diff --git a/.gitattributes b/.gitattributes index d83237f80dadb7f6d46593e086f781f012f01927..9519c037f84f0dbd7ce9ed1d0e69dc15c596ed42 100644 --- a/.gitattributes +++ b/.gitattributes @@ -39,3 +39,11 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text 2025.12.17/06.16.16_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/logs.json.txt filter=lfs diff=lfs merge=lfs -text 2025.12.17/06.16.16_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251217_061628-ktb7lf93/run-ktb7lf93.wandb filter=lfs diff=lfs merge=lfs -text 2025.12.17/06.18.45_train_llm_diffusion_unet_lowdim_PegInsertionSide-v1/wandb/run-20251217_061857-x4c1ls8y/run-x4c1ls8y.wandb filter=lfs diff=lfs merge=lfs -text +2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/logs.json.txt filter=lfs diff=lfs merge=lfs -text +2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/run-t2ymaznj.wandb filter=lfs diff=lfs merge=lfs -text +2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/logs.json.txt filter=lfs diff=lfs merge=lfs -text +2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/run-cflo0geg.wandb filter=lfs diff=lfs merge=lfs -text +2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/logs.json.txt filter=lfs diff=lfs merge=lfs -text +2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172356-7wg8nalk/run-7wg8nalk.wandb filter=lfs diff=lfs merge=lfs -text +2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/logs.json.txt filter=lfs diff=lfs merge=lfs -text +2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/run-9iiqcyau.wandb filter=lfs diff=lfs merge=lfs -text diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/config.yaml b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..285be5c5da197e5d5c8292fab2aaa55dd2ebdba3 --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/config.yaml @@ -0,0 +1,193 @@ +name: train_llm_diffusion_unet_lowdim +_target_: llmbc.workspace.train_llm_diffusion_unet_lowdim_workspace.TrainLLMDiffusionUnetLowdimWorkspace +obs_dim: ${task.obs_dim} +action_dim: ${task.action_dim} +task_name: ${task.name} +exp_name: default +model_name: ${llm.name} +horizon: 1 +n_obs_steps: 1 +n_action_steps: 1 +n_latency_steps: 0 +past_action_visible: false +keypoint_visible_rate: 1.0 +obs_as_local_cond: false +obs_as_global_cond: true +pred_action_steps_only: false +llm_orig_expert_feedback: true +llm_do_sample: false +policy: + _target_: llmbc.policy.llm_diffusion_unet_lowdim_policy.LLMDiffusionUnetLowdimPolicy + model: + _target_: llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D + input_dim: '${eval: ${task.action_dim} if ${obs_as_local_cond} or ${obs_as_global_cond} + else ${task.obs_dim} + ${task.action_dim}}' + local_cond_dim: '${eval: ${task.obs_dim} if ${obs_as_local_cond} else None}' + global_cond_dim: '${eval: ${task.obs_dim}*${n_obs_steps} if ${obs_as_global_cond} + else None}' + diffusion_step_embed_dim: 256 + down_dims: + - 256 + - 512 + - 1024 + kernel_size: 5 + n_groups: 8 + cond_predict_scale: true + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 100 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${horizon} + obs_dim: ${obs_dim} + action_dim: ${action_dim} + n_action_steps: ${eval:'${n_action_steps}+${n_latency_steps}'} + n_obs_steps: ${n_obs_steps} + num_inference_steps: 100 + obs_as_local_cond: ${obs_as_local_cond} + obs_as_global_cond: ${obs_as_global_cond} + pred_action_steps_only: ${pred_action_steps_only} + oa_step_convention: true + llm_discriminator: + _target_: llmbc.discriminator.llm_ce_discriminator.LLMCEDiscriminator + task_id: ${task_name} + llm_translator: + _target_: llmbc.translator.llm_translator.LLMTranslator + cfg: ${llm} + obs_dim: ${obs_dim} + action_dim: ${action_dim} + horizon: ${horizon} + n_obs_steps: ${n_obs_steps} + n_action_steps: ${eval:'${n_action_steps}+${n_latency_steps}'} + loss_dp_weight: 1.0 + loss_llm_weight: 0.0001 + normalize_llm_loss: true + reweight_llm_loss: true +ema: + _target_: llmbc.model.diffusion.ema_model.EMAModel + update_after_step: 0 + inv_gamma: 1.0 + power: 0.75 + min_value: 0.0 + max_value: 0.9999 +dataloader: + batch_size: 16 + num_workers: 0 + shuffle: true + pin_memory: false + persistent_workers: false +val_dataloader: + batch_size: 16 + num_workers: 0 + shuffle: false + pin_memory: false + persistent_workers: false +optimizer: + _target_: torch.optim.AdamW + lr: 0.0001 + betas: + - 0.95 + - 0.999 + eps: 1.0e-08 + weight_decay: 1.0e-06 +training: + device: cuda:0 + seed: 43 + debug: false + resume: true + lr_scheduler: cosine + lr_warmup_steps: 500 + num_epochs: 1001 + gradient_accumulate_every: 16 + use_ema: true + rollout_every: 5 + checkpoint_every: 5 + val_every: 1 + sample_every: 5 + max_train_steps: null + max_val_steps: null + tqdm_interval_sec: 1.0 +logging: + project: ${task.name}-training + resume: true + mode: online + name: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name} + tags: + - ${name} + - ${task_name} + - ${exp_name} + id: null + group: null +checkpoint: + topk: + monitor_key: test_success_rate + mode: max + k: 5 + format_str: epoch={epoch:04d}-test_success_rate={test_success_rate:.3f}.ckpt + save_last_ckpt: true + save_last_snapshot: false +multi_run: + run_dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name} + wandb_name_base: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name} +task: + name: maze2d-medium-v0 + obs_dim: 6 + action_dim: 2 + env_runner: + _target_: llmbc.env_runner.pointmaze_lowdim_runner.PointmazeLowdimRunner + env_name: llf-pointmaze-maze2d-medium-v0 + n_train: 10 + n_test: 50 + n_envs: 10 + max_steps: 250 + n_obs_steps: ${n_obs_steps} + n_action_steps: ${n_action_steps} + instruction_type: b + feedback_type: + - hp + - hn + - fp + visual: false + discount: 0.99 + dataset: + _target_: llmbc.dataset.pointmaze_lowdim_dataset.PointmazeLowdimDataset + data_path: datasets/maze2d-medium-v0.pt + data_path2: datasets/maze2d-medium-v0.pt + horizon: ${horizon} + pad_before: ${eval:'${n_obs_steps}-1'} + pad_after: ${eval:'${n_action_steps}-1'} + obs_eef_target: true + use_manual_normalizer: false + val_ratio: 0.02 + dummy_normalizer: false + instructor: + _target_: llmbc.translator.instructor.pointmaze_instructor.maze2d_medium_v0_instructor.Maze2dMediumV0Instructor +llm: + name: HuggingFaceTB/SmolLM2-135M-Instruct + model_name: SmolLM2-135M-Instruct + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + causal_lm_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM + use_quantization: false + use_joint_mlp_projector: true + llm_mode: ete-finetuned + finetune_mode: orig + checkpoint: data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850 + max_length: 100 + lora_config: + r: 32 + lora_alpha: 64 + lora_dropout: 0.05 + bias: none + task_type: CAUSAL_LM + prompter: + _target_: llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter + use_joint_mlp_projector: true + hydra: + job: + override_dirname: ${model_name} + run: + dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${model_name} diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/hydra.yaml b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..80d3e73bc44a6c1e98241d243abb3d4286edc920 --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/hydra.yaml @@ -0,0 +1,156 @@ +hydra: + run: + dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name} + sweep: + dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - policy.loss_llm_weight=1.0e-4 + - training.seed=43 + job: + name: train + chdir: null + override_dirname: policy.loss_llm_weight=1.0e-4,training.seed=43 + id: ??? + num: ??? + config_name: llmdp_maze2d-medium-v0.yaml + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.2.0 + version_base: '1.2' + cwd: /workspace/LLM-BC + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /workspace/LLM-BC/config/main_table + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /workspace/LLM-BC/data/outputs/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 + choices: + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/overrides.yaml b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43fdf12740ae69078bbde887d7f93c459ddac672 --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/overrides.yaml @@ -0,0 +1,2 @@ +- policy.loss_llm_weight=1.0e-4 +- training.seed=43 diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0530-test_success_rate=0.940.ckpt b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0530-test_success_rate=0.940.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..cc53131c902084408815ba4b78752419e94d0d8b --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0530-test_success_rate=0.940.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edb15e65dae3f2d901b98fa3d66b04062d15be29a5400893710322911e12f37e +size 1039753586 diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0645-test_success_rate=0.940.ckpt b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0645-test_success_rate=0.940.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..de2eab33f1cb8b60d87027f0bcf6eb2035bb96e2 --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0645-test_success_rate=0.940.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:470e7f84ae31e6d3b45d339b21862ec984965b56b4164df8dc2f8eb38ecfd051 +size 1039753586 diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0790-test_success_rate=0.940.ckpt b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0790-test_success_rate=0.940.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..97da1e17e84611e6ef05c676c0cf38dc2e16dc75 --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0790-test_success_rate=0.940.