| { |
| "data_args": { |
| "base_interval": 2, |
| "camera_names": "cam_high", |
| "data_flatten": false, |
| "data_packing": false, |
| "dataset_use": "/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/adjust_bottle/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/beat_block_hammer/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/blocks_ranking_rgb/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/blocks_ranking_size/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/click_alarmclock/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/click_bell/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/dump_bin_bigbin/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/grab_roller/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/handover_block/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/handover_mic/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/hanging_mug/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/lift_pot/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/move_can_pot/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/move_pillbottle_pad/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/move_playingcard_away/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/move_stapler_pad/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/open_laptop/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/open_microwave/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/pick_diverse_bottles/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/pick_dual_bottles/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_a2b_left/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_a2b_right/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_bread_basket/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_bread_skillet/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_burger_fries/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_can_basket/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_cans_plasticbox/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_container_plate/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_dual_shoes/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_empty_cup/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_fan/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_mouse_pad/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_object_basket/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_object_scale/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_object_stand/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_phone_stand/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/place_shoe/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/press_stapler/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/put_bottles_dustbin/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/put_object_cabinet/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/rotate_qrcode/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/scan_object/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/shake_bottle/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/shake_bottle_horizontally/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/stack_blocks_three/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/stack_blocks_two/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/stack_bowls_three/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/stack_bowls_two/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/stamp_seal/aloha-agilex_randomized_500,/mnt/bn/ic-vlm/zhufangqi/code/datasets/robotwin_50_lerobot/turn_switch/aloha-agilex_randomized_500", |
| "image_height": 240, |
| "image_width": 320, |
| "max_episodes": null, |
| "max_pixels": 76800, |
| "min_pixels": 76800, |
| "pair_add_backward": true, |
| "pair_add_zero_anchor": true, |
| "pair_data_backend": "map", |
| "pair_mode": false, |
| "pair_prompt_style": "current_history_delta", |
| "pair_target_column": null, |
| "use_value_tokenizer": true, |
| "val_ratio": 0.1, |
| "value_column": "value", |
| "value_source": "episode_progress", |
| "value_tokenizer_bins": 201, |
| "value_tokenizer_max": 1.0, |
| "value_tokenizer_min": 0.0, |
| "video_fps": 2.0, |
| "video_max_frames": 8, |
| "video_max_pixels": 802816, |
| "video_min_frames": 4, |
| "video_min_pixels": 200704 |
| }, |
| "model_args": { |
| "model_name_or_path": "/mnt/bn/ic-vlm/zhufangqi/code/checkpoints/qwen-vl-resize", |
| "tune_mm_llm": true, |
| "tune_mm_mlp": true, |
| "tune_mm_vision": false |
| }, |
| "training_args": { |
| "accelerator_config": { |
| "dispatch_batches": null, |
| "even_batches": true, |
| "gradient_accumulation_kwargs": null, |
| "non_blocking": false, |
| "split_batches": false, |
