id": 0, + "name_mappings": { + "actions": [ + "actions" + ], + "observation.state": [ + "states" + ] + }, + "parquet_keys": [ + "observation.state", + "timestamp", + "actions", + "info", + "stats", + "action_masks" + ], + "type": "ProcessParquetInputs", + "video_backend": "torchcodec", + "video_keys": [ + "observation.images.image", + "observation.images.wrist_image" + ] + }, + { + "backend": "torchvision", + "height": 224, + "scale_to_unit_interval": true, + "type": "ResizeImages", + "width": 224 + }, + { + "means": [ + 0.5, + 0.5, + 0.5 + ], + "stds": [ + 0.5, + 0.5, + 0.5 + ], + "type": "NormalizeImages" + }, + { + "action_dim": 7, + "action_key": "action", + "delta_action_dim_mask": [ + true, + true, + true, + true, + true, + true, + false + ], + "norm_type": "min_max", + "pad_invalid_action_delta_dims": true, + "state_dim": 8, + "state_key": "proprio", + "type": "NormalizeStatesAndActions" + }, + { + "frame_window_size": 9, + "num_views": 2, + "tile_direction": "horizontal", + "type": "PrepareVideo" + }, + { + "max_len": 128, + "prompt_template": "A video recorded from a robot's point of view executing the following instruction: {task}", + "tokenizer": { + "model_path": "./checkpoints/fastwam_base_full/tokenizer", + "type": "PretrainedTokenizer" + }, + "type": "LiberoPromptFromInputs", + "use_conversation": false + } + ], + "type": "ParquetDataset", + "use_delta": false, + "window_start_idx": 0 + }, + "name_mappings": { + "action": [ + "action" + ], + "observation.state": [ + "proprio" + ] + }, + "reshuffle_each_epoch": true, + "seed": 42, + "statistic_keys": [ + "observation.state", + "timestamp", + "action" + ], + "statistic_name": "libero_all_no_noops", + "type": "DistributedRepeatingDataset" + }, + "per_device_batch_size": 8, + "per_device_num_workers": 8 + }, + "val_dataloader": null +} \ No newline at end of file diff --git a/fastwam_idm_libero_full_finetune_bs16/config.yaml b/fastwam_idm_libero_full_finetune_bs16/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5ab5fe3a5294b93b0629f70f03b3c1b15d1c2251 --- /dev/null +++ b/fastwam_idm_libero_full_finetune_bs16/config.yaml @@ -0,0 +1,382 @@ +_action_window_size: 32 +_ckpt_root: ./checkpoints +_data_root_paths: +- datasets/libero_spatial_no_noops_lerobotv2.1 +- datasets/libero_object_no_noops_lerobotv2.1 +- datasets/libero_goal_no_noops_lerobotv2.1 +- datasets/libero_10_no_noops_lerobotv2.1 +_frame_sample_stride: 4 +_frame_window_size: 9 +_statistic_name: libero_all_no_noops +_text_prompt_template: 'A video recorded from a robot''s point of view executing the + following instruction: {task}' +_tokenizer: ./checkpoints/fastwam_base_full/tokenizer +eval: + manager: + launch_delay: 0.5 + master_port_base: 29690 + max_tasks_per_gpu: 2 + monitor_interval: 5 + num_gpus: 8 + status_interval: 30 + runner: + dataset: + img_buffer_len: 1 + transforms: + - img_keys: + - agentview_image + - robot0_eye_in_hand_image + type: ProcessLiberoEvalInputs + - image_resize_strategy: resize-naive + input_sizes: + - - 3 + - 224 + - 224 + - - 3 + - 224 + - 224 + means: + - - 127.5 + - 127.5 + - 127.5 + - - 127.5 + - 127.5 + - 127.5 + stds: + - - 127.5 + - 127.5 + - 127.5 + - - 127.5 + - 127.5 + - 127.5 + type: TransformImage + - norm_type: min_max + out_key: states + stat_key: proprio + state_dim: 8 + type: LiberoProprioFromInputs + - max_len: 128 + prompt_template: 'A video recorded from a robot''s point of view executing + the following instruction: {task}' + tokenizer: + model_path: ./checkpoints/fastwam_base_full/tokenizer + type: