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0000000000000000000000000000000000000000..1dfcbb00c78453e6a692533b0e4175221989f214 Binary files /dev/null and b/openpi/params/ocdbt.process_0/d/f4bfddd7dda2cb83e05a129bd6c3d66b differ diff --git a/openpi/params/ocdbt.process_0/d/faafe69f704aa27f5cb0deb178eca76a b/openpi/params/ocdbt.process_0/d/faafe69f704aa27f5cb0deb178eca76a new file mode 100644 index 0000000000000000000000000000000000000000..c4aa242f694dfdd6227ed1742dd28ccbc249032e --- /dev/null +++ b/openpi/params/ocdbt.process_0/d/faafe69f704aa27f5cb0deb178eca76a @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e47abeb17d3e0b3d6a923aac8ce75a3ee34d36e28fd056af71f6af2982c086e +size 145377 diff --git a/openpi/params/ocdbt.process_0/manifest.ocdbt b/openpi/params/ocdbt.process_0/manifest.ocdbt new file mode 100644 index 0000000000000000000000000000000000000000..256beaf088ac634dcef228bc11a83a749c936abf Binary files /dev/null and b/openpi/params/ocdbt.process_0/manifest.ocdbt differ diff --git a/openpi_pi05_droidfull8_cent_local.train.log b/openpi_pi05_droidfull8_cent_local.train.log new file mode 100644 index 0000000000000000000000000000000000000000..affbb248694ffbefe3e06c7bda45b87c011e8a19 --- /dev/null +++ b/openpi_pi05_droidfull8_cent_local.train.log @@ -0,0 +1,499 @@ +2026-11-01 12:40:53.227925: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2026-11-01 12:40:53.228029: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2026-11-01 12:40:53.228878: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2026-11-01 12:40:53.696518: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-11-01 12:40:54,395 [INFO] root: Loaded norm stats from gs://openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid +2026-11-01 12:40:54,401 [INFO] datasets: PyTorch version 2.7.1 available. +2026-11-01 12:40:54,402 [INFO] datasets: Polars version 1.30.0 available. +2026-11-01 12:40:54,402 [INFO] datasets: TensorFlow version 2.15.0 available. +2026-11-01 12:40:54,402 [INFO] datasets: JAX version 0.5.3 available. +2026-11-01 12:40:54,476 [INFO] root: Loaded norm stats from /data/gaoliu/droidfull8/openpi-cache/openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid +2026-11-01 12:40:54,521 [INFO] root: Loaded norm stats from gs://openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid +INFO:2026-11-01 12:40:55,755:jax._src.xla_bridge:925: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +2026-11-01 12:40:55,755 [INFO] jax._src.xla_bridge: Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig' +INFO:2026-11-01 12:40:55,756:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +2026-11-01 12:40:55,756 [INFO] jax._src.xla_bridge: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory +2026-11-01 12:40:56,485 [INFO] decent_vla.adapters.openpi._engine: openpi engine on ['cuda:0', 'cuda:1', 'cuda:2', 'cuda:3', 'cuda:4', 'cuda:5', 'cuda:6', 'cuda:7']: 51 trainable / 0 frozen param tensors (3.35B trainable) +2026-11-01 12:40:56,485 [INFO] absl: orbax-checkpoint version: 0.11.13 +2026-11-01 12:40:56,485 [INFO] absl: Created BasePyTreeCheckpointHandler: use_ocdbt=True, use_zarr3=False, pytree_metadata_options=PyTreeMetadataOptions(support_rich_types=False), array_metadata_store= +2026-11-01 12:40:56,502 [INFO] absl: Restoring checkpoint from /data/gaoliu/droidfull8/openpi-cache/openpi-assets/checkpoints/pi05_base/params. +2026-11-01 12:40:57,978 [INFO] absl: [thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID. +2026-11-01 12:40:57,979 [INFO] absl: [process=0] /jax/checkpoint/read/bytes_per_sec: 8.5 GiB/s (total bytes: 12.5 GiB) (time elapsed: a second) (per-host) +2026-11-01 12:40:57,979 [INFO] absl: Finished restoring checkpoint in 1.48 seconds from /data/gaoliu/droidfull8/openpi-cache/openpi-assets/checkpoints/pi05_base/params. +2026-11-01 