| "use_seedable_sampler": true |
| }, |
| "adafactor": false, |
| "adam_beta1": 0.9, |
| "adam_beta2": 0.999, |
| "adam_epsilon": 1e-08, |
| "auto_find_batch_size": false, |
| "average_tokens_across_devices": false, |
| "batch_eval_metrics": false, |
| "bf16": true, |
| "bf16_full_eval": false, |
| "cache_dir": null, |
| "data_seed": null, |
| "dataloader_drop_last": false, |
| "dataloader_num_workers": 8, |
| "dataloader_persistent_workers": true, |
| "dataloader_pin_memory": true, |
| "dataloader_prefetch_factor": 2, |
| "ddp_backend": null, |
| "ddp_broadcast_buffers": null, |
| "ddp_bucket_cap_mb": null, |
| "ddp_find_unused_parameters": null, |
| "ddp_timeout": 1800, |
| "debug": [], |
| "deepspeed": "/home/tiger/code/cot/src/openpi/qwenvl/scripts/zero3.json", |
| "disable_tqdm": false, |
| "do_eval": true, |
| "do_predict": false, |
| "do_train": false, |
| "eval_accumulation_steps": null, |
| "eval_delay": 0, |
| "eval_do_concat_batches": true, |
| "eval_on_start": false, |
| "eval_steps": 2500, |
| "eval_strategy": "steps", |
| "eval_use_gather_object": false, |
| "fp16": false, |
| "fp16_backend": "auto", |
| "fp16_full_eval": false, |
| "fp16_opt_level": "O1", |
| "fsdp": [], |
| "fsdp_config": { |
| "min_num_params": 0, |
| "xla": false, |
| "xla_fsdp_grad_ckpt": false, |
| "xla_fsdp_v2": false |
| }, |
| "fsdp_min_num_params": 0, |
| "fsdp_transformer_layer_cls_to_wrap": null, |
| "full_determinism": false, |
| "gradient_accumulation_steps": 4, |
| "gradient_checkpointing": false, |
| "gradient_checkpointing_kwargs": null, |
| "greater_is_better": null, |
| "group_by_length": false, |
| "half_precision_backend": "auto", |
| "hub_always_push": false, |
| "hub_model_id": null, |
| "hub_private_repo": null, |
| "hub_revision": null, |
| "hub_strategy": "every_save", |
| "hub_token": "<HUB_TOKEN>", |
| "ignore_data_skip": false, |
| "include_for_metrics": [], |
| "include_inputs_for_metrics": false, |
| "include_num_input_tokens_seen": false, |
| "include_tokens_per_second": false, |
| "jit_mode_eval": false, |
| "label_names": null, |
| "label_smoothing_factor": 0.0, |
| "learning_rate": 1e-05, |
| "length_column_name": "length", |
| "liger_kernel_config": null, |
| "load_best_model_at_end": false, |
| "local_rank": 0, |
| "log_level": "passive", |
| "log_level_replica": "warning", |
| "log_on_each_node": true, |
| "logging_dir": "$/mnt/bn/ic-vlm/zhufangqi/code/checkpoints/value_function_pi06/robotwin50_pi06_expert_train/runs/Mar18_23-11-35_g340-cd51-7700-bb90-916f-fa2-f254", |
| "logging_first_step": false, |
| "logging_nan_inf_filter": true, |
| "logging_steps": 10, |
| "logging_strategy": "steps", |
| "lora_alpha": 128, |
| "lora_dropout": 0.0, |
| "lora_enable": false, |
| "lora_r": 64, |
| "lr_scheduler_kwargs": {}, |
| "lr_scheduler_type": "linear", |
| "max_grad_norm": 1.0, |
| "max_steps": 30000, |
| "metric_for_best_model": null, |
| "mm_projector_lr": null, |
| "model_max_length": 512, |
| "mp_parameters": "", |
| "neftune_noise_alpha": null, |
| "no_cuda": false, |
| "num_train_epochs": 3.0, |
| "optim": "adamw_torch", |
| "optim_args": null, |
| "optim_target_modules": null, |
| "output_dir": "$/mnt/bn/ic-vlm/zhufangqi/code/checkpoints/value_function_pi06/robotwin50_pi06_expert_train", |
| "overwrite_output_dir": false, |
| "pair_use_t_group_weight": true, |
| "past_index": -1, |
| "per_device_eval_batch_size": 32, |
| "per_device_train_batch_size": 32, |
| "per_gpu_eval_batch_size": null, |
| "per_gpu_train_batch_size": null, |
| "prediction_loss_only": false, |
| "push_to_hub": false, |
| "push_to_hub_model_id": null, |
| "push_to_hub_organization": null, |
| "push_to_hub_token": "<PUSH_TO_HUB_TOKEN>", |
| "ray_scope": "last", |
| "remove_unused_columns": true, |
| "report_to": [ |
| "wandb" |
| ], |
| "restore_callback_states_from_checkpoint": false, |
| "resume_from_checkpoint": null, |
| "run_name": "robotwin50_pi06_expert_train", |
| "save_format": "hf", |
| "save_interval": null, |
| "save_on_each_node": false, |
| "save_only_model": false, |
| "save_safetensors": true, |
| "save_steps": 2500, |
| "save_strategy": "steps", |
| "save_total_limit": 5, |
| "seed": 42, |
| "skip_memory_metrics": true, |
| "tf32": null, |
| "torch_compile": false, |
| "torch_compile_backend": null, |
| "torch_compile_mode": null, |
| "torch_empty_cache_steps": null, |
| "torchdynamo": null, |
| "tpu_metrics_debug": false, |
| "tpu_num_cores": null, |
| "use_cpu": false, |
| "use_ipex": false, |
| "use_legacy_prediction_loop": false, |
| "use_liger_kernel": false, |
| "use_mps_device": false, |
| "value_head_lr": null, |
| "value_head_weight_decay": 0.0, |
| "vision_tower_lr": null, |
| "warmup_ratio": 0.03, |
| "warmup_steps": 0, |
| "weight_decay": 0.01 |
| } |
| } |
