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@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+vlm/tokenizer.json filter=lfs diff=lfs merge=lfs -text

config.json

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+{
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+      "data_mix": "official_twobytwo_pose_qa+official_twobytwo_pose_instruction_qa",
+      "dataset_py": "hdf5datasets",
+      "default_point_end_token": "<point_end>",
+      "default_point_patch_token": "<point>",
+      "default_point_start_token": "<point_start>",
+      "drop_last": true,
+      "eval_with_val": true,
+      "import_rotation": true,
+      "import_translation": false,
+      "label_pad_token_id": -100,
+      "num_samples": 100,
+      "num_workers": 0,
+      "per_device_batch_size": 4,
+      "point_token_len": 256,
+      "shuffle": true,
+      "split_train_val": true,
+      "test_mix": "twobytwo_final_hdf5",
+      "train_mix": "biassembly_final_hdf5+partnet_final_hdf5+partnext_final_hdf5+twobytwo_final_hdf5"
+    },
+    "point_token_len": 256
+  },
+  "framework": {
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+      "action_hidden_dim": 1024,
+      "action_horizon": 1,
+      "add_pos_embed": true,
+      "diffusion_model_cfg": {
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+        "dropout": 0.2,
+        "final_dropout": true,
+        "interleave_self_attention": true,
+        "norm_type": "ada_norm",
+        "num_layers": 16,
+        "output_dim": 1024,
+        "positional_embeddings": null
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+      "expected_len": 20,
+      "fast_tokenizer_num_samples": 100000,
+      "future_action_window_size": 7,
+      "hidden_size": 1024,
+      "max_seq_len": 1024,
+      "model_path": "/gemini/space/users/jingzhi/project/AssemPVLM-main/starVLA/results/train_vndgcnn_jingzhi15/fast_tokenizer_trained",
+      "noise_beta_alpha": 1.5,
+      "noise_beta_beta": 1.0,
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+      "num_target_vision_tokens": 32,
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+      "pad_token_id": 2047,
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+      "repeated_diffusion_steps": 8,
+      "scale": 900,
+      "state_dim": 7,
+      "tokenizer_vocab_size": 201,
+      "type": "linear",
+      "use_expected_len": false,
+      "vocab_size": 2048
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+    "assemlm_py": "assemlm",
+    "framework_py": "PVLA_Fast",
+    "name": "AssemLM",
+    "point_encoder": {
+      "model_path": "/gemini/space/users/jingzhi/project/AssemPVLM-main/assempvlm/models_local/pretrain_vndgcnn/1000-network_A.pth",
+      "pc_feat_dim": 512,
+      "resume_from_checkpoint": false,
+      "type": "vn_dgcnn"
+    },
+    "point_projector": {
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+      "project_output_dim": 2048,
+      "projection_hidden_dim": [
+        1024,
+        2048
+      ],
+      "projection_hidden_layer": 2
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+    "use_category_in_instruction": true,
+    "vlm": {
+      "base_vlm": "vlm",
+      "build_version": 0,
+      "local_files_only": true,
+      "saved_version": 1
+    }
+  },
+  "is_debug": false,
+  "model_type": "assemlm_hf",
+  "run_id": "assemlm21",
+  "run_root_dir": "./results",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "trainer": {
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true,
+    "epochs": 1,
+    "eval_end_step": 1000000,
+    "eval_interval": 200,
+    "eval_start_step": 0,
+    "freeze_modules": null,
+    "gen_do_sample": false,
+    "gen_temperature": 1.0,
+    "gradient_accumulation_steps": 1,
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+    "is_resume": true,
+    "learning_rate": {
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+      "base": 1e-05,
+      "pvlm_interface": 5e-06
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+    "logging_frequency": 10,
+    "lr_scheduler_type": "cosine_with_min_lr",
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+    "num_warmup_steps": 50000,
+    "optimizer": {
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+      "name": "AdamW",
+      "weight_decay": 1e-08
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+    "pretrained_checkpoint": "/gemini/space/users/jingzhi/project/AssemPVLM-main/starVLA/results/train_vndgcnn_jingzhi19/checkpoints/latest/pytorch_model/mp_rank_00_model_states.pt",
+    "resume_epoch": null,
+    "resume_from_checkpoint": "/gemini/space/users/jingzhi/project/AssemPVLM-main/starVLA/results/train_vndgcnn_jingzhi19/checkpoints/latest",
+    "resume_step": null,
+    "save_end_step": 1000000,
+    "save_interval": 200,
+    "save_start_step": 0,
+    "scheduler_specific_kwargs": {
+      "min_lr": 5e-07
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+    "train_fast_tokenizer": false,
+    "vlm_max_length": 1800,
+    "vlm_padding": true,
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0
+  },
+  "transformers_version": "4.57.0"
+}

model.safetensors

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+oid sha256:a360f593fed2930276f4f49dbb1b8a3522462b81e952c7a41f04f8f1872dc288
+size 30687588

