Upload 25 files
Browse files- robotwin_hf/LA_Align+aloha/checkpoints/step-030000-epoch-140-loss=0.1095.pt +3 -0
- robotwin_hf/LA_Align+aloha/config.yaml +41 -0
- robotwin_hf/LA_Align+aloha/dataset_statistics.json +866 -0
- robotwin_hf/LA_Align+aloha/run-metrics.jsonl +1 -0
- robotwin_hf/LA_Align+aloha/sep_vla+['aloha_move_can_pot', 'aloha_move_playingcard_away', 'aloha_pick_dual_bottles', 'aloha_place_container_plate']+Qwen3+type-training+20260104-114507.jsonl +0 -0
- robotwin_hf/LA_Cond+aloha/checkpoints/step-030000-epoch-140-loss=0.7928.pt +3 -0
- robotwin_hf/LA_Cond+aloha/config.yaml +42 -0
- robotwin_hf/LA_Cond+aloha/dataset_statistics.json +866 -0
- robotwin_hf/LA_Cond+aloha/qwen_uni_vla+['aloha_move_can_pot', 'aloha_move_playingcard_away', 'aloha_pick_dual_bottles', 'aloha_place_container_plate']+Qwen3+type-training+20260103-094814.jsonl +0 -0
- robotwin_hf/LA_Cond+aloha/run-metrics.jsonl +1 -0
- robotwin_hf/LA_Direct+aloha/checkpoints/step-030000-epoch-140-loss=0.7911.pt +3 -0
- robotwin_hf/LA_Direct+aloha/config.yaml +42 -0
- robotwin_hf/LA_Direct+aloha/dataset_statistics.json +866 -0
- robotwin_hf/LA_Direct+aloha/qwen_joint_vla+['aloha_move_can_pot', 'aloha_move_playingcard_away', 'aloha_pick_dual_bottles', 'aloha_place_container_plate']+Qwen3+type-training+20251229-110424.jsonl +0 -0
- robotwin_hf/LA_Direct+aloha/run-metrics.jsonl +1 -0
- robotwin_hf/LA_Tok+aloha/checkpoints/step-030000-epoch-140-loss=0.5983.pt +3 -0
- robotwin_hf/LA_Tok+aloha/config.yaml +41 -0
- robotwin_hf/LA_Tok+aloha/dataset_statistics.json +866 -0
- robotwin_hf/LA_Tok+aloha/run-metrics.jsonl +1 -0
- robotwin_hf/LA_Tok+aloha/token+['aloha_move_can_pot', 'aloha_move_playingcard_away', 'aloha_pick_dual_bottles', 'aloha_place_container_plate']+Qwen3+type-training+20260102-103811.jsonl +0 -0
- robotwin_hf/baseline+aloha/baseline+['aloha_move_can_pot', 'aloha_move_playingcard_away', 'aloha_pick_dual_bottles', 'aloha_place_container_plate']+Qwen3+type-training+20260101-155908.jsonl +0 -0
- robotwin_hf/baseline+aloha/checkpoints/step-010000-epoch-46-loss=0.0232.pt +3 -0
- robotwin_hf/baseline+aloha/config.yaml +41 -0
- robotwin_hf/baseline+aloha/dataset_statistics.json +866 -0
- robotwin_hf/baseline+aloha/run-metrics.jsonl +1 -0
robotwin_hf/LA_Align+aloha/checkpoints/step-030000-epoch-140-loss=0.1095.pt
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version https://git-lfs.github.com/spec/v1
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oid sha256:236b3ee5696bdb44d409f100241b38df48922cdd47c1b1ac05580ed87087cea1
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size 5596021876
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robotwin_hf/LA_Align+aloha/config.yaml
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seed: 42
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run_root_dir: runs
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save_checkpoint: true
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vla_id: sep_vla
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vlm_path: /home/linyihan/linyh/VLM/Qwen3-VL-2B-Instruct
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vlm_model_id: Qwen3
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default_image_size: 224
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codebook_size: 16
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use_latent: true
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pretrained_checkpoint: /home/linyihan/linyh/VLM/InternVL3_5-1B
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from_pretrained: false
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data_root_dir: /home/linyihan/linyh/datasets/robotwin_latent
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data_mix:
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- aloha_move_can_pot
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- aloha_move_playingcard_away
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- aloha_pick_dual_bottles
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- aloha_place_container_plate
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shuffle_buffer_size: 128
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image_aug: true
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window_size: 25
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use_wrist_image: true
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use_proprio: true