12:41:01,740 [INFO] decent_vla.adapters.openpi._engine: openpi engine loaded base weights from gs://openpi-assets/checkpoints/pi05_base/params +2026-11-01 12:41:05,861 [INFO] root: Loaded norm stats from gs://openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid +2026-11-01 12:41:05,861 [INFO] root: Loaded norm stats from /data/gaoliu/droidfull8/openpi-cache/openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid +2026-11-01 12:41:05,909 [INFO] root: Loaded norm stats from gs://openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid +2026-11-01 12:41:06,384 [INFO] decent_vla.adapters.openpi.backend: openpi droid_full client: buildings ['Berkeley Way West (BWW / BAIR / RAIL)', 'Gates', 'Autolab', 'TRI', '403 Fairmont', 'UT AHG', 'UW CSE2 (Gates Center)', '640 Palo Alto Ave', '416 W Dana St', 'EVGR C', 'KAIST', 'Penn Levine Hall', "Glen's office", 'soft objects', '780 Shary Ave', '394 Franklin', 'Edinburgh Bayes Centre', 'Lyman', 'Wasabi Tempura', '2300 Jane Ln', 'EVGR D', '2479 Richard Ct', "Dan's Apartment", '775 Roble', "Jimmy's Apartment", 'N/A', 'CMU Smith Hall', 'Mila kitchen', 'Rabbit Hole', "Kyle Hsu's Place", '10 Comstock Circle, Apt. 135', 'UdeM AA 3248', 'setup room', 'Forum - Meeting Area 2', 'amodal instance', 'EVGR B'] +2026-11-01 12:41:06,385 [INFO] decent_vla.adapters.openpi.backend: openpi client data: 78864 episodes, 22129092 frames, bs 256, 32 workers +2026-11-01 12:41:06.831215: W tensorflow/core/common_runtime/gpu/gpu_device.cc:2256] Cannot dlopen some GPU libraries. Please make sure the missing libraries mentioned above are installed properly if you would like to use GPU. Follow the guide at https://www.tensorflow.org/install/gpu for how to download and setup the required libraries for your platform. +Skipping registering GPU devices... +2026-11-01 12:41:06,881 [INFO] absl: Load dataset info from /data/gaoliu/droidfull8/rlds/droid/1.0.1 +2026-11-01 12:41:06,901 [INFO] absl: Creating a tf.data.Dataset reading 2048 files located in folders: /data/gaoliu/droidfull8/rlds/droid/1.0.1. +2026-11-01 12:41:06,964 [INFO] absl: Constructing tf.data.Dataset droid_101 for split train, from /data/gaoliu/droidfull8/rlds/droid/1.0.1 +2026-11-01 12:41:34.263888: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2026-11-01 12:41:34.263987: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2026-11-01 12:41:34.264732: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2026-11-01 12:41:34.748717: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-11-01 12:41:37.900187: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2026-11-01 12:41:37.900265: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2026-11-01 12:41:37.901001: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2026-11-01 12:41:38.398538: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-11-01 12:41:41.506921: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2026-11-01 12:41:41.507011: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2026-11-01 12:41:41.507760: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2026-11-01 12:41:42.010766: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-11-01 12:41:45.186793: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2026-11-01 12:41:45.186892: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2026-11-01 12:41:45.187653: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2026-11-01 12:41:45.708717: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-11-01 12:41:48.818902: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2026-11-01 12:41:48.818993: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2026-11-01 12:41:48.819726: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2026-11-01 12:41:49.287908: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-11-01 