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a4e527287d83f76bbfd45184d67ad12d0a0a4ed36edbef1ca9fa2da36cf59ce +size 1039753586 diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0800-test_success_rate=0.940.ckpt b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0800-test_success_rate=0.940.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..017395a17952f141600978df683f1f1f4057de88 --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0800-test_success_rate=0.940.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3ab310f9ef03b29594786d218db2729b7557a6f5a44d66626e2f7284d47d4a1 +size 1039753586 diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0840-test_success_rate=0.940.ckpt b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0840-test_success_rate=0.940.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..af8ac23ed0fc3a1d69596a78c11797d5caaee0b5 --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0840-test_success_rate=0.940.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f81ea3770b2d974ed0e7f93682717dcc3b4542eb4dae1dd5962ef7d6532b21cd +size 1039753586 diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/latest.ckpt b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/latest.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..3b2ed6ac8ae31dbb0fd6a9f239fa1b167c31109b --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/latest.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1996d47db98030ee3431f3c1cd6f49b71ae5f7981ae36a878b5296c861e58358 +size 1039753586 diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/logs.json.txt b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/logs.json.txt new file mode 100644 index 0000000000000000000000000000000000000000..8c3e6417e82ff2b370325ffa608bc242eda72507 --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/logs.json.txt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99cce0b3ab9d1543151be3003e1e2c68a96375d91cefd11e12fde8d602153daa +size 278801978 diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/train.log b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/train.log new file mode 100644 index 0000000000000000000000000000000000000000..50f917ba8b1e4851023b80b9b309d91fdbde7e4c --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/train.log @@ -0,0 +1,9 @@ +[2025-12-20 17:23:20,380][numexpr.utils][INFO] - Note: detected 128 virtual cores but NumExpr set to maximum of 64, check "NUMEXPR_MAX_THREADS" environment variable. +[2025-12-20 17:23:20,380][numexpr.utils][INFO] - Note: NumExpr detected 128 cores but "NUMEXPR_MAX_THREADS" not set, so enforcing safe limit of 16. +[2025-12-20 17:23:20,380][numexpr.utils][INFO] - NumExpr defaulting to 16 threads. +[2025-12-20 17:23:22,519][datasets][INFO] - PyTorch version 2.2.2 available. +[2025-12-20 17:23:22,520][datasets][INFO] - TensorFlow version 2.15.1 available. +[2025-12-20 17:23:22,521][datasets][INFO] - JAX version 0.4.30 available. +[2025-12-20 17:23:24,418][llmbc.model.diffusion.conditional_unet1d][INFO] - number of parameters: 6.496819e+07 +[2025-12-20 17:23:39,358][absl][INFO] - MUJOCO_GL=osmesa, attempting to import specified OpenGL backend. +[2025-12-20 17:23:39,364][absl][INFO] - MuJoCo library version is: 2.3.7 diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug-internal.log b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug-internal.log new file mode 100644 index 0000000000000000000000000000000000000000..09baa3ae640774e8b08258db557a04299b5f4c41 --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug-internal.log @@ -0,0 +1,28 @@ +{"time":"2025-12-20T17:23:40.39265505Z","level":"INFO","msg":"using version","core version":"0.18.6"} +{"time":"2025-12-20T17:23:40.392690291Z","level":"INFO","msg":"created symlink","path":"/workspace/LLM-BC/data/outputs/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/logs/debug-core.log"} +{"time":"2025-12-20T17:23:40.50006116Z","level":"INFO","msg":"created new stream","id":"t2ymaznj"} +{"time":"2025-12-20T17:23:40.500106816Z","level":"INFO","msg":"stream: started","id":"t2ymaznj"} +{"time":"2025-12-20T17:23:40.500367774Z","level":"INFO","msg":"sender: started","stream_id":"t2ymaznj"} +{"time":"2025-12-20T17:23:40.500120299Z","level":"INFO","msg":"writer: Do: started","stream_id":{"value":"t2ymaznj"}} +{"time":"2025-12-20T17:23:40.500143338Z","level":"INFO","msg":"handler: started","stream_id":{"value":"t2ymaznj"}} +{"time":"2025-12-20T17:23:41.157625473Z","level":"INFO","msg":"Starting system monitor"} +{"time":"2025-12-22T02:02:44.208411298Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T02:02:59.788100106Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/t2ymaznj/file_stream\": read tcp 192.168.19.170:48608->35.186.228.49:443: read: connection reset by peer"} +{"time":"2025-12-22T05:06:59.165164769Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/t2ymaznj/file_stream\": unexpected EOF"} +{"time":"2025-12-22T05:09:29.278598582Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T06:16:10.957017478Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/t2ymaznj/file_stream\": unexpected EOF"} +{"time":"2025-12-22T06:17:26.36373148Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/t2ymaznj/file_stream\": unexpected EOF"} +{"time":"2025-12-22T07:24:33.296938897Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/t2ymaznj/file_stream\": unexpected EOF"} +{"time":"2025-12-22T07:24:44.346922515Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:25:16.775885945Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:25:51.300218869Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:28:59.360396234Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:32:46.734796863Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/t2ymaznj/file_stream\": read tcp 192.168.19.170:44740->35.186.228.49:443: read: connection reset by peer"} +{"time":"2025-12-27T20:10:03.581119512Z","level":"INFO","msg":"stream: closing","id":"t2ymaznj"} +{"time":"2025-12-27T20:10:03.581183738Z","level":"INFO","msg":"Stopping system monitor"} +{"time":"2025-12-27T20:10:03.583096625Z","level":"INFO","msg":"Stopped system monitor"} +{"time":"2025-12-27T20:10:04.923009029Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"} +{"time":"2025-12-27T20:10:05.183243732Z","level":"INFO","msg":"handler: closed","stream_id":{"value":"t2ymaznj"}} +{"time":"2025-12-27T20:10:05.183318468Z","level":"INFO","msg":"writer: Close: closed","stream_id":{"value":"t2ymaznj"}} +{"time":"2025-12-27T20:10:05.183326493Z","level":"INFO","msg":"sender: closed","stream_id":"t2ymaznj"} +{"time":"2025-12-27T20:10:05.18352636Z","level":"INFO","msg":"stream: closed","id":"t2ymaznj"} diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug.log b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..24c0fc18fe62af6e9a5dd19e1dbfdc78ff690f49 --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug.log @@ -0,0 +1,27 @@ +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_setup.py:_flush():79] Current SDK version is 0.18.6 +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_setup.py:_flush():79] Configure stats pid to 14556 +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_setup.py:_flush():79] Loading settings from /root/.config/wandb/settings +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_setup.py:_flush():79] Loading settings from /workspace/LLM-BC/wandb/settings +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_setup.py:_flush():79] Loading settings from environment variables: {} +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_setup.py:_flush():79] Applying setup settings: {'mode': 'online', '_disable_service': None} +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_setup.py:_flush():79] Inferring run settings from compute environment: {'program_relpath': 'train.py', 'program_abspath': '/workspace/LLM-BC/train.py', 'program': '/workspace/LLM-BC/./train.py'} +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_setup.py:_flush():79] Applying login settings: {} +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_init.py:_log_setup():533] Logging user logs to /workspace/LLM-BC/data/outputs/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/logs/debug.log +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_init.py:_log_setup():534] Logging internal logs to /workspace/LLM-BC/data/outputs/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/logs/debug-internal.log +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_init.py:init():619] calling init triggers +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_init.py:init():626] wandb.init called with sweep_config: {} +config: {'name': 'train_llm_diffusion_unet_lowdim', '_target_': 'llmbc.workspace.train_llm_diffusion_unet_lowdim_workspace.TrainLLMDiffusionUnetLowdimWorkspace', 'obs_dim': 6, 'action_dim': 2, 'task_name': 'maze2d-medium-v0', 'exp_name': 'default', 'model_name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'horizon': 1, 'n_obs_steps': 1, 'n_action_steps': 1, 'n_latency_steps': 0, 'past_action_visible': False, 'keypoint_visible_rate': 1.0, 'obs_as_local_cond': False, 'obs_as_global_cond': True, 'pred_action_steps_only': False, 'llm_orig_expert_feedback': True, 'llm_do_sample': False, 'policy': {'_target_': 'llmbc.policy.llm_diffusion_unet_lowdim_policy.LLMDiffusionUnetLowdimPolicy', 'model': {'_target_': 'llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D', 'input_dim': 2, 'local_cond_dim': None, 'global_cond_dim': 6, 'diffusion_step_embed_dim': 256, 'down_dims': [256, 512, 1024], 'kernel_size': 5, 'n_groups': 8, 'cond_predict_scale': True}, 'noise_scheduler': {'_target_': 'diffusers.schedulers.scheduling_ddpm.DDPMScheduler', 'num_train_timesteps': 100, 'beta_start': 0.0001, 'beta_end': 0.02, 'beta_schedule': 'squaredcos_cap_v2', 