Upload 6 files

libero_hf/baseline+libero_10/checkpoints/step-020000-epoch-25-loss=0.0528.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04fe2e40cad6df74cf646ce4526d9bb57fccff631325af0e821121594edb1ea8
+size 5536030214

libero_hf/baseline+libero_10/config.yaml

@@ -0,0 +1,38 @@
+seed: 42
+run_root_dir: runs
+save_checkpoint: true
+vla_id: baseline
+vlm_path: /home/linyihan/linyh/VLM/Qwen3-VL-2B-Instruct
+vlm_model_id: Qwen3
+default_image_size: 224
+codebook_size: 16
+use_latent: true
+pretrained_checkpoint: /home/linyihan/linyh/libero_runs/main/baseline+libero+Qwen3+type-training+20251224-143934
+from_pretrained: true
+data_root_dir: /home/linyihan/linyh/datasets/new_latent
+data_mix:
+- libero_10
+shuffle_buffer_size: 128
+image_aug: true
+window_size: 8
+use_wrist_image: true
+use_proprio: true
+use_pro_version: true
+num_images_in_input: 2
+action_tokenizer_ckpt: /home/linyihan/linyh/laq/results_action/tokenizer_step_40000.pt
+type: training
+epochs: 10
+max_steps: 20000
+global_batch_size: 128
+per_device_batch_size: 32
+learning_rate: 0.0002
+weight_decay: 0.01
+max_grad_norm: 1.0
+lr_scheduler_type: constant
+warmup_ratio: 0.03
+save_step: 10000
+token_loss_weight: 0.0
+use_token: false
+use_val: false
+wandb_project: vla
+use_wandb: true

libero_hf/baseline+libero_10/dataset_statistics.json

@@ -0,0 +1,139 @@
+{
+  "libero_10": {
+    "action": {
+      "mean": [
+        0.01820324920117855,
+        0.05858374014496803,
+        -0.05592384561896324,
+        0.004626928828656673,
+        0.00289608770981431,
+        -0.007673131301999092,
+        0.5457824468612671
+      ],
+      "std": [
+        0.2825464606285095,
+        0.35904666781425476,
+        0.3673802614212036,
+        0.03770702704787254,
+        0.05429719388484955,
+        0.08725254982709885,
+        0.49815231561660767
+      ],
+      "max": [
+        0.9375,
+        0.9375,
+        0.9375,
+        0.30000001192092896,
+        0.29357144236564636,
+        0.375,
+        1.0
+      ],
+      "min": [
+        -0.9375,
+        -0.9375,
+        -0.9375,
+        -0.23642857372760773,
+        -0.3053571283817291,
+        -0.3675000071525574,
+        0.0
+      ],
+      "q01": [
+        -0.6348214149475098,
+        -0.7741071581840515,
+        -0.7633928656578064,
+        -0.09749999642372131,
+        -0.14819999992847435,
+        -0.2742857038974762,
+        0.0
+      ],
+      "q99": [
+        0.7714285850524902,
+        0.8464285731315613,
+        0.9375,
+        0.13928571343421936,
+        0.15964286029338837,
+        0.3246428668498993,
+        1.0
+      ],
+      "mask": [
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        false
+      ]
+    },
+    "proprio": {
+      "mean": [
+        -0.04190658777952194,
+        0.03539430722594261,
+        0.8257141709327698,
+        2.908308267593384,
+        -0.5562185049057007,
+        -0.16649018228054047,
+        0.0,
+        0.028316624462604523,
+        -0.028561657294631004
+      ],
+      "std": [
+        0.10743364691734314,
+        0.14424669742584229,
+        0.2572328448295593,
+        0.3441362977027893,
+        1.234421730041504,
+        0.3579835891723633,
+        0.0,
+        0.013308707624673843,
+        0.013174631632864475
+      ],
+      "max": [
+        0.21031762659549713,
+        0.39128610491752625,
+        1.3332009315490723,
+        3.6714255809783936,
+        3.560650587081909,
+        1.386339545249939,
+        0.0,
+        0.04160946607589722,
+        0.0013633022317662835
+      ],
+      "min": [
+        -0.4828203022480011,
+        -0.3255046010017395,
+        0.445506751537323,
+        1.1321442127227783,
+        -3.641430377960205,
+        -1.842738389968872,
+        0.0,
+        -0.0010040868073701859,
+        -0.04111652821302414
+      ],
+      "q01": [
+        -0.3899900782108307,
+        -0.2838300323486328,
+        0.44795057058334353,
+        1.8810229921340942,
+        -2.886677579879761,
+        -1.1599004411697387,
+        0.0,
+        0.002066459748893976,
+        -0.04001387819647789
+      ],
+      "q99": [
+        0.1530261474847791,
+        0.32915401458740223,
+        1.2546923208236693,
+        3.303542451858519,
+        2.7496529006957933,
+        0.6893712210655194,
+        0.0,
+        0.040048558115959164,
+        -0.0017598449345678235
+      ]
+    },
+    "num_transitions": 101469,
+    "num_trajectories": 379
+  }
+}

libero_hf/baseline+libero_10/run-metrics.jsonl

@@ -0,0 +1 @@
+{"hparams": {"action_tokenizer_ckpt": "/home/linyihan/linyh/laq/results_action/tokenizer_step_40000.pt", "codebook_size": 16, "data_mix": ["libero_10"], "data_root_dir": "/home/linyihan/linyh/datasets/new_latent", "default_image_size": 224, "epochs": 10, "from_pretrained": true, "global_batch_size": 128, "image_aug": true, "learning_rate": 0.0002, "lr_scheduler_type": "constant", "max_grad_norm": 1.0, "max_steps": 20000, "num_images_in_input": 2, "per_device_batch_size": 32, "pretrained_checkpoint": "/home/linyihan/linyh/libero_runs/main/baseline+libero+Qwen3+type-training+20251224-143934", "run_root_dir": "runs", "save_checkpoint": true, "save_step": 10000, "seed": 42, "shuffle_buffer_size": 128, "token_loss_weight": 0.0, "type": "training", "use_latent": true, "use_pro_version": true, "use_proprio": true, "use_token": false, "use_val": false, "use_wandb": true, "use_wrist_image": true, "vla_id": "baseline", "vlm_model_id": "Qwen3", "vlm_path": "/home/linyihan/linyh/VLM/Qwen3-VL-2B-Instruct", "wandb_project": "vla", "warmup_ratio": 0.03, "weight_decay": 0.01, "window_size": 8}, "run_id": "baseline+['libero_10']+Qwen3+type-training+20251227-222405"}