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use_pro_version: true
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num_images_in_input: 2
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action_tokenizer_ckpt: /home/linyihan/linyh/laq/results_libero/tokenizer_step_50000.pt
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type: training
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epochs: 10
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max_steps: 30000
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global_batch_size: 128
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per_device_batch_size: 32
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learning_rate: 0.0001
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weight_decay: 0.01
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max_grad_norm: 1.0
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lr_scheduler_type: step-decay
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warmup_ratio: 0.03
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save_step: 30000
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token_loss_weight: 0.0
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use_token: false
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use_val: false
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wandb_project: vla
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use_wandb: true
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robotwin_hf/LA_Align+aloha/dataset_statistics.json
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robotwin_hf/LA_Align+aloha/run-metrics.jsonl
ADDED
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| 1 |
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{"hparams": {"action_tokenizer_ckpt": "/home/linyihan/linyh/laq/results_libero/tokenizer_step_50000.pt", "codebook_size": 16, "data_mix": ["aloha_move_can_pot", "aloha_move_playingcard_away", "aloha_pick_dual_bottles", "aloha_place_container_plate"], "data_root_dir": "/home/linyihan/linyh/datasets/robotwin_latent", "default_image_size": 224, "epochs": 10, "from_pretrained": false, "global_batch_size": 128, "image_aug": true, "learning_rate": 0.0001, "lr_scheduler_type": "step-decay", "max_grad_norm": 1.0, "max_steps": 30000, "num_images_in_input": 2, "per_device_batch_size": 32, "pretrained_checkpoint": "/home/linyihan/linyh/VLM/InternVL3_5-1B", "run_root_dir": "runs", "save_checkpoint": true, "save_step": 30000, "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": "sep_vla", "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": 25}, "run_id": "sep_vla+['aloha_move_can_pot', 'aloha_move_playingcard_away', 'aloha_pick_dual_bottles', 'aloha_place_container_plate']+Qwen3+type-training+20260104-114507"}
|
robotwin_hf/LA_Align+aloha/sep_vla+['aloha_move_can_pot', 'aloha_move_playingcard_away', 'aloha_pick_dual_bottles', 'aloha_place_container_plate']+Qwen3+type-training+20260104-114507.jsonl
ADDED
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The diff for this file is too large to render.
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robotwin_hf/LA_Cond+aloha/checkpoints/step-030000-epoch-140-loss=0.7928.pt
ADDED
|
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version https://git-lfs.github.com/spec/v1
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oid sha256:ff9852199b870f9d392a67fed3e040269af92fb643ec14f82e8196a12f1a46db
|
| 3 |
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size 5594867205
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robotwin_hf/LA_Cond+aloha/config.yaml
ADDED
|
@@ -0,0 +1,42 @@
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| 1 |
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seed: 42
|
| 2 |
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run_root_dir: runs
|
| 3 |
+
save_checkpoint: true
|
| 4 |
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vla_id: qwen_uni_vla
|
| 5 |
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vlm_path: /fs/fast/u2021000902/previous_nvme/VLM/Qwen3-VL-2B-Instruct
|
| 6 |
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vlm_model_id: Qwen3
|
| 7 |
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default_image_size: 224
|
| 8 |
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codebook_size: 16
|
| 9 |
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use_latent: false
|