'variance_type': 'fixed_small', 'clip_sample': True, 'prediction_type': 'epsilon'}, 'horizon': 1, 'obs_dim': 6, 'action_dim': 2, 'n_action_steps': 1, 'n_obs_steps': 1, 'num_inference_steps': 100, 'obs_as_local_cond': False, 'obs_as_global_cond': True, 'pred_action_steps_only': False, 'oa_step_convention': True, 'llm_discriminator': {'_target_': 'llmbc.discriminator.llm_ce_discriminator.LLMCEDiscriminator', 'task_id': 'maze2d-medium-v0', 'llm_translator': {'_target_': 'llmbc.translator.llm_translator.LLMTranslator', 'cfg': {'name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'model_name': 'SmolLM2-135M-Instruct', 'config_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig', 'causal_lm_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM', 'use_quantization': False, 'use_joint_mlp_projector': True, 'llm_mode': 'ete-finetuned', 'finetune_mode': 'orig', 'checkpoint': 'data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850', 'max_length': 100, 'lora_config': {'r': 32, 'lora_alpha': 64, 'lora_dropout': 0.05, 'bias': 'none', 'task_type': 'CAUSAL_LM'}, 'prompter': {'_target_': 'llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter', 'use_joint_mlp_projector': True}, 'hydra': {'job': {'override_dirname': 'HuggingFaceTB/SmolLM2-135M-Instruct'}, 'run': {'dir': 'data/outputs/2025.12.20/17.23.18_HuggingFaceTB/SmolLM2-135M-Instruct'}}}, 'obs_dim': 6, 'action_dim': 2, 'horizon': 1, 'n_obs_steps': 1, 'n_action_steps': 1}}, 'loss_dp_weight': 1.0, 'loss_llm_weight': 0.0001, 'normalize_llm_loss': True, 'reweight_llm_loss': True}, 'ema': {'_target_': 'llmbc.model.diffusion.ema_model.EMAModel', 'update_after_step': 0, 'inv_gamma': 1.0, 'power': 0.75, 'min_value': 0.0, 'max_value': 0.9999}, 'dataloader': {'batch_size': 16, 'num_workers': 0, 'shuffle': True, 'pin_memory': False, 'persistent_workers': False}, 'val_dataloader': {'batch_size': 16, 'num_workers': 0, 'shuffle': False, 'pin_memory': False, 'persistent_workers': False}, 'optimizer': {'_target_': 'torch.optim.AdamW', 'lr': 0.0001, 'betas': [0.95, 0.999], 'eps': 1e-08, 'weight_decay': 1e-06}, 'training': {'device': 'cuda:0', 'seed': 43, 'debug': False, 'resume': True, 'lr_scheduler': 'cosine', 'lr_warmup_steps': 500, 'num_epochs': 1001, 'gradient_accumulate_every': 16, 'use_ema': True, 'rollout_every': 5, 'checkpoint_every': 5, 'val_every': 1, 'sample_every': 5, 'max_train_steps': None, 'max_val_steps': None, 'tqdm_interval_sec': 1.0}, 'logging': {'project': 'maze2d-medium-v0-training', 'resume': True, 'mode': 'online', 'name': '2025.12.20-17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0', 'tags': ['train_llm_diffusion_unet_lowdim', 'maze2d-medium-v0', 'default'], 'id': None, 'group': None}, 'checkpoint': {'topk': {'monitor_key': 'test_success_rate', 'mode': 'max', 'k': 5, 'format_str': 'epoch={epoch:04d}-test_success_rate={test_success_rate:.3f}.ckpt'}, 'save_last_ckpt': True, 'save_last_snapshot': False}, 'multi_run': {'run_dir': 'data/outputs/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0', 'wandb_name_base': '2025.12.20-17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0'}, 'task': {'name': 'maze2d-medium-v0', 'obs_dim': 6, 'action_dim': 2, 'env_runner': {'_target_': 'llmbc.env_runner.pointmaze_lowdim_runner.PointmazeLowdimRunner', 'env_name': 'llf-pointmaze-maze2d-medium-v0', 'n_train': 10, 'n_test': 50, 'n_envs': 10, 'max_steps': 250, 'n_obs_steps': 1, 'n_action_steps': 1, 'instruction_type': 'b', 'feedback_type': ['hp', 'hn', 'fp'], 'visual': False, 'discount': 0.99}, 'dataset': {'_target_': 'llmbc.dataset.pointmaze_lowdim_dataset.PointmazeLowdimDataset', 'data_path': 'datasets/maze2d-medium-v0.pt', 'data_path2': 'datasets/maze2d-medium-v0.pt', 'horizon': 1, 'pad_before': 0, 'pad_after': 0, 'obs_eef_target': True, 'use_manual_normalizer': False, 'val_ratio': 0.02, 'dummy_normalizer': False}, 'instructor': {'_target_': 'llmbc.translator.instructor.pointmaze_instructor.maze2d_medium_v0_instructor.Maze2dMediumV0Instructor'}}, 'llm': {'name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'model_name': 'SmolLM2-135M-Instruct', 'config_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig', 'causal_lm_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM', 'use_quantization': False, 'use_joint_mlp_projector': True, 'llm_mode': 'ete-finetuned', 'finetune_mode': 'orig', 'checkpoint': 'data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850', 'max_length': 100, 'lora_config': {'r': 32, 'lora_alpha': 64, 'lora_dropout': 0.05, 'bias': 'none', 'task_type': 'CAUSAL_LM'}, 'prompter': {'_target_': 'llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter', 'use_joint_mlp_projector': True}, 'hydra': {'job': {'override_dirname': 'HuggingFaceTB/SmolLM2-135M-Instruct'}, 'run': {'dir': 'data/outputs/2025.12.20/17.23.18_HuggingFaceTB/SmolLM2-135M-Instruct'}}}} +2025-12-20 17:23:40,389 INFO MainThread:14556 [wandb_init.py:init():669] starting backend +2025-12-20 17:23:40,389 INFO MainThread:14556 [wandb_init.py:init():673] sending inform_init request +2025-12-20 17:23:40,390 INFO MainThread:14556 [backend.py:_multiprocessing_setup():104] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-12-20 17:23:40,390 INFO MainThread:14556 [wandb_init.py:init():686] backend started and connected +2025-12-20 17:23:40,397 INFO MainThread:14556 [wandb_init.py:init():781] updated telemetry +2025-12-20 17:23:40,470 INFO MainThread:14556 [wandb_init.py:init():814] communicating run to backend with 90.0 second timeout +2025-12-20 17:23:41,128 INFO MainThread:14556 [wandb_init.py:init():867] starting run threads in backend +2025-12-20 17:23:42,555 INFO MainThread:14556 [wandb_run.py:_console_start():2451] atexit reg +2025-12-20 17:23:42,555 INFO MainThread:14556 [wandb_run.py:_redirect():2299] redirect: wrap_raw +2025-12-20 17:23:42,555 INFO MainThread:14556 [wandb_run.py:_redirect():2364] Wrapping output streams. +2025-12-20 17:23:42,555 INFO MainThread:14556 [wandb_run.py:_redirect():2389] Redirects installed. +2025-12-20 17:23:42,624 INFO MainThread:14556 [wandb_init.py:init():911] run started, returning control to user process +2025-12-20 17:23:42,624 INFO MainThread:14556 [wandb_run.py:_config_callback():1389] config_cb None None {'output_dir': '/workspace/LLM-BC/data/outputs/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0'} +2025-12-27 20:10:03,581 WARNING MsgRouterThr:14556 [router.py:message_loop():75] message_loop has been closed diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/files/config.yaml b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..da888a6d80a378e3e4171885ec5b2b92640ac0df --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/files/config.yaml @@ -0,0 +1,304 @@ +_target_: + value: llmbc.workspace.train_llm_diffusion_unet_lowdim_workspace.TrainLLMDiffusionUnetLowdimWorkspace +_wandb: + value: + cli_version: 0.18.6 + m: [] + python_version: 3.9.25 + t: + "1": + - 1 + - 2 + - 3 + - 5 + - 11 + - 12 + - 41 + - 49 + - 50 + - 51 + - 53 + - 55 + - 71 + - 83 + - 95 + - 98 + - 100 + - 105 + "2": + - 1 + - 2 + - 3 + - 5 + - 11 + - 12 + - 41 + - 49 + - 50 + - 51 + - 53 + - 55 + - 71 + - 83 + - 95 + - 98 + - 100 + - 105 + "3": + - 13 + - 15 + - 16 + - 23 + - 55 + - 61 + "4": 3.9.25 + "5": 0.18.6 + "6": 4.47.1 + "8": + - 5 + "12": 0.18.6 + "13": linux-x86_64 +action_dim: + value: 2 +checkpoint: + value: + save_last_ckpt: true + save_last_snapshot: false + topk: + format_str: epoch={epoch:04d}-test_success_rate={test_success_rate:.3f}.ckpt + k: 5 + mode: max + monitor_key: test_success_rate +dataloader: + value: + batch_size: 16 + num_workers: 0 + persistent_workers: false + pin_memory: false + shuffle: true +ema: + value: + _target_: llmbc.model.diffusion.ema_model.EMAModel + inv_gamma: 1 + max_value: 0.9999 + min_value: 0 + power: 0.75 + update_after_step: 0 +exp_name: + value: default +horizon: + value: 1 +keypoint_visible_rate: + value: 1 +llm: + value: + causal_lm_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM + checkpoint: data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/17.23.18_HuggingFaceTB/SmolLM2-135M-Instruct + llm_mode: ete-finetuned + lora_config: + bias: none + lora_alpha: 64 + lora_dropout: 0.05 + r: 32 + task_type: CAUSAL_LM + max_length: 100 + model_name: SmolLM2-135M-Instruct + name: HuggingFaceTB/SmolLM2-135M-Instruct + prompter: + _target_: llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter + use_joint_mlp_projector: true + use_joint_mlp_projector: true + use_quantization: false +llm_do_sample: + value: false +llm_orig_expert_feedback: + value: true +logging: + value: + group: null + id: null + mode: online + name: 2025.12.20-17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 + project: maze2d-medium-v0-training + resume: true + tags: + - train_llm_diffusion_unet_lowdim + - maze2d-medium-v0 + - default +model_name: + value: HuggingFaceTB/SmolLM2-135M-Instruct +multi_run: + value: + run_dir: data/outputs/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 + wandb_name_base: 2025.12.20-17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 +n_action_steps: + value: 1 +n_latency_steps: + value: 0 +n_obs_steps: + value: 1 +name: + value: train_llm_diffusion_unet_lowdim +obs_as_global_cond: + value: true +obs_as_local_cond: + value: false +obs_dim: + value: 6 +optimizer: + value: + _target_: torch.optim.AdamW + betas: + - 0.95 + - 0.999 + eps: 1e-08 + lr: 0.0001 + weight_decay: 1e-06 +output_dir: + value: /workspace/LLM-BC/data/outputs/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 +past_action_visible: + value: false +policy: + value: + _target_: llmbc.policy.llm_diffusion_unet_lowdim_policy.LLMDiffusionUnetLowdimPolicy + action_dim: 2 + horizon: 