12:41:52.434045: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2026-11-01 12:41:52.434121: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2026-11-01 12:41:52.434882: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2026-11-01 12:41:52.919305: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-11-01 12:41:56.096050: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2026-11-01 12:41:56.096125: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2026-11-01 12:41:56.096883: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2026-11-01 12:41:56.574762: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-11-01 12:41:59.739036: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2026-11-01 12:41:59.739109: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2026-11-01 12:41:59.739852: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2026-11-01 12:42:00.216457: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-11-01 12:42:03.425525: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2026-11-01 12:42:03.425606: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2026-11-01 12:42:03.426351: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2026-11-01 12:42:03.908844: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-11-01 12:42:07.072518: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2026-11-01 12:42:07.072599: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2026-11-01 12:42:07.073310: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2026-11-01 12:42:07.549049: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +2026-11-01 12:42:11.948199: E external/xla/xla/service/slow_operation_alarm.cc:73] Constant folding an instruction is taking > 1s: + + %reduce-window.15 = s32[256,984]{1,0} reduce-window(%broadcast.5791, %constant.3153), window={size=1x984 pad=0_0x983_0}, to_apply=%region_45.12413, metadata={op_name="jit(loss_fn)/jit(main)/jvp(jit(cumsum))/reduce_window_sum" source_file="/data/gaoliu/droidfull8/openpi/src/openpi/models/pi0.py" source_line=41} + +This isn't necessarily a bug; constant-folding is inherently a trade-off between compilation time and speed at runtime. XLA has some guards that attempt to keep constant folding from taking too long, but fundamentally you'll always be able to come up with an input program that takes a long time. + +If you'd like to file a bug, run with envvar XLA_FLAGS=--xla_dump_to=/tmp/foo and attach the results. +2026-11-01 12:42:14.437589: E external/xla/xla/service/slow_operation_alarm.cc:140] The operation took 3.49009094s +Constant folding an instruction is taking > 1s: + + %reduce-window.15 = s32[256,984]{1,0} reduce-window(%broadcast.5791, %constant.3153), window={size=1x984 pad=0_0x983_0}, to_apply=%region_45.12413, metadata={op_name="jit(loss_fn)/jit(main)/jvp(jit(cumsum))/reduce_window_sum" source_file="/data/gaoliu/droidfull8/openpi/src/openpi/models/pi0.py" source_line=41} + +This isn't necessarily a bug; constant-folding is inherently a trade-off between compilation time and speed at runtime. XLA has some guards that attempt to keep constant folding from taking too long, but fundamentally you'll always be able to come up with an input program that takes a long time. + +If you'd like to file a bug, run with envvar XLA_FLAGS=--xla_dump_to=/tmp/foo and attach the results. +wandb: WARNING `resume` will be ignored since W&B syncing is set to `offline`. Starting a new run with run id openpi_pi05_droidfull8_cent_local. +wandb: Tracking run with wandb version 0.19.11 +wandb: W&B syncing is set to `offline` in this directory. Run `wandb online` or set WANDB_MODE=online to enable cloud syncing. +2026-11-01 12:48:38,312 [INFO] decent_vla.runtime.round_loop: round 1 updates=1 mean_loss=0.0260 +2026-11-01 