| 10 |
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layer_idx: 17
|
| 11 |
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pretrained_checkpoint: /home/linyihan/linyh/VLM/InternVL3_5-1B
|
| 12 |
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from_pretrained: false
|
| 13 |
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FAST_tokenizer_path: ''
|
| 14 |
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data_root_dir: /fs/fast/u2021000902/previous_nvme/VLM/robotwin_latent
|
| 15 |
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data_mix:
|
| 16 |
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- aloha_move_can_pot
|
| 17 |
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- aloha_move_playingcard_away
|
| 18 |
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- aloha_pick_dual_bottles
|
| 19 |
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- aloha_place_container_plate
|
| 20 |
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shuffle_buffer_size: 128
|
| 21 |
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image_aug: true
|
| 22 |
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window_size: 25
|
| 23 |
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use_wrist_image: true
|
| 24 |
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use_proprio: true
|
| 25 |
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use_pro_version: true
|
| 26 |
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num_images_in_input: 2
|
| 27 |
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action_tokenizer_ckpt: /home/u2021000902/lyh_use/laq/results_libero/tokenizer_step_50000.pt
|
| 28 |
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type: training
|
| 29 |
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epochs: 10
|
| 30 |
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max_steps: 30000
|
| 31 |
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global_batch_size: 128
|
| 32 |
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per_device_batch_size: 16
|
| 33 |
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learning_rate: 0.0001
|
| 34 |
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weight_decay: 0.01
|
| 35 |
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max_grad_norm: 1.0
|
| 36 |
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lr_scheduler_type: step-decay
|
| 37 |
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warmup_ratio: 0.03
|
| 38 |
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save_step: 20000
|
| 39 |
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token_loss_weight: 0.1
|
| 40 |
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use_val: false
|
| 41 |
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wandb_project: vla
|
| 42 |
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use_wandb: true
|
robotwin_hf/LA_Cond+aloha/dataset_statistics.json
ADDED
|
@@ -0,0 +1,866 @@
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| 1 |
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{
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| 2 |
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| 3 |
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robotwin_hf/LA_Direct+aloha/checkpoints/step-030000-epoch-140-loss=0.7911.pt
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|
| 1 |
+
seed: 42
|
| 2 |
+
run_root_dir: runs
|
| 3 |
+
save_checkpoint: true
|
| 4 |
+
vla_id: qwen_joint_vla
|
| 5 |
+
vlm_path: /fs/fast/u2021000902/previous_nvme/VLM/Qwen3-VL-2B-Instruct
|
| 6 |
+
vlm_model_id: Qwen3
|
| 7 |
+
default_image_size: 224
|
| 8 |
+
codebook_size: 16
|
| 9 |
+
use_latent: false
|
| 10 |
+
layer_idx: 17
|
| 11 |
+
pretrained_checkpoint: /home/linyihan/linyh/VLM/InternVL3_5-1B
|
| 12 |
+
from_pretrained: false
|
| 13 |
+
FAST_tokenizer_path: ''
|
| 14 |
+
data_root_dir: /fs/fast/u2021000902/previous_nvme/VLM/robotwin_latent
|
| 15 |
+
data_mix:
|
| 16 |
+
- aloha_move_can_pot
|
| 17 |
+
- aloha_move_playingcard_away
|
| 18 |
+
- aloha_pick_dual_bottles
|
| 19 |
+
- aloha_place_container_plate
|
| 20 |
+
shuffle_buffer_size: 128
|
| 21 |
+
image_aug: true
|
| 22 |
+
window_size: 25
|
| 23 |
+
use_wrist_image: true
|
| 24 |
+
use_proprio: true
|
| 25 |
+
use_pro_version: true
|
| 26 |
+
num_images_in_input: 2
|
| 27 |
+
action_tokenizer_ckpt: /home/u2021000902/lyh_use/laq/results_libero/tokenizer_step_50000.pt