1 + llm_discriminator: + _target_: llmbc.discriminator.llm_ce_discriminator.LLMCEDiscriminator + llm_translator: + _target_: llmbc.translator.llm_translator.LLMTranslator + action_dim: 2 + cfg: + causal_lm_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM + checkpoint: data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/17.23.18_HuggingFaceTB/SmolLM2-135M-Instruct + llm_mode: ete-finetuned + lora_config: + bias: none + lora_alpha: 64 + lora_dropout: 0.05 + r: 32 + task_type: CAUSAL_LM + max_length: 100 + model_name: SmolLM2-135M-Instruct + name: HuggingFaceTB/SmolLM2-135M-Instruct + prompter: + _target_: llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter + use_joint_mlp_projector: true + use_joint_mlp_projector: true + use_quantization: false + horizon: 1 + n_action_steps: 1 + n_obs_steps: 1 + obs_dim: 6 + task_id: maze2d-medium-v0 + loss_dp_weight: 1 + loss_llm_weight: 0.0001 + model: + _target_: llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D + cond_predict_scale: true + diffusion_step_embed_dim: 256 + down_dims: + - 256 + - 512 + - 1024 + global_cond_dim: 6 + input_dim: 2 + kernel_size: 5 + local_cond_dim: null + n_groups: 8 + n_action_steps: 1 + n_obs_steps: 1 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + beta_start: 0.0001 + clip_sample: true + num_train_timesteps: 100 + prediction_type: epsilon + variance_type: fixed_small + normalize_llm_loss: true + num_inference_steps: 100 + oa_step_convention: true + obs_as_global_cond: true + obs_as_local_cond: false + obs_dim: 6 + pred_action_steps_only: false + reweight_llm_loss: true +pred_action_steps_only: + value: false +task: + value: + action_dim: 2 + dataset: + _target_: llmbc.dataset.pointmaze_lowdim_dataset.PointmazeLowdimDataset + data_path: datasets/maze2d-medium-v0.pt + data_path2: datasets/maze2d-medium-v0.pt + dummy_normalizer: false + horizon: 1 + obs_eef_target: true + pad_after: 0 + pad_before: 0 + use_manual_normalizer: false + val_ratio: 0.02 + env_runner: + _target_: llmbc.env_runner.pointmaze_lowdim_runner.PointmazeLowdimRunner + discount: 0.99 + env_name: llf-pointmaze-maze2d-medium-v0 + feedback_type: + - hp + - hn + - fp + instruction_type: b + max_steps: 250 + n_action_steps: 1 + n_envs: 10 + n_obs_steps: 1 + n_test: 50 + n_train: 10 + visual: false + instructor: + _target_: llmbc.translator.instructor.pointmaze_instructor.maze2d_medium_v0_instructor.Maze2dMediumV0Instructor + name: maze2d-medium-v0 + obs_dim: 6 +task_name: + value: maze2d-medium-v0 +training: + value: + checkpoint_every: 5 + debug: false + device: cuda:0 + gradient_accumulate_every: 16 + lr_scheduler: cosine + lr_warmup_steps: 500 + max_train_steps: null + max_val_steps: null + num_epochs: 1001 + resume: true + rollout_every: 5 + sample_every: 5 + seed: 43 + tqdm_interval_sec: 1 + use_ema: true + val_every: 1 +val_dataloader: + value: + batch_size: 16 + num_workers: 0 + persistent_workers: false + pin_memory: false + shuffle: false diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/files/output.log b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..4bb0e3d1cfcc585d2842c15c7fa23678833553d6 --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/files/output.log @@ -0,0 +1,5 @@ +/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/gym/envs/registration.py:505: UserWarning: WARN: The environment maze2d-medium-v0 is out of date. You should consider upgrading to version `v1` with the environment ID `maze2d-medium-v1`. + logger.warn( +Eval PointmazeLowdimRunner 1/6: 0%| | 0/250 [00:0035.186.228.49:443: read: connection reset by peer"} +{"time":"2025-12-22T05:06:59.165164769Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/t2ymaznj/file_stream\": unexpected EOF"} +{"time":"2025-12-22T05:09:29.278598582Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T06:16:10.957017478Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/t2ymaznj/file_stream\": unexpected EOF"} +{"time":"2025-12-22T06:17:26.36373148Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/t2ymaznj/file_stream\": unexpected EOF"} +{"time":"2025-12-22T07:24:33.296938897Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/t2ymaznj/file_stream\": unexpected EOF"} +{"time":"2025-12-22T07:24:44.346922515Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:25:16.775885945Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:25:51.300218869Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:28:59.360396234Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:32:46.734796863Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/t2ymaznj/file_stream\": read tcp 192.168.19.170:44740->35.186.228.49:443: read: connection reset by peer"} +{"time":"2025-12-27T20:10:03.581119512Z","level":"INFO","msg":"stream: closing","id":"t2ymaznj"} +{"time":"2025-12-27T20:10:03.581183738Z","level":"INFO","msg":"Stopping system monitor"} +{"time":"2025-12-27T20:10:03.583096625Z","level":"INFO","msg":"Stopped system monitor"} +{"time":"2025-12-27T20:10:04.923009029Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"} +{"time":"2025-12-27T20:10:05.183243732Z","level":"INFO","msg":"handler: closed","stream_id":{"value":"t2ymaznj"}} +{"time":"2025-12-27T20:10:05.183318468Z","level":"INFO","msg":"writer: Close: closed","stream_id":{"value":"t2ymaznj"}} +{"time":"2025-12-27T20:10:05.183326493Z","level":"INFO","msg":"sender: closed","stream_id":"t2ymaznj"} +{"time":"2025-12-27T20:10:05.18352636Z","level":"INFO","msg":"stream: closed","id":"t2ymaznj"} diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/logs/debug.log b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..24c0fc18fe62af6e9a5dd19e1dbfdc78ff690f49 --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/logs/debug.log @@ -0,0 +1,27 @@ +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_setup.py:_flush():79] Current SDK version is 0.18.6 +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_setup.py:_flush():79] Configure stats pid to 14556 +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_setup.py:_flush():79] Loading settings from /root/.config/wandb/settings +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_setup.py:_flush():79] Loading settings from /workspace/LLM-BC/wandb/settings +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_setup.py:_flush():79] Loading settings from environment variables: {} +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_setup.py:_flush():79] Applying setup settings: {'mode': 'online', '_disable_service': None} +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_setup.py:_flush():79] Inferring run settings from compute environment: {'program_relpath': 'train.py', 'program_abspath': '/workspace/LLM-BC/train.py', 'program': '/workspace/LLM-BC/./train.py'} +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_setup.py:_flush():79] Applying login settings: {} +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_init.py:_log_setup():533] Logging user logs to /workspace/LLM-BC/data/outputs/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/logs/debug.log +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_init.py:_log_setup():534] Logging internal logs to /workspace/LLM-BC/data/outputs/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/logs/debug-internal.log +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_init.py:init():619] calling init triggers +2025-12-20 17:23:40,388 INFO MainThread:14556 [wandb_init.py:init():626] wandb.init called with sweep_config: {} +config: {'name': 'train_llm_diffusion_unet_lowdim', '_target_': 'llmbc.workspace.train_llm_diffusion_unet_lowdim_workspace.TrainLLMDiffusionUnetLowdimWorkspace', 'obs_dim': 6, 'action_dim': 2, 'task_name': 'maze2d-medium-v0', 'exp_name': 'default', 'model_name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'horizon': 1, 'n_obs_steps': 1, 'n_action_steps': 1, 'n_latency_steps': 0, 'past_action_visible': False, 'keypoint_visible_rate': 1.0, 'obs_as_local_cond': False, 'obs_as_global_cond': True, 'pred_action_steps_only': False, 'llm_orig_expert_feedback': True, 'llm_do_sample': False, 'policy': {'_target_': 'llmbc.policy.llm_diffusion_unet_lowdim_policy.LLMDiffusionUnetLowdimPolicy', 'model': {'_target_': 'llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D', 'input_dim': 2, 'local_cond_dim': None, 'global_cond_dim': 6, 'diffusion_step_embed_dim': 256, 'down_dims': [256, 512, 1024], 'kernel_size': 5, 'n_groups': 8, 'cond_predict_scale': True}, 'noise_scheduler': {'_target_': 'diffusers.schedulers.scheduling_ddpm.DDPMScheduler', 'num_train_timesteps': 100, 'beta_start': 0.0001, 'beta_end': 0.02, 'beta_schedule': 'squaredcos_cap_v2', 'variance_type': 'fixed_small', 'clip_sample': True, 'prediction_type': 'epsilon'}, 'horizon': 1, 'obs_dim': 6, 'action_dim': 2, 'n_action_steps': 1, 'n_obs_steps': 1, 'num_inference_steps': 100, 'obs_as_local_cond': False, 'obs_as_global_cond': True, 'pred_action_steps_only': False, 'oa_step_convention': True, 'llm_discriminator': {'_target_': 'llmbc.discriminator.llm_ce_discriminator.LLMCEDiscriminator', 'task_id': 'maze2d-medium-v0', 'llm_translator': {'_target_': 'llmbc.translator.llm_translator.LLMTranslator', 'cfg': {'name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'model_name': 'SmolLM2-135M-Instruct', 'config_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig', 'causal_lm_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM', 'use_quantization': False, 'use_joint_mlp_projector': True, 'llm_mode': 'ete-finetuned', 'finetune_mode': 'orig', 'checkpoint': 'data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850', 'max_length': 100, 'lora_config': {'r': 32, 'lora_alpha': 64, 'lora_dropout': 0.05, 'bias': 'none', 