PretrainedTokenizer + type: LiberoPromptFromInputs + use_conversation: false + - frame_window_size: 1 + num_views: 2 + tile_direction: horizontal + type: PrepareVideo + type: LiberoParquetEvalDataset + denormalize_action: + action_dim: 7 + norm_type: min_max + type: DenormalizeLiberoAction + enable_mixed_precision_training: true + eval_chunk_size: 10 + eval_shard_strategy: task + inference_seed: 42 + max_steps: + libero_10: 700 + libero_goal: 400 + libero_object: 400 + libero_spatial: 400 + mixed_precision_dtype: bf16 + model_build_device: cuda + model_build_dtype: bf16 + model_family: fastwam + norm_stats_key: libero_all_no_noops + num_inference_steps: 10 + num_steps_wait: 30 + num_trials_per_task: 50 + preprocess_every_step: false + resize_size: 224 + save_multi_view_rollout_videos: true + save_rollout_videos: true + seed: 42 + task_ids: null + task_suite_name: + - libero_spatial + - libero_object + - libero_goal + - libero_10 + type: LiberoEvalRunner +eval_dataset: null +inference_model: + action_horizon: 32 + frame_window_size: 9 + mot_checkpoint_mixed_attn: true + num_views: 2 + pretrained_name_or_path: ./checkpoints/fastwam_base_full/fastwam_base_full.safetensors + proprio_dim: 8 + torch_dtype: bf16 + type: FastWAMVLA + vla_head: + action_dit_config: + action_dim: 7 + attn_head_dim: 128 + eps: 1.0e-06 + ffn_dim: 4096 + freq_dim: 256 + hidden_dim: 1024 + num_heads: 24 + num_layers: 30 + text_dim: 4096 + use_gradient_checkpointing: true + action_scheduler: + infer_shift: 5.0 + num_train_timesteps: 1000 + train_shift: 5.0 + loss: + lambda_action: 1.0 + lambda_video: 1.0 + type: FastWAMIDMHead + video_dit_config: + action_conditioned: false + action_dim: 7 + action_group_causal_mask_mode: group_diagonal + attn_head_dim: 128 + eps: 1.0e-06 + ffn_dim: 14336 + freq_dim: 256 + fuse_vae_embedding_in_latents: true + has_image_input: false + hidden_dim: 3072 + in_dim: 48 + num_heads: 24 + num_layers: 30 + out_dim: 48 + patch_size: + - 1 + - 2 + - 2 + require_clip_embedding: false + require_vae_embedding: false + seperated_timestep: true + text_dim: 4096 + use_gradient_checkpointing: true + video_attention_mask_mode: first_frame_causal + video_scheduler: + infer_shift: 5.0 + num_train_timesteps: 1000 + train_shift: 5.0 + vlm_backbone: + text_embed_cache_context_len: 128 + text_embed_cache_device: cpu + text_embed_cache_size: 256 + type: Wan22Backbone +model: + action_horizon: 32 + frame_window_size: 9 + mot_checkpoint_mixed_attn: true + num_views: 2 + pretrained_name_or_path: ./checkpoints/fastwam_base_full/fastwam_base_full.safetensors + proprio_dim: 8 + torch_dtype: bf16 + type: FastWAMVLA + vla_head: + action_dit_config: + action_dim: 7 + attn_head_dim: 128 + eps: 1.0e-06 + ffn_dim: 4096 + freq_dim: 256 + hidden_dim: 1024 + num_heads: 24 + num_layers: 30 + text_dim: 4096 + use_gradient_checkpointing: true + action_scheduler: + infer_shift: 5.0 + num_train_timesteps: 1000 + train_shift: 5.0 + loss: + lambda_action: 1.0 + lambda_video: 1.0 + type: FastWAMIDMHead + video_dit_config: + action_conditioned: false + action_dim: 7 + action_group_causal_mask_mode: group_diagonal + attn_head_dim: 128 + eps: 1.0e-06 + ffn_dim: 14336 + freq_dim: 256 + fuse_vae_embedding_in_latents: true + has_image_input: false + hidden_dim: 3072 + in_dim: 48 + num_heads: 24 + num_layers: 30 + out_dim: 48 + patch_size: + - 1 + - 2 + - 2 + require_clip_embedding: false + require_vae_embedding: false + seperated_timestep: true + text_dim: 4096 + use_gradient_checkpointing: true + video_attention_mask_mode: first_frame_causal + video_scheduler: + infer_shift: 5.0 + num_train_timesteps: 1000 + train_shift: 5.0 + vlm_backbone: + text_embed_cache_context_len: 128 + text_embed_cache_device: cpu + text_embed_cache_size: 256 + type: Wan22Backbone +runner: + collator: + keys: + - states + - images + - img_masks + - actions + - action_masks + - embodiment_ids + - frame_masks + - lang_tokens + - lang_masks + meta_keys: + - task_description + - info + - stats + - timestamp + type: DictCollator + enable_gradient_checkpointing: false + enable_mixed_precision_training: true + evaluator: + eval_every: 1000 + num_inference_steps: 10 + save_video: true + seed: 42 + type: training-eval + video_fps: 8 + grad_accumulation_steps: 1 + lr_scheduler: + betas: + - 0.9 + - 0.95 + min_lr_ratio: 0.01 + type: linear-warmup+cosine-decay-min-lr + warmup_ratio: 0.05 + weight_decay_style: uniform + max_epochs: 10 + max_grad_norm: 1.0 + max_keep_ckpts: 10 + max_steps: null + metric: + active_trackers: + - jsonl + - wandb + run_dir: work_dirs + type: VLAMetric + window_size: 1 + mixed_precision_dtype: bf16 + optimizer: + lr: 0.0001 + type: AdamW + weight_decay: 0.01 + reduce_in_full_precision: true + sampler: null + save_epoch_interval: 1 + save_iter_interval: 10000 + sharding_strategy: shard-grad-op + type: FSDPTrainRunner +seed: 42 +train_dataloader: + dataset: + batch_shard_size: 8 + datasets: + action_key: action + action_window_size: 32 + data_root_path: + - datasets/libero_spatial_no_noops_lerobotv2.1 + - datasets/libero_object_no_noops_lerobotv2.1 + - datasets/libero_goal_no_noops_lerobotv2.1 + - datasets/libero_10_no_noops_lerobotv2.1 + frame_sample_stride: 4 + frame_window_size: 9 + statistic_name: libero_all_no_noops + transforms: + - embodiment_id: 0 + name_mappings: + actions: + - actions + observation.state: + - states + parquet_keys: + - observation.state + - timestamp + - actions + - info + - stats + - action_masks + type: ProcessParquetInputs + video_backend: torchcodec + video_keys: + - observation.images.image + - observation.images.wrist_image + - backend: torchvision + height: 224 + scale_to_unit_interval: true + type: ResizeImages + width: 224 + - means: + - 0.5 + - 0.5 + - 0.5 + stds: + - 0.5 + - 0.5 + - 0.5 + type: NormalizeImages + - action_dim: 7 + action_key: action + delta_action_dim_mask: + - true + - true + - true + - true + - true + - true + - false + norm_type: min_max + pad_invalid_action_delta_dims: true + state_dim: 8 + state_key: proprio + type: NormalizeStatesAndActions + - frame_window_size: 9 + num_views: 2 + tile_direction: horizontal + type: PrepareVideo + - max_len: 128 + prompt_template: 'A video recorded from a robot''s point of view executing + the following instruction: {task}' + tokenizer: + model_path: ./checkpoints/fastwam_base_full/tokenizer + type: PretrainedTokenizer + type: LiberoPromptFromInputs + use_conversation: false + type: ParquetDataset + use_delta: false + window_start_idx: 0 + name_mappings: + action: + - action + observation.state: + - proprio + reshuffle_each_epoch: true + seed: 42 + statistic_keys: + - observation.state + - timestamp + - action + statistic_name: libero_all_no_noops + type: DistributedRepeatingDataset + per_device_batch_size: 8 + per_device_num_workers: 8 +val_dataloader: null diff --git a/fastwam_idm_libero_full_finetune_bs16/dataset_statistics.json b/fastwam_idm_libero_full_finetune_bs16/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..04e1310cc2bb9e30587ae07e7c9dad92c024b0fa --- /dev/null +++ b/fastwam_idm_libero_full_finetune_bs16/dataset_statistics.json @@ -0,0 +1,104 @@ +{ + "libero_all_no_noops": { + "proprio": { + "mean": [ + -0.04644819089290944, + 0.034403383486704416, + 0.7655374256288966, + 2.9686952302705496, + -0.21987845450605217, + -0.12717501774779605, + 0.027024820750829286, + -0.02728454226240833 + ], + "std": [ + 0.1047811675710572, + 0.15155194421998813, + 0.37755264388745513, + 0.34584562447365863, + 0.9210392242484864, + 0.3221193452952537, + 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32, + "data_root_path": [ + "datasets/libero_spatial_no_noops_lerobotv2.1", + "datasets/libero_object_no_noops_lerobotv2.1", + "datasets/libero_goal_no_noops_lerobotv2.1", + "datasets/libero_10_no_noops_lerobotv2.1" + ], + "frame_sample_stride": 4, + "frame_window_size": 9, + "statistic_name": "libero_all_no_noops", + "transforms": [ + { + "embodiment_id": 0, + "name_mappings": { + "actions": [ + "actions" + ], + "observation.state": [ + "states" + ] + }, + "parquet_keys": [ + "observation.state", + "timestamp", + "actions", + "info", + "stats", + "action_masks" + ], + "type": "ProcessParquetInputs", + "video_backend": "torchcodec", + "video_keys": [ + "observation.images.image", + "observation.images.wrist_image" + ] + }, + { + "backend": "torchvision", + "height": 224, + "scale_to_unit_interval": true, + "type": "ResizeImages", + "width": 224 + }, + { + "means": [ + 0.5, + 0.5, + 0.5 + ], + "stds": [ + 0.5, + 0.5, + 0.5 + ], + "type": "NormalizeImages" + }, + { + "action_dim": 7, + "action_key": "action", + "delta_action_dim_mask": [ + true, + true, + true, + true, + true, + true, + false + ], + "norm_type": "min_max", + "pad_invalid_action_delta_dims": true, + "state_dim": 8, + "state_key": "proprio", + "type": "NormalizeStatesAndActions" + }, + { + "frame_window_size": 9, + "num_views": 2, + "tile_direction": "horizontal", + "type": "PrepareVideo" + }, + { + "max_len": 128, + "prompt_template": "A video recorded from a robot's point of view executing the following instruction: {task}", + "tokenizer": { + "model_path": "./checkpoints/fastwam_base_full/tokenizer", + "type": "PretrainedTokenizer" + }, + "type": "LiberoPromptFromInputs", + "use_conversation": false + } + ], + "type": "ParquetDataset", + "use_delta": false, + "window_start_idx": 0 + }, + "name_mappings": { + "action": [ + "action" + ], + "observation.state": [ + "proprio" + ] + }, + "reshuffle_each_epoch": true, + "seed": 42, + "statistic_keys": [ + "observation.state", + "timestamp", + "action" + ], + "statistic_name": "libero_all_no_noops", + "type": "DistributedRepeatingDataset" + }, + "per_device_batch_size": 8, + "per_device_num_workers": 8 + }, + "val_dataloader": null +} \ No newline at end of file diff --git a/fastwam_joint_libero_full_finetune_bs16/config.yaml b/fastwam_joint_libero_full_finetune_bs16/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2031855f30f6246d9c183ee453c6aee9c5bc6949 --- /dev/null +++ b/fastwam_joint_libero_full_finetune_bs16/config.yaml @@ -0,0 +1,382 @@ +_action_window_size: 32 +_ckpt_root: ./checkpoints +_data_root_paths: +- datasets/libero_spatial_no_noops_lerobotv2.1 +- datasets/libero_object_no_noops_lerobotv2.1 +- datasets/libero_goal_no_noops_lerobotv2.1 +- datasets/libero_10_no_noops_lerobotv2.1 +_frame_sample_stride: 4 +_frame_window_size: 9 +_statistic_name: libero_all_no_noops +_text_prompt_template: 'A video recorded from a robot''s point of view executing the + following instruction: {task}' +_tokenizer: ./checkpoints/fastwam_base_full/tokenizer +eval: + manager: + launch_delay: 0.5 + master_port_base: 29690 + max_tasks_per_gpu: 2 + monitor_interval: 5 + num_gpus: 8 + status_interval: 30 + runner: + dataset: + img_buffer_len: 1 + transforms: + - img_keys: + - agentview_image + - robot0_eye_in_hand_image + type: ProcessLiberoEvalInputs + - image_resize_strategy: resize-naive + input_sizes: + - - 3 + - 224 + - 224 + - - 3 + - 224 + - 224 + means: + - - 127.5 + - 127.5 + - 127.5 + - - 127.5 + - 127.5 + - 127.5 + stds: + - - 127.5 + - 127.5 + - 127.5 + - - 127.5 + - 127.5 + - 127.5 + type: TransformImage + - norm_type: min_max + out_key: states + stat_key: proprio + state_dim: 8 + type: LiberoProprioFromInputs + - max_len: 128 + prompt_template: 'A video recorded from a robot''s point of view executing + the following instruction: {task}' + tokenizer: + model_path: ./checkpoints/fastwam_base_full/tokenizer + type: PretrainedTokenizer + type: LiberoPromptFromInputs + use_conversation: false + - frame_window_size: 1 + num_views: 2 + tile_direction: horizontal + type: PrepareVideo + type: LiberoParquetEvalDataset + denormalize_action: + action_dim: 7 + norm_type: min_max + type: DenormalizeLiberoAction + enable_mixed_precision_training: true + eval_chunk_size: 10 + eval_shard_strategy: task + inference_seed: 42 + max_steps: + libero_10: 700 + libero_goal: 400 + libero_object: 400 + libero_spatial: 400 + mixed_precision_dtype: bf16 + model_build_device: cuda + model_build_dtype: bf16 + model_family: fastwam + norm_stats_key: libero_all_no_noops + num_inference_steps: 10 + num_steps_wait: 30 + num_trials_per_task: 50 + preprocess_every_step: false + resize_size: 224 + save_multi_view_rollout_videos: true + save_rollout_videos: true + seed: 42 + task_ids: null + task_suite_name: + - libero_spatial + - libero_object + - libero_goal + - libero_10 + type: LiberoEvalRunner +eval_dataset: null +inference_model: + action_horizon: 32 + frame_window_size: 9 + mot_checkpoint_mixed_attn: true + num_views: 2 + pretrained_name_or_path: ./checkpoints/fastwam_base_full/fastwam_base_full.safetensors + proprio_dim: 8 + torch_dtype: bf16 + type: FastWAMVLA + vla_head: + action_dit_config: + action_dim: 7 + attn_head_dim: 128 + eps: 1.0e-06 + ffn_dim: 4096 + freq_dim: 256 + hidden_dim: 1024 + num_heads: 24 + num_layers: 30 + text_dim: 4096 + use_gradient_checkpointing: true + action_scheduler: + infer_shift: 5.0 + num_train_timesteps: 1000 + train_shift: 5.0 + loss: + lambda_action: 1.0 + lambda_video: 1.0 + type: FastWAMJointHead + video_dit_config: + action_conditioned: false + action_dim: 7 + action_group_causal_mask_mode: group_diagonal + attn_head_dim: 128 + eps: 1.0e-06 + ffn_dim: 14336 + freq_dim: 256 + fuse_vae_embedding_in_latents: true + has_image_input: false + hidden_dim: 3072 + in_dim: 48 + num_heads: 24 + num_layers: 30 + out_dim: 48 + patch_size: + - 1 + - 2 + - 2 + require_clip_embedding: false + require_vae_embedding: false + seperated_timestep: true + text_dim: 4096 + use_gradient_checkpointing: true + video_attention_mask_mode: first_frame_causal + video_scheduler: + infer_shift: 5.0 + num_train_timesteps: 1000 + train_shift: 5.0 + vlm_backbone: + text_embed_cache_context_len: 128 + text_embed_cache_device: cpu + text_embed_cache_size: 256 + type: Wan22Backbone +model: + action_horizon: 32 + frame_window_size: 9 + mot_checkpoint_mixed_attn: true + num_views: 2 + pretrained_name_or_path: ./checkpoints/fastwam_base_full/fastwam_base_full.safetensors + proprio_dim: 8 + torch_dtype: bf16 + type: FastWAMVLA + vla_head: + action_dit_config: + action_dim: 7 + attn_head_dim: 128 + eps: 1.0e-06 + ffn_dim: 4096 + freq_dim: 256 + hidden_dim: 1024 + num_heads: 24 + num_layers: 30 + text_dim: 4096 + use_gradient_checkpointing: true + action_scheduler: + infer_shift: 5.0 + num_train_timesteps: 1000 + train_shift: 5.0 + loss: + lambda_action: 1.0 + lambda_video: 1.0 + type: FastWAMJointHead + video_dit_config: + action_conditioned: false + action_dim: 7 + action_group_causal_mask_mode: group_diagonal + attn_head_dim: 128 + eps: 1.0e-06 + ffn_dim: 14336 + freq_dim: 256 + fuse_vae_embedding_in_latents: true + has_image_input: false + hidden_dim: 3072 + in_dim: 48 + num_heads: 24 + num_layers: 30 + out_dim: 48 + patch_size: + - 1 + - 2 + - 2 + require_clip_embedding: false + require_vae_embedding: false + seperated_timestep: true + text_dim: 4096 + use_gradient_checkpointing: true + video_attention_mask_mode: first_frame_causal + video_scheduler: + infer_shift: 5.0 + num_train_timesteps: 1000 + train_shift: 5.0 + vlm_backbone: + text_embed_cache_context_len: 128 + text_embed_cache_device: cpu + text_embed_cache_size: 256 + type: Wan22Backbone +runner: + collator: + keys: + - states + - images + - img_masks + - actions + - action_masks + - embodiment_ids + - frame_masks + - lang_tokens + - lang_masks + meta_keys: + - task_description + - info + - stats + - timestamp + type: DictCollator + enable_gradient_checkpointing: false + enable_mixed_precision_training: true + evaluator: + eval_every: 1000 + num_inference_steps: 10 + save_video: true + seed: 42 + type: training-eval + video_fps: 8 + grad_accumulation_steps: 1 + lr_scheduler: + betas: + - 0.9 + - 0.95 + min_lr_ratio: 0.01 + type: linear-warmup+cosine-decay-min-lr + warmup_ratio: 0.05 + weight_decay_style: uniform + max_epochs: 10 + max_grad_norm: 1.0 + max_keep_ckpts: 10 + max_steps: null + metric: + active_trackers: + - jsonl + - wandb + run_dir: work_dirs + type: VLAMetric + window_size: 1 + mixed_precision_dtype: bf16 + optimizer: + lr: 0.0001 + type: AdamW + weight_decay: 0.01 + reduce_in_full_precision: true + sampler: null + save_epoch_interval: 1 + save_iter_interval: 10000 + sharding_strategy: shard-grad-op + type: FSDPTrainRunner +seed: 42 +train_dataloader: + dataset: + batch_shard_size: 8 + datasets: + action_key: action + action_window_size: 32 + data_root_path: + - datasets/libero_spatial_no_noops_lerobotv2.1 + - datasets/libero_object_no_noops_lerobotv2.1 + - datasets/libero_goal_no_noops_lerobotv2.1 + - datasets/libero_10_no_noops_lerobotv2.1 + frame_sample_stride: 4 + frame_window_size: 9 + statistic_name: libero_all_no_noops + transforms: + - embodiment_id: 0 + name_mappings: + actions: + - actions + observation.state: + - states + parquet_keys: + - observation.state + - timestamp + - actions + - info + - stats + - action_masks + type: ProcessParquetInputs + video_backend: torchcodec + video_keys: + - observation.images.image + - observation.images.wrist_image + - backend: torchvision + height: 224 + scale_to_unit_interval: true + type: ResizeImages + width: 224 + - means: + - 0.5 + - 0.5 + - 0.5 + stds: + - 0.5 + - 0.5 + - 0.5 + type: NormalizeImages + - action_dim: 7 + action_key: action + delta_action_dim_mask: + - true + - true + - true + - true + - true + - true + - false + norm_type: min_max + pad_invalid_action_delta_dims: true + state_dim: 8 + state_key: proprio + type: NormalizeStatesAndActions + - frame_window_size: 9 + num_views: 2 + tile_direction: horizontal + type: PrepareVideo + - max_len: 128 + prompt_template: 'A video