|
| 28 |
+
type: training
|
| 29 |
+
epochs: 10
|
| 30 |
+
max_steps: 30000
|
| 31 |
+
global_batch_size: 128
|
| 32 |
+
per_device_batch_size: 16
|
| 33 |
+
learning_rate: 0.0001
|
| 34 |
+
weight_decay: 0.01
|
| 35 |
+
max_grad_norm: 1.0
|
| 36 |
+
lr_scheduler_type: step-decay
|
| 37 |
+
warmup_ratio: 0.03
|
| 38 |
+
save_step: 20000
|
| 39 |
+
token_loss_weight: 0.1
|
| 40 |
+
use_val: false
|
| 41 |
+
wandb_project: vla
|
| 42 |
+
use_wandb: true
|
robotwin_hf/LA_Direct+aloha/dataset_statistics.json
ADDED
|
@@ -0,0 +1,866 @@
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robotwin_hf/LA_Direct+aloha/qwen_joint_vla+['aloha_move_can_pot', 'aloha_move_playingcard_away', 'aloha_pick_dual_bottles', 'aloha_place_container_plate']+Qwen3+type-training+20251229-110424.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
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|
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robotwin_hf/LA_Direct+aloha/run-metrics.jsonl
ADDED
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@@ -0,0 +1 @@
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| 1 |
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{"hparams": {"FAST_tokenizer_path": "", "action_tokenizer_ckpt": "/home/u2021000902/lyh_use/laq/results_libero/tokenizer_step_50000.pt", "codebook_size": 16, "data_mix": ["aloha_move_can_pot", "aloha_move_playingcard_away", "aloha_pick_dual_bottles", "aloha_place_container_plate"], "data_root_dir": "/fs/fast/u2021000902/previous_nvme/VLM/robotwin_latent", "default_image_size": 224, "epochs": 10, "from_pretrained": false, "global_batch_size": 128, "image_aug": true, "layer_idx": 17, "learning_rate": 0.0001, "lr_scheduler_type": "step-decay", "max_grad_norm": 1.0, "max_steps": 30000, "num_images_in_input": 2, "per_device_batch_size": 16, "pretrained_checkpoint": "/home/linyihan/linyh/VLM/InternVL3_5-1B", "run_root_dir": "runs", "save_checkpoint": true, "save_step": 20000, "seed": 42, "shuffle_buffer_size": 128, "token_loss_weight": 0.1, "type": "training", "use_latent": false, "use_pro_version": true, "use_proprio": true, "use_val": false, "use_wandb": true, "use_wrist_image": true, "vla_id": "qwen_joint_vla", "vlm_model_id": "Qwen3", "vlm_path": "/fs/fast/u2021000902/previous_nvme/VLM/Qwen3-VL-2B-Instruct", "wandb_project": "vla", "warmup_ratio": 0.03, "weight_decay": 0.01, "window_size": 25}, "run_id": "qwen_joint_vla+['aloha_move_can_pot', 'aloha_move_playingcard_away', 'aloha_pick_dual_bottles', 'aloha_place_container_plate']+Qwen3+type-training+20251229-110424"}
|
robotwin_hf/LA_Tok+aloha/checkpoints/step-030000-epoch-140-loss=0.5983.pt
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:693236cbb260ecb9ca3799d501e8f861de5b0522db0a7e4e3d7fe0eac2bc3b2d
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| 3 |
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size 5594862700
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robotwin_hf/LA_Tok+aloha/config.yaml
ADDED
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@@ -0,0 +1,41 @@
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seed: 42
|
| 2 |
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run_root_dir: runs
|
| 3 |
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save_checkpoint: true
|
| 4 |
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vla_id: token
|
| 5 |
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vlm_path: /home/linyihan/linyh/VLM/Qwen3-VL-2B-Instruct
|
| 6 |
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vlm_model_id: Qwen3
|
| 7 |
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default_image_size: 224
|
| 8 |
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codebook_size: 16
|
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use_latent: false
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pretrained_checkpoint: /home/linyihan/linyh/VLM/InternVL3_5-1B
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from_pretrained: false
|
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data_root_dir: /home/linyihan/linyh/datasets/robotwin_latent
|
| 13 |
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data_mix:
|
| 14 |
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|
| 15 |
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|
| 16 |
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- aloha_pick_dual_bottles
|
| 17 |