'task_type': 'CAUSAL_LM'}, 'prompter': {'_target_': 'llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter', 'use_joint_mlp_projector': True}, 'hydra': {'job': {'override_dirname': 'HuggingFaceTB/SmolLM2-135M-Instruct'}, 'run': {'dir': 'data/outputs/2025.12.20/17.23.18_HuggingFaceTB/SmolLM2-135M-Instruct'}}}, 'obs_dim': 6, 'action_dim': 2, 'horizon': 1, 'n_obs_steps': 1, 'n_action_steps': 1}}, 'loss_dp_weight': 1.0, 'loss_llm_weight': 0.0001, 'normalize_llm_loss': True, 'reweight_llm_loss': True}, 'ema': {'_target_': 'llmbc.model.diffusion.ema_model.EMAModel', 'update_after_step': 0, 'inv_gamma': 1.0, 'power': 0.75, 'min_value': 0.0, 'max_value': 0.9999}, 'dataloader': {'batch_size': 16, 'num_workers': 0, 'shuffle': True, 'pin_memory': False, 'persistent_workers': False}, 'val_dataloader': {'batch_size': 16, 'num_workers': 0, 'shuffle': False, 'pin_memory': False, 'persistent_workers': False}, 'optimizer': {'_target_': 'torch.optim.AdamW', 'lr': 0.0001, 'betas': [0.95, 0.999], 'eps': 1e-08, 'weight_decay': 1e-06}, 'training': {'device': 'cuda:0', 'seed': 43, 'debug': False, 'resume': True, 'lr_scheduler': 'cosine', 'lr_warmup_steps': 500, 'num_epochs': 1001, 'gradient_accumulate_every': 16, 'use_ema': True, 'rollout_every': 5, 'checkpoint_every': 5, 'val_every': 1, 'sample_every': 5, 'max_train_steps': None, 'max_val_steps': None, 'tqdm_interval_sec': 1.0}, 'logging': {'project': 'maze2d-medium-v0-training', 'resume': True, 'mode': 'online', 'name': '2025.12.20-17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0', 'tags': ['train_llm_diffusion_unet_lowdim', 'maze2d-medium-v0', 'default'], 'id': None, 'group': None}, 'checkpoint': {'topk': {'monitor_key': 'test_success_rate', 'mode': 'max', 'k': 5, 'format_str': 'epoch={epoch:04d}-test_success_rate={test_success_rate:.3f}.ckpt'}, 'save_last_ckpt': True, 'save_last_snapshot': False}, 'multi_run': {'run_dir': 'data/outputs/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0', 'wandb_name_base': '2025.12.20-17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0'}, 'task': {'name': 'maze2d-medium-v0', 'obs_dim': 6, 'action_dim': 2, 'env_runner': {'_target_': 'llmbc.env_runner.pointmaze_lowdim_runner.PointmazeLowdimRunner', 'env_name': 'llf-pointmaze-maze2d-medium-v0', 'n_train': 10, 'n_test': 50, 'n_envs': 10, 'max_steps': 250, 'n_obs_steps': 1, 'n_action_steps': 1, 'instruction_type': 'b', 'feedback_type': ['hp', 'hn', 'fp'], 'visual': False, 'discount': 0.99}, 'dataset': {'_target_': 'llmbc.dataset.pointmaze_lowdim_dataset.PointmazeLowdimDataset', 'data_path': 'datasets/maze2d-medium-v0.pt', 'data_path2': 'datasets/maze2d-medium-v0.pt', 'horizon': 1, 'pad_before': 0, 'pad_after': 0, 'obs_eef_target': True, 'use_manual_normalizer': False, 'val_ratio': 0.02, 'dummy_normalizer': False}, 'instructor': {'_target_': 'llmbc.translator.instructor.pointmaze_instructor.maze2d_medium_v0_instructor.Maze2dMediumV0Instructor'}}, 'llm': {'name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'model_name': 'SmolLM2-135M-Instruct', 'config_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig', 'causal_lm_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM', 'use_quantization': False, 'use_joint_mlp_projector': True, 'llm_mode': 'ete-finetuned', 'finetune_mode': 'orig', 'checkpoint': 'data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850', 'max_length': 100, 'lora_config': {'r': 32, 'lora_alpha': 64, 'lora_dropout': 0.05, 'bias': 'none', 'task_type': 'CAUSAL_LM'}, 'prompter': {'_target_': 'llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter', 'use_joint_mlp_projector': True}, 'hydra': {'job': {'override_dirname': 'HuggingFaceTB/SmolLM2-135M-Instruct'}, 'run': {'dir': 'data/outputs/2025.12.20/17.23.18_HuggingFaceTB/SmolLM2-135M-Instruct'}}}} +2025-12-20 17:23:40,389 INFO MainThread:14556 [wandb_init.py:init():669] starting backend +2025-12-20 17:23:40,389 INFO MainThread:14556 [wandb_init.py:init():673] sending inform_init request +2025-12-20 17:23:40,390 INFO MainThread:14556 [backend.py:_multiprocessing_setup():104] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-12-20 17:23:40,390 INFO MainThread:14556 [wandb_init.py:init():686] backend started and connected +2025-12-20 17:23:40,397 INFO MainThread:14556 [wandb_init.py:init():781] updated telemetry +2025-12-20 17:23:40,470 INFO MainThread:14556 [wandb_init.py:init():814] communicating run to backend with 90.0 second timeout +2025-12-20 17:23:41,128 INFO MainThread:14556 [wandb_init.py:init():867] starting run threads in backend +2025-12-20 17:23:42,555 INFO MainThread:14556 [wandb_run.py:_console_start():2451] atexit reg +2025-12-20 17:23:42,555 INFO MainThread:14556 [wandb_run.py:_redirect():2299] redirect: wrap_raw +2025-12-20 17:23:42,555 INFO MainThread:14556 [wandb_run.py:_redirect():2364] Wrapping output streams. +2025-12-20 17:23:42,555 INFO MainThread:14556 [wandb_run.py:_redirect():2389] Redirects installed. +2025-12-20 17:23:42,624 INFO MainThread:14556 [wandb_init.py:init():911] run started, returning control to user process +2025-12-20 17:23:42,624 INFO MainThread:14556 [wandb_run.py:_config_callback():1389] config_cb None None {'output_dir': '/workspace/LLM-BC/data/outputs/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0'} +2025-12-27 20:10:03,581 WARNING MsgRouterThr:14556 [router.py:message_loop():75] message_loop has been closed diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/run-t2ymaznj.wandb b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/run-t2ymaznj.wandb new file mode 100644 index 0000000000000000000000000000000000000000..99e7cebcaa17e331f86e849537c073c35b204050 --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172340-t2ymaznj/run-t2ymaznj.wandb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f63efb4d3576e44f1272052cfd2a0a511826ee5cbcf1a09511caa6ae4e69d3a +size 1555253254 diff --git a/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/wandb-resume.json b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/wandb-resume.json new file mode 100644 index 0000000000000000000000000000000000000000..6ef503add72171cc2d7f941cb41228a7bbb4f9f7 --- /dev/null +++ b/2025.12.20/17.23.18_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/wandb-resume.json @@ -0,0 +1 @@ +{"run_id": "t2ymaznj"} \ No newline at end of file diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/config.yaml b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d8e1f3179679a4768a6e71a63b07787bd701d6d0 --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/config.yaml @@ -0,0 +1,193 @@ +name: train_llm_diffusion_unet_lowdim +_target_: llmbc.workspace.train_llm_diffusion_unet_lowdim_workspace.TrainLLMDiffusionUnetLowdimWorkspace +obs_dim: ${task.obs_dim} +action_dim: ${task.action_dim} +task_name: ${task.name} +exp_name: default +model_name: ${llm.name} +horizon: 1 +n_obs_steps: 1 +n_action_steps: 1 +n_latency_steps: 0 +past_action_visible: false +keypoint_visible_rate: 1.0 +obs_as_local_cond: false +obs_as_global_cond: true +pred_action_steps_only: false +llm_orig_expert_feedback: true +llm_do_sample: false +policy: + _target_: llmbc.policy.llm_diffusion_unet_lowdim_policy.LLMDiffusionUnetLowdimPolicy + model: + _target_: llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D + input_dim: '${eval: ${task.action_dim} if ${obs_as_local_cond} or ${obs_as_global_cond} + else ${task.obs_dim} + ${task.action_dim}}' + local_cond_dim: '${eval: ${task.obs_dim} if ${obs_as_local_cond} else None}' + global_cond_dim: '${eval: ${task.obs_dim}*${n_obs_steps} if ${obs_as_global_cond} + else None}' + diffusion_step_embed_dim: 256 + down_dims: + - 256 + - 512 + - 1024 + kernel_size: 5 + n_groups: 8 + cond_predict_scale: true + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 100 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${horizon} + obs_dim: ${obs_dim} + action_dim: ${action_dim} + n_action_steps: ${eval:'${n_action_steps}+${n_latency_steps}'} + n_obs_steps: ${n_obs_steps} + num_inference_steps: 100 + obs_as_local_cond: ${obs_as_local_cond} + obs_as_global_cond: ${obs_as_global_cond} + pred_action_steps_only: ${pred_action_steps_only} + oa_step_convention: true + llm_discriminator: + _target_: llmbc.discriminator.llm_ce_discriminator.LLMCEDiscriminator + task_id: ${task_name} + llm_translator: + _target_: llmbc.translator.llm_translator.LLMTranslator + cfg: ${llm} + obs_dim: ${obs_dim} + action_dim: ${action_dim} + horizon: ${horizon} + n_obs_steps: ${n_obs_steps} + n_action_steps: ${eval:'${n_action_steps}+${n_latency_steps}'} + loss_dp_weight: 1.0 + loss_llm_weight: 0.0001 + normalize_llm_loss: true + reweight_llm_loss: true +ema: + _target_: llmbc.model.diffusion.ema_model.EMAModel + update_after_step: 0 + inv_gamma: 1.0 + power: 0.75 + min_value: 0.0 + max_value: 0.9999 +dataloader: + batch_size: 16 + num_workers: 0 + shuffle: true + pin_memory: false + persistent_workers: false +val_dataloader: + batch_size: 16 + num_workers: 0 + shuffle: false + pin_memory: false + persistent_workers: false +optimizer: + _target_: torch.optim.AdamW + lr: 0.0001 + betas: + - 0.95 + - 0.999 + eps: 1.0e-08 + weight_decay: 1.0e-06 +training: + device: cuda:0 + seed: 44 + debug: false + resume: true + lr_scheduler: cosine + lr_warmup_steps: 500 + num_epochs: 1001 + gradient_accumulate_every: 16 + use_ema: true + rollout_every: 5 + checkpoint_every: 5 + val_every: 1 + sample_every: 5 + max_train_steps: null + max_val_steps: null + tqdm_interval_sec: 1.0 +logging: + project: ${task.name}-training + resume: true + mode: online + name: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name} + tags: + - ${name} + - ${task_name} + - ${exp_name} + id: null + group: null +checkpoint: + topk: + monitor_key: test_success_rate + mode: max + k: 5 + format_str: epoch={epoch:04d}-test_success_rate={test_success_rate:.3f}.ckpt + save_last_ckpt: true + save_last_snapshot: false +multi_run: + run_dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name} + wandb_name_base: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name} +task: + name: maze2d-medium-v0 + obs_dim: 6 + action_dim: 2 + env_runner: + _target_: llmbc.env_runner.pointmaze_lowdim_runner.PointmazeLowdimRunner + env_name: llf-pointmaze-maze2d-medium-v0 + n_train: 10 + n_test: 50 + n_envs: 10 + max_steps: 250 + n_obs_steps: ${n_obs_steps} + n_action_steps: ${n_action_steps} + instruction_type: b + feedback_type: + - hp + - hn + - fp + visual: false + discount: 0.99 + dataset: + _target_: llmbc.dataset.pointmaze_lowdim_dataset.PointmazeLowdimDataset + data_path: datasets/maze2d-medium-v0.pt + data_path2: datasets/maze2d-medium-v0.pt + horizon: ${horizon} + pad_before: ${eval:'${n_obs_steps}-1'} + pad_after: ${eval:'${n_action_steps}-1'} + obs_eef_target: true + use_manual_normalizer: false + val_ratio: 0.02 + dummy_normalizer: false + instructor: + _target_: llmbc.translator.instructor.pointmaze_instructor.maze2d_medium_v0_instructor.Maze2dMediumV0Instructor +llm: + name: HuggingFaceTB/SmolLM2-135M-Instruct + model_name: SmolLM2-135M-Instruct + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + causal_lm_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM + use_quantization: false + use_joint_mlp_projector: true + llm_mode: ete-finetuned + finetune_mode: orig + checkpoint: data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850 + max_length: 100 + lora_config: + r: 32 + lora_alpha: 64 + lora_dropout: 0.05 + bias: none + task_type: CAUSAL_LM + prompter: + _target_: llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter + use_joint_mlp_projector: true + hydra: + job: + override_dirname: ${model_name} + run: + dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${model_name} diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/hydra.yaml b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d81d2ad1e74325e030be665bbc357d887502881 --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/hydra.yaml @@ -0,0 +1,156 @@ +hydra: + run: + dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name} + sweep: + dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - policy.loss_llm_weight=1.0e-4 + - training.seed=44 + job: + name: train + chdir: null + override_dirname: policy.loss_llm_weight=1.0e-4,training.seed=44 + id: ??? + num: ??? + config_name: llmdp_maze2d-medium-v0.yaml + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.2.0 + version_base: '1.2' + cwd: /workspace/LLM-BC + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /workspace/LLM-BC/config/main_table + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /workspace/LLM-BC/data/outputs/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 + choices: + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/overrides.yaml b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa36688f8bf60ec2902c5105e69ecaaedd625411 --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/overrides.yaml @@ -0,0 +1,2 @@ +- policy.loss_llm_weight=1.0e-4 +- training.seed=44 diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0385-test_success_rate=0.900.ckpt b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0385-test_success_rate=0.900.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..c785de2325aece1c014f6b1bea8f4e91c9994669 --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0385-test_success_rate=0.900.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6faf3353a17defbc850ea4fca4b452fedc4c9706940c2d9b03b48ea46f873ecf +size 1039753586 diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0485-test_success_rate=0.900.ckpt b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0485-test_success_rate=0.900.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..1a8a3bd40865564df8a4d8b9af037df5514af2d7 --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0485-test_success_rate=0.900.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ef7d28f09e0517e0a646a5de7c7de90e444617a849639f12c6e6fc1d9d312b2 +size 1039753586 diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0635-test_success_rate=0.900.ckpt b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0635-test_success_rate=0.900.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..06f62c4992fda745d29b8d02df22da47117bfac0 --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0635-test_success_rate=0.900.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6dea66019eafff0edd9d1abe866682c76022efdfe66b671f3ba05b75c97b824 +size 1039753586 diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0670-test_success_rate=0.900.ckpt b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0670-test_success_rate=0.900.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..9919cf86cad66609aa94a81ca9d16317e2831360 --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0670-test_success_rate=0.900.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3c46bb3e1707cff883510aa1150dadd5ddf52a86f4912df0cdd41ba71940138 +size 1039753586 diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0680-test_success_rate=0.920.ckpt b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0680-test_success_rate=0.920.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..4fe6cc0e00ef846633ffd62391b8dbba51bf4915 --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0680-test_success_rate=0.920.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba5ca8daeab5bdac5c908bc621d9c353fb06a937179384802168314c6e6f9be0 +size 1039753586 diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/latest.ckpt b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/latest.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..dbc35b007e85bfbeceed78c3e84f2d1d6b51a17b --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/latest.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06113f2c593ffde672569d6f7b68a81d411e89b3d9abf1fb92289fd0419bda55 +size 1039753586 diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/logs.json.txt b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/logs.json.txt new file mode 100644 index 0000000000000000000000000000000000000000..d170d6a48cb2ebb6163d155f7b987e9f591b5ab2 --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/logs.json.txt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf8bebd9c8a93c2df953f1617225eb423cb84a8a4bf136d3db48da96981b5ebe +size 279217611 diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/train.log b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/train.log new file mode 100644 index 0000000000000000000000000000000000000000..803e7c167c17a473ed9d3648e3dac8a1e520b270 --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/train.log @@ -0,0 +1,9 @@ +[2025-12-20 17:23:24,946][numexpr.utils][INFO] - Note: detected 128 virtual cores but NumExpr set to maximum of 64, check "NUMEXPR_MAX_THREADS" environment variable. +[2025-12-20 17:23:24,947][numexpr.utils][INFO] - Note: NumExpr detected 128 cores but "NUMEXPR_MAX_THREADS" not set, so enforcing safe limit of 16. +[2025-12-20 17:23:24,947][numexpr.utils][INFO] - NumExpr defaulting to 16 threads. +[2025-12-20 17:23:30,016][datasets][INFO] - PyTorch version 2.2.2 available. +[2025-12-20 17:23:30,017][datasets][INFO] - TensorFlow version 2.15.1 available. +[2025-12-20 17:23:30,018][datasets][INFO] - JAX version 0.4.30 available. +[2025-12-20 17:23:31,691][llmbc.model.diffusion.conditional_unet1d][INFO] - number of parameters: 6.496819e+07 +[2025-12-20 17:23:45,647][absl][INFO] - MUJOCO_GL=osmesa, attempting to import specified OpenGL backend. +[2025-12-20 17:23:45,657][absl][INFO] - MuJoCo library version is: 2.3.7 diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug-internal.log b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug-internal.log new file mode 100644 index 0000000000000000000000000000000000000000..701e218369154d3c2e02adb4450ae0f083d31ee6 --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug-internal.log @@ -0,0 +1,35 @@ +{"time":"2025-12-20T17:23:46.613199748Z","level":"INFO","msg":"using version","core version":"0.18.6"} +{"time":"2025-12-20T17:23:46.613264827Z","level":"INFO","msg":"created symlink","path":"/workspace/LLM-BC/data/outputs/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/logs/debug-core.log"} +{"time":"2025-12-20T17:23:46.72929786Z","level":"INFO","msg":"created new stream","id":"cflo0geg"} +{"time":"2025-12-20T17:23:46.729364477Z","level":"INFO","msg":"stream: started","id":"cflo0geg"} +{"time":"2025-12-20T17:23:46.729395032Z","level":"INFO","msg":"sender: started","stream_id":"cflo0geg"} +{"time":"2025-12-20T17:23:46.72938452Z","level":"INFO","msg":"writer: Do: started","stream_id":{"value":"cflo0geg"}} +{"time":"2025-12-20T17:23:46.729401223Z","level":"INFO","msg":"handler: started","stream_id":{"value":"cflo0geg"}} +{"time":"2025-12-20T17:23:47.379019149Z","level":"INFO","msg":"Starting system monitor"} +{"time":"2025-12-22T01:58:59.359063808Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/cflo0geg/file_stream\": unexpected EOF"} +{"time":"2025-12-22T02:00:48.535421007Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T02:01:19.054517009Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/cflo0geg/file_stream\": unexpected EOF"} +{"time":"2025-12-22T02:01:20.671973451Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T02:01:55.142789828Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T02:02:34.824004591Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T02:02:58.288135548Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": read