12:54:26,894 [INFO] decent_vla.runtime.round_loop: round 2 updates=1 mean_loss=0.0213 +2026-11-01 13:00:15,986 [INFO] decent_vla.runtime.round_loop: round 3 updates=1 mean_loss=0.0206 +2026-11-01 13:06:04,988 [INFO] decent_vla.runtime.round_loop: round 4 updates=1 mean_loss=0.0212 +2026-11-01 13:11:53,343 [INFO] decent_vla.runtime.round_loop: round 5 updates=1 mean_loss=0.0211 +2026-11-01 13:17:42,066 [INFO] decent_vla.runtime.round_loop: round 6 updates=1 mean_loss=0.0205 +2026-11-01 13:23:30,788 [INFO] decent_vla.runtime.round_loop: round 7 updates=1 mean_loss=0.0201 +2026-11-01 13:29:18,629 [INFO] decent_vla.runtime.round_loop: round 8 updates=1 mean_loss=0.0194 +2026-11-01 13:35:07,201 [INFO] decent_vla.runtime.round_loop: round 9 updates=1 mean_loss=0.0194 +2026-11-01 13:40:55,070 [INFO] decent_vla.runtime.round_loop: round 10 updates=1 mean_loss=0.0190 +2026-11-01 13:46:43,075 [INFO] decent_vla.runtime.round_loop: round 11 updates=1 mean_loss=0.0188 +2026-11-01 13:52:31,444 [INFO] decent_vla.runtime.round_loop: round 12 updates=1 mean_loss=0.0186 +2026-11-01 13:58:19,769 [INFO] decent_vla.runtime.round_loop: round 13 updates=1 mean_loss=0.0181 +2026-11-01 14:04:07,816 [INFO] decent_vla.runtime.round_loop: round 14 updates=1 mean_loss=0.0178 +2026-11-01 14:09:56,037 [INFO] decent_vla.runtime.round_loop: round 15 updates=1 mean_loss=0.0174 +2026-11-01 14:15:44,057 [INFO] decent_vla.runtime.round_loop: round 16 updates=1 mean_loss=0.0176 +2026-11-01 14:21:32,045 [INFO] decent_vla.runtime.round_loop: round 17 updates=1 mean_loss=0.0175 +2026-11-01 14:27:20,447 [INFO] decent_vla.runtime.round_loop: round 18 updates=1 mean_loss=0.0174 +2026-11-01 14:33:09,056 [INFO] decent_vla.runtime.round_loop: round 19 updates=1 mean_loss=0.0172 +2026-11-01 14:38:57,375 [INFO] decent_vla.runtime.round_loop: round 20 updates=1 mean_loss=0.0168 +2026-11-01 14:44:45,494 [INFO] decent_vla.runtime.round_loop: round 21 updates=1 mean_loss=0.0169 +2026-11-01 14:50:33,284 [INFO] decent_vla.runtime.round_loop: round 22 updates=1 mean_loss=0.0168 +2026-11-01 14:56:21,522 [INFO] decent_vla.runtime.round_loop: round 23 updates=1 mean_loss=0.0167 +2026-11-01 15:02:09,831 [INFO] decent_vla.runtime.round_loop: round 24 updates=1 mean_loss=0.0167 +2026-11-01 15:07:57,465 [INFO] decent_vla.runtime.round_loop: round 25 updates=1 mean_loss=0.0166 +2026-11-01 15:13:45,405 [INFO] decent_vla.runtime.round_loop: round 26 updates=1 mean_loss=0.0165 +2026-11-01 15:19:33,959 [INFO] decent_vla.runtime.round_loop: round 27 updates=1 mean_loss=0.0165 +2026-11-01 15:25:22,507 [INFO] decent_vla.runtime.round_loop: round 28 updates=1 mean_loss=0.0164 +2026-11-01 15:31:10,550 [INFO] decent_vla.runtime.round_loop: round 29 updates=1 mean_loss=0.0165 +2026-11-01 15:36:58,480 [INFO] 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decent_vla.runtime.round_loop: round 400 updates=1 mean_loss=0.0123 +2026-11-03 14:18:59,513 [INFO] root: Loaded norm stats from gs://openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid +2026-11-03 14:18:59,513 [INFO] root: Loaded norm stats from /data/gaoliu/droidfull8/openpi-cache/openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid +2026-11-03 14:18:59,591 [INFO] root: Loaded norm stats from gs://openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid +wandb: +wandb: You can sync this run to the cloud by running: +wandb: wandb sync /data/gaoliu/droidfull8/decent-vla/logs/wandb/offline-run-20261101_124837-openpi_pi05_droidfull8_cent_local +wandb: Find logs at: logs/wandb/offline-run-20261101_124837-openpi_pi05_droidfull8_cent_local/logs +FL training complete: 400 rounds, checkpoint at outputs/openpi_pi05_droidfull8_cent_local/checkpoints/round_0400.pt diff --git a/openpi_pi05_droidfull8_cent_local.yaml b/openpi_pi05_droidfull8_cent_local.