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- aloha_place_container_plate
|
| 18 |
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shuffle_buffer_size: 128
|
| 19 |
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image_aug: true
|
| 20 |
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window_size: 25
|
| 21 |
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use_wrist_image: true
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use_proprio: true
|
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use_pro_version: true
|
| 24 |
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num_images_in_input: 2
|
| 25 |
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action_tokenizer_ckpt: /home/linyihan/linyh/laq/results_robotwin/tokenizer_step_100000.pt
|
| 26 |
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type: training
|
| 27 |
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epochs: 10
|
| 28 |
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max_steps: 30000
|
| 29 |
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global_batch_size: 128
|
| 30 |
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per_device_batch_size: 16
|
| 31 |
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learning_rate: 0.0001
|
| 32 |
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weight_decay: 0.01
|
| 33 |
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max_grad_norm: 1.0
|
| 34 |
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lr_scheduler_type: step-decay
|
| 35 |
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warmup_ratio: 0.03
|
| 36 |
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save_step: 30000
|
| 37 |
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token_loss_weight: 0.1
|
| 38 |
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use_token: false
|
| 39 |
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use_val: false
|
| 40 |
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wandb_project: vla
|
| 41 |
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use_wandb: true
|
robotwin_hf/LA_Tok+aloha/dataset_statistics.json
ADDED
|
@@ -0,0 +1,866 @@
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robotwin_hf/LA_Tok+aloha/run-metrics.jsonl
ADDED
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| 1 |
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{"hparams": {"action_tokenizer_ckpt": "/home/linyihan/linyh/laq/results_robotwin/tokenizer_step_100000.pt", "codebook_size": 16, "data_mix": ["aloha_move_can_pot", "aloha_move_playingcard_away", "aloha_pick_dual_bottles", "aloha_place_container_plate"], "data_root_dir": "/home/linyihan/linyh/datasets/robotwin_latent", "default_image_size": 224, "epochs": 10, "from_pretrained": false, "global_batch_size": 128, "image_aug": true, "learning_rate": 0.0001, "lr_scheduler_type": "step-decay", "max_grad_norm": 1.0, "max_steps": 30000, "num_images_in_input": 2, "per_device_batch_size": 16, "pretrained_checkpoint": "/home/linyihan/linyh/VLM/InternVL3_5-1B", "run_root_dir": "runs", "save_checkpoint": true, "save_step": 30000, "seed": 42, "shuffle_buffer_size": 128, "token_loss_weight": 0.1, "type": "training", "use_latent": false, "use_pro_version": true, "use_proprio": true, "use_token": false, "use_val": false, "use_wandb": true, "use_wrist_image": true, "vla_id": "token", "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": 25}, "run_id": "token+['aloha_move_can_pot', 'aloha_move_playingcard_away', 'aloha_pick_dual_bottles', 'aloha_place_container_plate']+Qwen3+type-training+20260102-103811"}
|
robotwin_hf/LA_Tok+aloha/token+['aloha_move_can_pot', 'aloha_move_playingcard_away', 'aloha_pick_dual_bottles', 'aloha_place_container_plate']+Qwen3+type-training+20260102-103811.jsonl
ADDED
|
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|
|
robotwin_hf/baseline+aloha/baseline+['aloha_move_can_pot', 'aloha_move_playingcard_away', 'aloha_pick_dual_bottles', 'aloha_place_container_plate']+Qwen3+type-training+20260101-155908.jsonl
ADDED
|
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|
|
|
robotwin_hf/baseline+aloha/checkpoints/step-010000-epoch-46-loss=0.0232.pt
ADDED
|
@@ -0,0 +1,3 @@
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|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:d2c51ca26611af89263e97c30c7e488f37b3c72d21a0769c1a4272c2705283c3
|
| 3 |
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size 5594861206