recorded from a robot''s point of view executing + the following instruction: {task}' + tokenizer: + model_path: ./checkpoints/fastwam_base_full/tokenizer + type: PretrainedTokenizer + type: LiberoPromptFromInputs + use_conversation: false + type: ParquetDataset + use_delta: false + window_start_idx: 0 + name_mappings: + action: + - action + observation.state: + - proprio + reshuffle_each_epoch: true + seed: 42 + statistic_keys: + - observation.state + - timestamp + - action + statistic_name: libero_all_no_noops + type: DistributedRepeatingDataset + per_device_batch_size: 8 + per_device_num_workers: 8 +val_dataloader: null diff --git a/fastwam_joint_libero_full_finetune_bs16/dataset_statistics.json b/fastwam_joint_libero_full_finetune_bs16/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..04e1310cc2bb9e30587ae07e7c9dad92c024b0fa --- /dev/null +++ b/fastwam_joint_libero_full_finetune_bs16/dataset_statistics.json @@ -0,0 +1,104 @@ +{ + "libero_all_no_noops": { + "proprio": { + "mean": [ + -0.04644819089290944, + 0.034403383486704416, + 0.7655374256288966, + 2.9686952302705496, + -0.21987845450605217, + -0.12717501774779605, + 0.027024820750829286, + -0.02728454226240833 + ], + "std": [ + 0.1047811675710572, + 0.15155194421998813, + 0.37755264388745513, + 0.34584562447365863, + 0.9210392242484864, + 0.3221193452952537, + 0.014130245844896644, + 0.014014258634582654 + ], + "min": [ + -0.48278069496154785, + -0.3309336006641388, + 0.008128181099891663, + 1.002794623374939, + -3.6312508583068848, + -1.842738389968872, + -0.005453015677630901, + -0.042015016078948975 + ], + "max": [ + 0.2103137969970703, + 0.3904264271259308, + 1.472778081893921, + 3.7248642444610596, + 3.5618896484375, + 1.3863215446472168, + 0.04232141748070717, + 0.0013126095291227102 + ], + "q01": null, + "q99": null + }, + "timestamp": { + "mean": [ + 4.769871954139705 + ], + "std": [ + 3.675230472000918 + ], + "min": [ + 0.0 + ], + "max": [ + 25.2 + ], + "q01": null, + "q99": null + }, + "action": { + "mean": [ + 0.0618831284549259, + 0.08701013409377131, + -0.09098753582797833, + 0.0005711871427809853, + 0.005523421982727656, + -0.005017155657792082, + 0.5262555238677551 + ], + "std": [ + 0.33503345581181854, + 0.3785447232455365, + 0.44376765641279264, + 0.03920756640316542, + 0.06304128440900067, + 0.07838785125536755, + 0.4993101721429526 + ], + "min": [ + -0.9375, + -0.9375, + -0.9375, + -0.24214285612106323, + -0.375, + -0.3642857074737549, + 0.0 + ], + "max": [ + 0.9375, + 0.9375, + 0.9375, + 0.3557142913341522, + 0.375, + 0.375, + 1.0 + ], + "q01": null, + "q99": null + } + } +} \ No newline at end of file diff --git a/fastwam_joint_libero_full_finetune_bs16/fastwam_joint_libero_full_finetune_2026_08_17_22_14_43.jsonl b/fastwam_joint_libero_full_finetune_bs16/fastwam_joint_libero_full_finetune_2026_08_17_22_14_43.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..248afd0bb223e88147259f633960f126ee29d7d5 --- /dev/null +++ b/fastwam_joint_libero_full_finetune_bs16/fastwam_joint_libero_full_finetune_2026_08_17_22_14_43.jsonl @@ -0,0 +1,21721 @@ +{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000002", "VLA Train/Loss": 1.8363226652145386, "VLA Train/Loss (Raw)": 1.8363226652145386, "VLA Train/Loss Action": 1.4450269937515259, "VLA Train/Loss Video": 0.3912956714630127, "VLA Train/Step": 1, "VLA Train/Step Time": 796.7225987911224} +{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000003", "VLA Train/Loss": 2.452949285507202, "VLA 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