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6b4f28e9ca55a34411b154cfe847aebec28745e3 --- /dev/null +++ b/openpi_pi05_droidfull8_cent_local.yaml @@ -0,0 +1,68 @@ +# ============================================================================== +# GENERATED by scripts/droid_full8_make_configs.py — edit the generator, not this file. +# OFFICIAL openpi JAX pi0.5 (full FT from pi05_base) on FULL DROID "droidfull8": CENTRALISED = openpi pi05_full_droid_finetune (1 client = all buildings, batch 256 over 8 GPUs) +# Data: openpi's full-DROID training set (RLDS droid/1.0.1 under $DROID_RLDS_DIR, successful episodes, +# openpi's idle filter: 78,864 episodes, 22.13 M frames), read by openpi's own RLDS pipeline. +# Centralised reference for the 8-client arms (here: 1 client = all buildings). +# Recipe = openpi pi05_full_droid_finetune: horizon 16, lr 5e-5, clip 1.0, EMA 0.99, 25.6 M samples. +# Runbook: examples/droid/README_droidfull8.md (relative paths below are from the repo root). +# ============================================================================== +name: openpi_pi05_droidfull8_cent_local +seed: 42 +device: cpu # torch stays on the host; JAX owns the GPUs + +backend: + name: openpi + extra: + train_config: pi05_droid_full # adapters/openpi/_droid_full.py; RLDS dir from $DROID_RLDS_DIR + weights: gs://openpi-assets/checkpoints/pi05_base/params + norm_stats_dir: gs://openpi-assets/checkpoints/pi05_droid_jointpos/assets + asset_id: droid + ema_decay: 0.99 # openpi TrainConfig default; the served weights are the EMA + shuffle_buffer_size: 250000 # openpi DroidRldsDataset (one pipeline) + num_workers: 32 # transform processes (the FedAvg arm: 8 clients x 4) + seed: 42 + replan_steps: 15 # RoboLab's pi05 client executes 15 actions per chunk + devices: [0, 1, 2, 3, 4, 5, 6, 7] # one data-parallel engine over the node + micro_batch_size: 256 # no accumulation: 32 per card, like one FedAvg client + optim: # openpi pi05_full_droid_finetune + name: adamw + lr: 5.0e-5 + betas: [0.9, 0.95] + eps: 1.0e-8 + weight_decay: 1.0e-10 + scheduler: cosine + warmup_steps: 1000 + decay_steps: 1000000 + decay_lr: 5.0e-5 + grad_clip_norm: 1.0 # inside the optax chain (openpi clip_by_global_norm) + +data: + name: openpi + repo_id: droid + batch_size: 256 # openpi pi05_full_droid_finetune + num_workers: 32 + partitioning: + scheme: explicit_episodes # the "episodes" are DROID buildings (partition units) + num_clients: 1 + client_episodes_file: examples/droid/droid_full_cent_clients.json # one client = every building + extra: + droid_buildings: examples/droid/droid_full_buildings.json.gz + +fl: # 1 client: "FedAvg" of one model = plain training; optimizer + EMA carry across rounds + strategy: + name: fedavg + rounds: 400 # x 250 steps = 100,000 openpi steps (pi05_full_droid_finetune: 100,000) + local_steps: 250 + min_clients: 1 + execution: local + save_every_n_rounds: 40 # every 10k steps = openpi's keep_period + lean_host_memory: true + output_dir: outputs/openpi_pi05_droidfull8_cent_local + +wandb: + project: decent-vla + name: openpi_pi05_droidfull8_cent_local + group: droidfull8 + mode: offline + tags: [openpi, jax, pi05, fullft, droid, droidfull8, cent, h200] diff --git a/openpi_r200/assets/droid/norm_stats.json b/openpi_r200/assets/droid/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..b1a777ae21e912e14fb5eb3a729af5e9ad603342 --- /dev/null +++ b/openpi_r200/assets/droid/norm_stats.json @@ -0,0 +1,280 @@ +{ + "norm_stats": { + "actions": { + "mean": [ + -0.00027342053053236253, + 0.023949940105734892, + -0.00033086975858670297, + 0.017810685682994, + -0.0008023261255722413, + 0.010552860505599166, + 0.003607112609249804, + 0.45140399925478786, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.09441919822676702, + 