|
robotwin_hf/baseline+aloha/config.yaml
ADDED
|
@@ -0,0 +1,41 @@
|
|
|
|
|
|
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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 |
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seed: 42
|
| 2 |
+
run_root_dir: runs
|
| 3 |
+
save_checkpoint: true
|
| 4 |
+
vla_id: baseline
|
| 5 |
+
vlm_path: /home/linyihan/linyh/VLM/Qwen3-VL-2B-Instruct
|
| 6 |
+
vlm_model_id: Qwen3
|
| 7 |
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default_image_size: 224
|
| 8 |
+
codebook_size: 16
|
| 9 |
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use_latent: false
|
| 10 |
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pretrained_checkpoint: /home/linyihan/linyh/LatentVLA/runs/baseline+aloha+Qwen3+type-training+20251226-161628
|
| 11 |
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from_pretrained: true
|
| 12 |
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data_root_dir: /home/linyihan/linyh/datasets/robotwin_latent
|
| 13 |
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data_mix:
|
| 14 |
+
- aloha_move_can_pot
|
| 15 |
+
- aloha_move_playingcard_away
|
| 16 |
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- aloha_pick_dual_bottles
|
| 17 |
+
- aloha_place_container_plate
|
| 18 |
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shuffle_buffer_size: 128
|
| 19 |
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image_aug: true
|
| 20 |
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window_size: 25
|
| 21 |
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use_wrist_image: true
|
| 22 |
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use_proprio: true
|
| 23 |
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use_pro_version: true
|
| 24 |
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num_images_in_input: 2
|
| 25 |
+
action_tokenizer_ckpt: /home/linyihan/linyh/laq/results_libero/tokenizer_step_50000.pt
|
| 26 |
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type: training
|
| 27 |
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epochs: 10
|
| 28 |
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max_steps: 10000
|
| 29 |
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global_batch_size: 128
|
| 30 |
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per_device_batch_size: 32
|
| 31 |
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learning_rate: 0.0002
|
| 32 |
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weight_decay: 0.01
|
| 33 |
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max_grad_norm: 1.0
|
| 34 |
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lr_scheduler_type: constant
|
| 35 |
+
warmup_ratio: 0.03
|
| 36 |
+
save_step: 20000
|
| 37 |
+
token_loss_weight: 0.0
|
| 38 |
+
use_token: false
|
| 39 |
+
use_val: false
|
| 40 |
+
wandb_project: vla
|
| 41 |
+
use_wandb: true
|
robotwin_hf/baseline+aloha/dataset_statistics.json
ADDED
|
@@ -0,0 +1,866 @@
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|
| 1 |
+
{
|
| 2 |
+
"aloha_move_can_pot": {
|
| 3 |
+
"action": {
|
| 4 |
+
"mean": [
|
| 5 |
+
-0.027072058990597725,
|
| 6 |
+
0.8504119515419006,
|
| 7 |
+
0.7368590831756592,
|
| 8 |
+
-0.3640815317630768,
|
| 9 |
+
0.05392211303114891,
|
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|
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|
robotwin_hf/baseline+aloha/run-metrics.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"hparams": {"action_tokenizer_ckpt": "/home/linyihan/linyh/laq/results_libero/tokenizer_step_50000.pt", "codebook_size": 16, "data_mix": ["aloha_move_can_pot", "aloha_move_playingcard_away", "aloha_pick_dual_bottles", "aloha_place_container_plate"], "data_root_dir": "/home/linyihan/linyh/datasets/robotwin_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": 10000, "num_images_in_input": 2, "per_device_batch_size": 32, "pretrained_checkpoint": "/home/linyihan/linyh/LatentVLA/runs/baseline+aloha+Qwen3+type-training+20251226-161628", "run_root_dir": "runs", "save_checkpoint": true, "save_step": 20000, "seed": 42, "shuffle_buffer_size": 128, "token_loss_weight": 0.0, "type": "training", "use_latent": false, "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": 25}, "run_id": "baseline+['aloha_move_can_pot', 'aloha_move_playingcard_away', 'aloha_pick_dual_bottles', 'aloha_place_container_plate']+Qwen3+type-training+20260101-155908"}
|