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+}

vlm/chat_template.jinja

@@ -0,0 +1,120 @@
+{%- if tools %}
+    {{- '<|im_start|>system\n' }}
+    {%- if messages[0].role == 'system' %}
+        {%- if messages[0].content is string %}
+            {{- messages[0].content }}
+        {%- else %}
+            {%- for content in messages[0].content %}
+                {%- if 'text' in content %}
+                    {{- content.text }}
+                {%- endif %}
+            {%- endfor %}
+        {%- endif %}
+        {{- '\n\n' }}
+    {%- endif %}
+    {{- "# Tools\n\nYou may call one or more functions to assist with the user query.\n\nYou are provided with function signatures within <tools></tools> XML tags:\n<tools>" }}
+    {%- for tool in tools %}
+        {{- "\n" }}
+        {{- tool | tojson }}
+    {%- endfor %}
+    {{- "\n</tools>\n\nFor each function call, return a json object with function name and arguments within <tool_call></tool_call> XML tags:\n<tool_call>\n{\"name\": <function-name>, \"arguments\": <args-json-object>}\n</tool_call><|im_end|>\n" }}
+{%- else %}
+    {%- if messages[0].role == 'system' %}
+        {{- '<|im_start|>system\n' }}
+        {%- if messages[0].content is string %}
+            {{- messages[0].content }}
+        {%- else %}
+            {%- for content in messages[0].content %}
+                {%- if 'text' in content %}
+                    {{- content.text }}
+                {%- endif %}
+            {%- endfor %}
+        {%- endif %}
+        {{- '<|im_end|>\n' }}
+    {%- endif %}
+{%- endif %}
+{%- set image_count = namespace(value=0) %}
+{%- set video_count = namespace(value=0) %}
+{%- for message in messages %}
+    {%- if message.role == "user" %}
+        {{- '<|im_start|>' + message.role + '\n' }}
+        {%- if message.content is string %}
+            {{- message.content }}
+        {%- else %}
+            {%- for content in message.content %}
+                {%- if content.type == 'image' or 'image' in content or 'image_url' in content %}
+                    {%- set image_count.value = image_count.value + 1 %}
+                    {%- if add_vision_id %}Picture {{ image_count.value }}: {% endif -%}
+                    <|vision_start|><|image_pad|><|vision_end|>
+                {%- elif content.type == 'video' or 'video' in content %}
+                    {%- set video_count.value = video_count.value + 1 %}
+                    {%- if add_vision_id %}Video {{ video_count.value }}: {% endif -%}
+                    <|vision_start|><|video_pad|><|vision_end|>
+                {%- elif 'text' in content %}
+                    {{- content.text }}
+                {%- endif %}
+            {%- endfor %}
+        {%- endif %}
+        {{- '<|im_end|>\n' }}
+    {%- elif message.role == "assistant" %}
+        {{- '<|im_start|>' + message.role + '\n' }}
+        {%- if message.content is string %}
+            {{- message.content }}
+        {%- else %}
+            {%- for content_item in message.content %}
+                {%- if 'text' in content_item %}
+                    {{- content_item.text }}
+                {%- endif %}
+            {%- endfor %}
+        {%- endif %}
+        {%- if message.tool_calls %}
+            {%- for tool_call in message.tool_calls %}
+                {%- if (loop.first and message.content) or (not loop.first) %}
+                    {{- '\n' }}
+                {%- endif %}
+                {%- if tool_call.function %}
+                    {%- set tool_call = tool_call.function %}
+                {%- endif %}
+                {{- '<tool_call>\n{"name": "' }}
+                {{- tool_call.name }}
+                {{- '", "arguments": ' }}
+                {%- if tool_call.arguments is string %}
+                    {{- tool_call.arguments }}
+                {%- else %}
+                    {{- tool_call.arguments | tojson }}
+                {%- endif %}
+                {{- '}\n</tool_call>' }}
+            {%- endfor %}
+        {%- endif %}
+        {{- '<|im_end|>\n' }}
+    {%- elif message.role == "tool" %}
+        {%- if loop.first or (messages[loop.index0 - 1].role != "tool") %}
+            {{- '<|im_start|>user' }}
+        {%- endif %}
+        {{- '\n<tool_response>\n' }}
+        {%- if message.content is string %}
+            {{- message.content }}
+        {%- else %}
+            {%- for content in message.content %}
+                {%- if content.type == 'image' or 'image' in content or 'image_url' in content %}
+                    {%- set image_count.value = image_count.value + 1 %}
+                    {%- if add_vision_id %}Picture {{ image_count.value }}: {% endif -%}
+                    <|vision_start|><|image_pad|><|vision_end|>
+                {%- elif content.type == 'video' or 'video' in content %}
+                    {%- set video_count.value = video_count.value + 1 %}
+                    {%- if add_vision_id %}Video {{ video_count.value }}: {% endif -%}
+                    <|vision_start|><|video_pad|><|vision_end|>
+                {%- elif 'text' in content %}
+                    {{- content.text }}
+                {%- endif %}
+            {%- endfor %}
+        {%- endif %}
+        {{- '\n</tool_response>' }}
+        {%- if loop.last or (messages[loop.index0 + 1].role != "tool") %}
+            {{- '<|im_end|>\n' }}
+        {%- endif %}
+    {%- endif %}
+{%- endfor %}
+{%- if add_generation_prompt %}
+    {{- '<|im_start|>assistant\n' }}
+{%- endif %}