0.17465855057556465, + 0.09332283253577026, + 0.15727956049919428, + 0.14616913317876243, + 0.1569894686239755, + 0.17109934755856457, + 0.4413864921810166, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -0.286920549198985, + -0.45945453632473954, + -0.28571800187826146, + -0.4745183891296386, + -0.46606264920234675, + -0.4415983498573304, + -0.5321806037783623, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.28556161552667625, + 0.5270082930922506, + 0.2831991063714028, + 0.47013598365783693, + 0.45336947935819616, + 0.5001207852363585, + 0.5320044534891843, + 0.9998, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "state": { + "mean": [ + 0.016237762316468146, + 0.26715409834621, + -0.016710053356134087, + -2.0255712993077326, + -0.03266582860490208, + 2.344549184149644, + 0.08269685385513066, + 0.3997888614549533, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.30769924638771073, + 0.48216030004631877, + 0.26944263961875825, + 0.48189821046318276, + 0.5374187843900121, + 0.45384659499775365, + 0.7474676080830999, + 0.40705741517596306, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + -0.8279732212066653, + -0.8398311847686768, + -0.8425482082366944, + -2.773015278291702, + -1.8426181347846986, + 1.1716566389799117, + -2.047264838027954, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.8996522880554196, + 1.385467470359802, + 0.6920277433395388, + -0.4542043057203293, + 1.732314240932464, + 3.4672964780330657, + 2.1984972072601314, + 0.991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + } + } +} \ No newline at end of file diff --git a/openpi_r200/export_info.json b/openpi_r200/export_info.json new file mode 100644 index 0000000000000000000000000000000000000000..1348eaab03e3899d0a4f4adfa2a11236cbc44183 --- /dev/null +++ b/openpi_r200/export_info.json @@ -0,0 +1,13 @@ +{ + "source_checkpoint": "outputs/openpi_pi05_droidfull8_cent_local/checkpoints/server_round_0200.pt", + "round": 199, + "weights": "ema", + "tensors_from_checkpoint": 51, + "tensors_total": 51, + "base": "gs://openpi-assets/checkpoints/pi05_base/params", + "dtype": "bfloat16", + "norm_stats": "/data/gaoliu/droidfull8/openpi-cache/openpi-assets/checkpoints/pi05_droid_jointpos/assets/droid/norm_stats.json", + "asset_id": "droid", + "openpi_config": "pi05_droid_jointpos", + "serve": "uv run scripts/serve_policy.py policy:checkpoint --policy.config=pi05_droid_jointpos --policy.dir=/data/gaoliu/droidfull8/upload_cent/openpi_r200" +} \ No newline at end of file diff --git a/openpi_r200/params/_CHECKPOINT_METADATA b/openpi_r200/params/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..db8ae3284e550e016cfb044f5d51fb6781857db3 --- /dev/null +++ b/openpi_r200/params/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1793745428236612658, "commit_timestamp_nsecs": 1793745430882917977, "custom_metadata": {}} \ No newline at end of file diff --git a/openpi_r200/params/_METADATA b/openpi_r200/params/_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..a24a8f7434a19df9721953ca981e3127df7548c9 --- /dev/null +++ b/openpi_r200/params/_METADATA @@ -0,0 +1 @@ +{"tree_metadata": {"('params', 'PaliGemma', 'img', 'Transformer', 'encoder_norm', 'bias')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoder_norm", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", "skip_deserialize": false}}, "('params', 'PaliGemma', 'img', 'Transformer', 'encoder_norm', 'scale')": {"key_metadata": [{"key": "params", "key_type": 2}, {"key": "PaliGemma", "key_type": 2}, {"key": "img", "key_type": 2}, {"key": "Transformer", "key_type": 2}, {"key": "encoder_norm", "key_type": 2}, {"key": "scale", "key_type": 2}], "value_metadata": {"value_type": "np.ndarray", 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