tcp 192.168.19.170:33170->35.186.228.49:443: read: connection reset by peer"} +{"time":"2025-12-22T05:10:18.616078123Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T05:10:19.705729594Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/cflo0geg/file_stream\": read tcp 192.168.19.170:40764->35.186.228.49:443: read: connection reset by peer"} +{"time":"2025-12-22T07:24:48.668983055Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:25:05.56897683Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/cflo0geg/file_stream\": unexpected EOF"} +{"time":"2025-12-22T07:25:20.978463529Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:25:55.205939946Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:28:03.680647103Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:28:37.646706307Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/cflo0geg/file_stream\": EOF"} +{"time":"2025-12-22T07:29:16.409762506Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/cflo0geg/file_stream\": unexpected EOF"} +{"time":"2025-12-22T07:32:33.686447472Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:33:05.887016615Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:35:49.545876342Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/cflo0geg/file_stream\": unexpected EOF"} +{"time":"2025-12-27T19:54:59.326572801Z","level":"INFO","msg":"stream: closing","id":"cflo0geg"} +{"time":"2025-12-27T19:54:59.326610662Z","level":"INFO","msg":"Stopping system monitor"} +{"time":"2025-12-27T19:54:59.340210928Z","level":"INFO","msg":"Stopped system monitor"} +{"time":"2025-12-27T19:55:02.304599868Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"} +{"time":"2025-12-27T19:55:02.563003931Z","level":"INFO","msg":"handler: closed","stream_id":{"value":"cflo0geg"}} +{"time":"2025-12-27T19:55:02.563038962Z","level":"INFO","msg":"sender: closed","stream_id":"cflo0geg"} +{"time":"2025-12-27T19:55:02.563034816Z","level":"INFO","msg":"writer: Close: closed","stream_id":{"value":"cflo0geg"}} +{"time":"2025-12-27T19:55:02.563274828Z","level":"INFO","msg":"stream: closed","id":"cflo0geg"} diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug.log b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..f108eb94ca037e0bbb2892a200f79fb77a1aa873 --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug.log @@ -0,0 +1,27 @@ +2025-12-20 17:23:46,608 INFO MainThread:14641 [wandb_setup.py:_flush():79] Current SDK version is 0.18.6 +2025-12-20 17:23:46,608 INFO MainThread:14641 [wandb_setup.py:_flush():79] Configure stats pid to 14641 +2025-12-20 17:23:46,608 INFO MainThread:14641 [wandb_setup.py:_flush():79] Loading settings from /root/.config/wandb/settings +2025-12-20 17:23:46,608 INFO MainThread:14641 [wandb_setup.py:_flush():79] Loading settings from /workspace/LLM-BC/wandb/settings +2025-12-20 17:23:46,608 INFO MainThread:14641 [wandb_setup.py:_flush():79] Loading settings from environment variables: {} +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_setup.py:_flush():79] Applying setup settings: {'mode': 'online', '_disable_service': None} +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_setup.py:_flush():79] Inferring run settings from compute environment: {'program_relpath': 'train.py', 'program_abspath': '/workspace/LLM-BC/train.py', 'program': '/workspace/LLM-BC/./train.py'} +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_setup.py:_flush():79] Applying login settings: {} +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_init.py:_log_setup():533] Logging user logs to /workspace/LLM-BC/data/outputs/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/logs/debug.log +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_init.py:_log_setup():534] Logging internal logs to /workspace/LLM-BC/data/outputs/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/logs/debug-internal.log +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_init.py:init():619] calling init triggers +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_init.py:init():626] wandb.init called with sweep_config: {} +config: {'name': 'train_llm_diffusion_unet_lowdim', '_target_': 'llmbc.workspace.train_llm_diffusion_unet_lowdim_workspace.TrainLLMDiffusionUnetLowdimWorkspace', 'obs_dim': 6, 'action_dim': 2, 'task_name': 'maze2d-medium-v0', 'exp_name': 'default', 'model_name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'horizon': 1, 'n_obs_steps': 1, 'n_action_steps': 1, 'n_latency_steps': 0, 'past_action_visible': False, 'keypoint_visible_rate': 1.0, 'obs_as_local_cond': False, 'obs_as_global_cond': True, 'pred_action_steps_only': False, 'llm_orig_expert_feedback': True, 'llm_do_sample': False, 'policy': {'_target_': 'llmbc.policy.llm_diffusion_unet_lowdim_policy.LLMDiffusionUnetLowdimPolicy', 'model': {'_target_': 'llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D', 'input_dim': 2, 'local_cond_dim': None, 'global_cond_dim': 6, 'diffusion_step_embed_dim': 256, 'down_dims': [256, 512, 1024], 'kernel_size': 5, 'n_groups': 8, 'cond_predict_scale': True}, 'noise_scheduler': {'_target_': 'diffusers.schedulers.scheduling_ddpm.DDPMScheduler', 'num_train_timesteps': 100, 'beta_start': 0.0001, 'beta_end': 0.02, 'beta_schedule': 'squaredcos_cap_v2', 'variance_type': 'fixed_small', 'clip_sample': True, 'prediction_type': 'epsilon'}, 'horizon': 1, 'obs_dim': 6, 'action_dim': 2, 'n_action_steps': 1, 'n_obs_steps': 1, 'num_inference_steps': 100, 'obs_as_local_cond': False, 'obs_as_global_cond': True, 'pred_action_steps_only': False, 'oa_step_convention': True, 'llm_discriminator': {'_target_': 'llmbc.discriminator.llm_ce_discriminator.LLMCEDiscriminator', 'task_id': 'maze2d-medium-v0', 'llm_translator': {'_target_': 'llmbc.translator.llm_translator.LLMTranslator', 'cfg': {'name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'model_name': 'SmolLM2-135M-Instruct', 'config_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig', 'causal_lm_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM', 'use_quantization': False, 'use_joint_mlp_projector': True, 'llm_mode': 'ete-finetuned', 'finetune_mode': 'orig', 'checkpoint': 'data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850', 'max_length': 100, 'lora_config': {'r': 32, 'lora_alpha': 64, 'lora_dropout': 0.05, 'bias': 'none', 'task_type': 'CAUSAL_LM'}, 'prompter': {'_target_': 'llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter', 'use_joint_mlp_projector': True}, 'hydra': {'job': {'override_dirname': 'HuggingFaceTB/SmolLM2-135M-Instruct'}, 'run': {'dir': 'data/outputs/2025.12.20/17.23.23_HuggingFaceTB/SmolLM2-135M-Instruct'}}}, 'obs_dim': 6, 'action_dim': 2, 'horizon': 1, 'n_obs_steps': 1, 'n_action_steps': 1}}, 'loss_dp_weight': 1.0, 'loss_llm_weight': 0.0001, 'normalize_llm_loss': True, 'reweight_llm_loss': True}, 'ema': {'_target_': 'llmbc.model.diffusion.ema_model.EMAModel', 'update_after_step': 0, 'inv_gamma': 1.0, 'power': 0.75, 'min_value': 0.0, 'max_value': 0.9999}, 'dataloader': {'batch_size': 16, 'num_workers': 0, 'shuffle': True, 'pin_memory': False, 'persistent_workers': False}, 'val_dataloader': {'batch_size': 16, 'num_workers': 0, 'shuffle': False, 'pin_memory': False, 'persistent_workers': False}, 'optimizer': {'_target_': 'torch.optim.AdamW', 'lr': 0.0001, 'betas': [0.95, 0.999], 'eps': 1e-08, 'weight_decay': 1e-06}, 'training': {'device': 'cuda:0', 'seed': 44, 'debug': False, 'resume': True, 'lr_scheduler': 'cosine', 'lr_warmup_steps': 500, 'num_epochs': 1001, 'gradient_accumulate_every': 16, 'use_ema': True, 'rollout_every': 5, 'checkpoint_every': 5, 'val_every': 1, 'sample_every': 5, 'max_train_steps': None, 'max_val_steps': None, 'tqdm_interval_sec': 1.0}, 'logging': {'project': 'maze2d-medium-v0-training', 'resume': True, 'mode': 'online', 'name': '2025.12.20-17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0', 'tags': ['train_llm_diffusion_unet_lowdim', 'maze2d-medium-v0', 'default'], 'id': None, 'group': None}, 'checkpoint': {'topk': {'monitor_key': 'test_success_rate', 'mode': 'max', 'k': 5, 'format_str': 'epoch={epoch:04d}-test_success_rate={test_success_rate:.3f}.ckpt'}, 'save_last_ckpt': True, 'save_last_snapshot': False}, 'multi_run': {'run_dir': 'data/outputs/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0', 'wandb_name_base': '2025.12.20-17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0'}, 'task': {'name': 'maze2d-medium-v0', 'obs_dim': 6, 'action_dim': 2, 'env_runner': {'_target_': 'llmbc.env_runner.pointmaze_lowdim_runner.PointmazeLowdimRunner', 'env_name': 'llf-pointmaze-maze2d-medium-v0', 'n_train': 10, 'n_test': 50, 'n_envs': 10, 'max_steps': 250, 'n_obs_steps': 1, 'n_action_steps': 1, 'instruction_type': 'b', 'feedback_type': ['hp', 'hn', 'fp'], 'visual': False, 'discount': 0.99}, 'dataset': {'_target_': 'llmbc.dataset.pointmaze_lowdim_dataset.PointmazeLowdimDataset', 'data_path': 'datasets/maze2d-medium-v0.pt', 'data_path2': 'datasets/maze2d-medium-v0.pt', 'horizon': 1, 'pad_before': 0, 'pad_after': 0, 'obs_eef_target': True, 'use_manual_normalizer': False, 'val_ratio': 0.02, 'dummy_normalizer': False}, 'instructor': {'_target_': 'llmbc.translator.instructor.pointmaze_instructor.maze2d_medium_v0_instructor.Maze2dMediumV0Instructor'}}, 'llm': {'name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'model_name': 'SmolLM2-135M-Instruct', 'config_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig', 'causal_lm_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM', 'use_quantization': False, 'use_joint_mlp_projector': True, 'llm_mode': 'ete-finetuned', 'finetune_mode': 'orig', 'checkpoint': 