vlm/config.json

@@ -0,0 +1,67 @@
+{
+  "architectures": [
+    "Qwen3VLForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "hidden_size": 2048,
+  "image_token_id": 151655,
+  "model_type": "qwen3_vl",
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "bos_token_id": 151643,
+    "dtype": "bfloat16",
+    "eos_token_id": 151645,
+    "head_dim": 128,
+    "hidden_act": "silu",
+    "hidden_size": 2048,
+    "initializer_range": 0.02,
+    "intermediate_size": 6144,
+    "max_position_embeddings": 262144,
+    "model_type": "qwen3_vl_text",
+    "num_attention_heads": 16,
+    "num_hidden_layers": 28,
+    "num_key_value_heads": 8,
+    "rms_norm_eps": 1e-06,
+    "rope_scaling": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        24,
+        20,
+        20
+      ],
+      "rope_type": "default"
+    },
+    "rope_theta": 5000000,
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 153720
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "4.57.0",
+  "video_token_id": 151656,
+  "vision_config": {
+    "deepstack_visual_indexes": [
+      5,
+      11,
+      17
+    ],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_vl",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2048,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 151653,
+  "vision_start_token_id": 151652,
+  "vocab_size": 153720
+}

vlm/generation_config.json

@@ -0,0 +1,13 @@
+{
+  "bos_token_id": 151643,
+  "do_sample": true,
+  "eos_token_id": [
+    151645,
+    151643
+  ],
+  "pad_token_id": 151643,
+  "temperature": 0.7,
+  "top_k": 20,
+  "top_p": 0.8,
+  "transformers_version": "4.57.0"
+}

vlm/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:472b5fbb2b0806b543c8fe5537afd58c98875cf4e28789e8d372662f91c32687
+size 4892084864

vlm/preprocessor_config.json

@@ -0,0 +1,39 @@
+{
+  "crop_size": null,
+  "data_format": "channels_first",
+  "default_to_square": true,
+  "device": null,
+  "disable_grouping": null,
+  "do_center_crop": null,
+  "do_convert_rgb": true,
+  "do_normalize": true,
+  "do_pad": null,
+  "do_rescale": true,
+  "do_resize": true,
+  "image_mean": [
+    0.5,
+    0.5,
+    0.5
+  ],
+  "image_processor_type": "Qwen2VLImageProcessorFast",
+  "image_std": [
+    0.5,
+    0.5,
+    0.5
+  ],
+  "input_data_format": null,
+  "max_pixels": null,
+  "merge_size": 2,
+  "min_pixels": null,
+  "pad_size": null,
+  "patch_size": 16,
+  "processor_class": "Qwen3VLProcessor",
+  "resample": 3,
+  "rescale_factor": 0.00392156862745098,
+  "return_tensors": null,
+  "size": {
+    "longest_edge": 16777216,
+    "shortest_edge": 65536
+  },
+  "temporal_patch_size": 2
+}

vlm/tokenizer.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ebab470720209659901f477fd98e4604f01b73119094c3d44a0df962b1d2f57
+size 11825562

vlm/video_preprocessor_config.json

@@ -0,0 +1,41 @@
+{
+  "crop_size": null,
+  "data_format": "channels_first",
+  "default_to_square": true,
+  "device": null,
+  "do_center_crop": null,
+  "do_convert_rgb": true,
+  "do_normalize": true,
+  "do_rescale": true,
+  "do_resize": true,
+  "do_sample_frames": true,
+  "fps": 2,
+  "image_mean": [
+    0.5,
+    0.5,
+    0.5
+  ],
+  "image_std": [
+    0.5,
+    0.5,
+    0.5
+  ],
+  "input_data_format": null,
+  "max_frames": 768,
+  "merge_size": 2,
+  "min_frames": 4,
+  "num_frames": null,
+  "pad_size": null,
+  "patch_size": 16,
+  "processor_class": "Qwen3VLProcessor",
+  "resample": 3,
+  "rescale_factor": 0.00392156862745098,
+  "return_metadata": false,
+  "size": {
+    "longest_edge": 25165824,
+    "shortest_edge": 4096
+  },
+  "temporal_patch_size": 2,
+  "video_metadata": null,
+  "video_processor_type": "Qwen3VLVideoProcessor"
+}