| VERSION="v0" |
| TASK="10" |
| VLA_PATH="checkpoints/initialized_pt_vla/initailized_openvla_with_SF_spatial_v0.4.2" |
| DATA_ROOT_DIR="data/libero_openvla" |
| RUN_ROOT_DIR="experiments/training_results" |
| REGULARIZATION_LORA_VECTOR_PATH="checkpoints/lora_diff/sf_150000_steps_spatial_adapter_diff.safetensors" |
| WANDB_ENTITY="YOUR_WANDB_ENTITY" |
| WANDB_PROJECT="YOUR_WANDB_PROJECT" |
| EVAL_LOG_PATH="experiments/eval_logs/${VERSION}_output.log" |
|
|
| torchrun --standalone --nnodes 1 --nproc-per-node 1 vla-scripts/finetune_regular_loss.py \ |
| --vla_path "$VLA_PATH" \ |
| --data_root_dir "$DATA_ROOT_DIR" \ |
| --dataset_name libero_${TASK}_no_noops \ |
| --run_root_dir "$RUN_ROOT_DIR" \ |
| --use_l1_regression True \
|
| --use_diffusion False \
|
| --use_film False \
|
| --num_images_in_input 2 \
|
| --use_proprio True \
|
| --batch_size 8 \
|
| --learning_rate 5e-4 \
|
| --scheduler CosineAnnealingLR \
|
| --max_steps 150100 \
|
| --save_freq 150000 \
|
| --save_latest_checkpoint_only True \
|
| --merge_lora_during_training True \
|
| --regularization_lora_vector_path "$REGULARIZATION_LORA_VECTOR_PATH" \ |
| --regularization_weight 1e-4 \
|
| --image_aug True \
|
| --lora_rank 32 \
|
| --wandb_entity "$WANDB_ENTITY" \ |
| --wandb_project "$WANDB_PROJECT" \ |
| --run_id_override "$VERSION" |
|
|
| python experiments/robot/libero/run_libero_eval.py --pretrained_checkpoint "$RUN_ROOT_DIR/$VERSION" --task_suite_name libero_${TASK} > "$EVAL_LOG_PATH" 2>&1 |
|
|