'data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850', 'max_length': 100, 'lora_config': {'r': 32, 'lora_alpha': 64, 'lora_dropout': 0.05, 'bias': 'none', 'task_type': 'CAUSAL_LM'}, 'prompter': {'_target_': 'llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter', 'use_joint_mlp_projector': True}, 'hydra': {'job': {'override_dirname': 'HuggingFaceTB/SmolLM2-135M-Instruct'}, 'run': {'dir': 'data/outputs/2025.12.20/17.23.23_HuggingFaceTB/SmolLM2-135M-Instruct'}}}} +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_init.py:init():669] starting backend +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_init.py:init():673] sending inform_init request +2025-12-20 17:23:46,610 INFO MainThread:14641 [backend.py:_multiprocessing_setup():104] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-12-20 17:23:46,610 INFO MainThread:14641 [wandb_init.py:init():686] backend started and connected +2025-12-20 17:23:46,618 INFO MainThread:14641 [wandb_init.py:init():781] updated telemetry +2025-12-20 17:23:46,663 INFO MainThread:14641 [wandb_init.py:init():814] communicating run to backend with 90.0 second timeout +2025-12-20 17:23:47,376 INFO MainThread:14641 [wandb_init.py:init():867] starting run threads in backend +2025-12-20 17:23:47,750 INFO MainThread:14641 [wandb_run.py:_console_start():2451] atexit reg +2025-12-20 17:23:47,750 INFO MainThread:14641 [wandb_run.py:_redirect():2299] redirect: wrap_raw +2025-12-20 17:23:47,750 INFO MainThread:14641 [wandb_run.py:_redirect():2364] Wrapping output streams. +2025-12-20 17:23:47,750 INFO MainThread:14641 [wandb_run.py:_redirect():2389] Redirects installed. +2025-12-20 17:23:47,752 INFO MainThread:14641 [wandb_init.py:init():911] run started, returning control to user process +2025-12-20 17:23:47,753 INFO MainThread:14641 [wandb_run.py:_config_callback():1389] config_cb None None {'output_dir': '/workspace/LLM-BC/data/outputs/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0'} +2025-12-27 19:54:59,326 WARNING MsgRouterThr:14641 [router.py:message_loop():75] message_loop has been closed diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/files/config.yaml b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..422133ced396b26afe3e4d091f7e5fa495b8f176 --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/files/config.yaml @@ -0,0 +1,304 @@ +_target_: + value: llmbc.workspace.train_llm_diffusion_unet_lowdim_workspace.TrainLLMDiffusionUnetLowdimWorkspace +_wandb: + value: + cli_version: 0.18.6 + m: [] + python_version: 3.9.25 + t: + "1": + - 1 + - 2 + - 3 + - 5 + - 11 + - 12 + - 41 + - 49 + - 50 + - 51 + - 53 + - 55 + - 71 + - 83 + - 95 + - 98 + - 100 + - 105 + "2": + - 1 + - 2 + - 3 + - 5 + - 11 + - 12 + - 41 + - 49 + - 50 + - 51 + - 53 + - 55 + - 71 + - 83 + - 95 + - 98 + - 100 + - 105 + "3": + - 13 + - 15 + - 16 + - 23 + - 55 + - 61 + "4": 3.9.25 + "5": 0.18.6 + "6": 4.47.1 + "8": + - 5 + "12": 0.18.6 + "13": linux-x86_64 +action_dim: + value: 2 +checkpoint: + value: + save_last_ckpt: true + save_last_snapshot: false + topk: + format_str: epoch={epoch:04d}-test_success_rate={test_success_rate:.3f}.ckpt + k: 5 + mode: max + monitor_key: test_success_rate +dataloader: + value: + batch_size: 16 + num_workers: 0 + persistent_workers: false + pin_memory: false + shuffle: true +ema: + value: + _target_: llmbc.model.diffusion.ema_model.EMAModel + inv_gamma: 1 + max_value: 0.9999 + min_value: 0 + power: 0.75 + update_after_step: 0 +exp_name: + value: default +horizon: + value: 1 +keypoint_visible_rate: + value: 1 +llm: + value: + causal_lm_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM + checkpoint: data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/17.23.23_HuggingFaceTB/SmolLM2-135M-Instruct + llm_mode: ete-finetuned + lora_config: + bias: none + lora_alpha: 64 + lora_dropout: 0.05 + r: 32 + task_type: CAUSAL_LM + max_length: 100 + model_name: SmolLM2-135M-Instruct + name: HuggingFaceTB/SmolLM2-135M-Instruct + prompter: + _target_: llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter + use_joint_mlp_projector: true + use_joint_mlp_projector: true + use_quantization: false +llm_do_sample: + value: false +llm_orig_expert_feedback: + value: true +logging: + value: + group: null + id: null + mode: online + name: 2025.12.20-17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 + project: maze2d-medium-v0-training + resume: true + tags: + - train_llm_diffusion_unet_lowdim + - maze2d-medium-v0 + - default +model_name: + value: HuggingFaceTB/SmolLM2-135M-Instruct +multi_run: + value: + run_dir: data/outputs/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 + wandb_name_base: 2025.12.20-17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 +n_action_steps: + value: 1 +n_latency_steps: + value: 0 +n_obs_steps: + value: 1 +name: + value: train_llm_diffusion_unet_lowdim +obs_as_global_cond: + value: true +obs_as_local_cond: + value: false +obs_dim: + value: 6 +optimizer: + value: + _target_: torch.optim.AdamW + betas: + - 0.95 + - 0.999 + eps: 1e-08 + lr: 0.0001 + weight_decay: 1e-06 +output_dir: + value: /workspace/LLM-BC/data/outputs/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 +past_action_visible: + value: false +policy: + value: + _target_: llmbc.policy.llm_diffusion_unet_lowdim_policy.LLMDiffusionUnetLowdimPolicy + action_dim: 2 + horizon: 1 + llm_discriminator: + _target_: llmbc.discriminator.llm_ce_discriminator.LLMCEDiscriminator + llm_translator: + _target_: llmbc.translator.llm_translator.LLMTranslator + action_dim: 2 + cfg: + causal_lm_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM + checkpoint: data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/17.23.23_HuggingFaceTB/SmolLM2-135M-Instruct + llm_mode: ete-finetuned + lora_config: + bias: none + lora_alpha: 64 + lora_dropout: 0.05 + r: 32 + task_type: CAUSAL_LM + max_length: 100 + model_name: SmolLM2-135M-Instruct + name: HuggingFaceTB/SmolLM2-135M-Instruct + prompter: + _target_: llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter + use_joint_mlp_projector: true + use_joint_mlp_projector: true + use_quantization: false + horizon: 1 + n_action_steps: 1 + n_obs_steps: 1 + obs_dim: 6 + task_id: maze2d-medium-v0 + loss_dp_weight: 1 + loss_llm_weight: 0.0001 + model: + _target_: llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D + cond_predict_scale: true + diffusion_step_embed_dim: 256 + down_dims: + - 256 + - 512 + - 1024 + global_cond_dim: 6 + input_dim: 2 + kernel_size: 5 + local_cond_dim: null + n_groups: 8 + n_action_steps: 1 + n_obs_steps: 1 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + beta_start: 0.0001 + clip_sample: true + num_train_timesteps: 100 + prediction_type: epsilon + variance_type: fixed_small + normalize_llm_loss: true + num_inference_steps: 100 + oa_step_convention: true + obs_as_global_cond: true + obs_as_local_cond: false + obs_dim: 6 + pred_action_steps_only: false + reweight_llm_loss: true +pred_action_steps_only: + value: false +task: + value: + action_dim: 2 + dataset: + _target_: llmbc.dataset.pointmaze_lowdim_dataset.PointmazeLowdimDataset + data_path: datasets/maze2d-medium-v0.pt + data_path2: datasets/maze2d-medium-v0.pt + dummy_normalizer: false + horizon: 1 + obs_eef_target: true + pad_after: 0 + pad_before: 0 + use_manual_normalizer: false + val_ratio: 0.02 + env_runner: + _target_: llmbc.env_runner.pointmaze_lowdim_runner.PointmazeLowdimRunner + discount: 0.99 + env_name: llf-pointmaze-maze2d-medium-v0 + feedback_type: + - hp + - hn + - fp + instruction_type: b + max_steps: 250 + n_action_steps: 1 + n_envs: 10 + n_obs_steps: 1 + n_test: 50 + n_train: 10 + visual: false + instructor: + _target_: llmbc.translator.instructor.pointmaze_instructor.maze2d_medium_v0_instructor.Maze2dMediumV0Instructor + name: maze2d-medium-v0 + obs_dim: 6 +task_name: + value: maze2d-medium-v0 +training: + value: + checkpoint_every: 5 + debug: false + device: cuda:0 + gradient_accumulate_every: 16 + lr_scheduler: cosine + lr_warmup_steps: 500 + max_train_steps: null + max_val_steps: null + num_epochs: 1001 + resume: true + rollout_every: 5 + sample_every: 5 + seed: 44 + tqdm_interval_sec: 1 + use_ema: true + val_every: 1 +val_dataloader: + value: + batch_size: 16 + num_workers: 0 + persistent_workers: false + pin_memory: false + shuffle: false diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/files/output.log b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..4bb0e3d1cfcc585d2842c15c7fa23678833553d6 --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/files/output.log @@ -0,0 +1,5 @@ +/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/gym/envs/registration.py:505: UserWarning: WARN: The environment maze2d-medium-v0 is out of date. You should consider upgrading to version `v1` with the environment ID `maze2d-medium-v1`. + logger.warn( +Eval PointmazeLowdimRunner 1/6: 0%| | 0/250 [00:0035.186.228.49:443: read: connection reset by peer"} +{"time":"2025-12-22T05:10:18.616078123Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T05:10:19.705729594Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/cflo0geg/file_stream\": read tcp 192.168.19.170:40764->35.186.228.49:443: read: connection reset by peer"} +{"time":"2025-12-22T07:24:48.668983055Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:25:05.56897683Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/cflo0geg/file_stream\": unexpected EOF"} +{"time":"2025-12-22T07:25:20.978463529Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:25:55.205939946Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:28:03.680647103Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:28:37.646706307Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/cflo0geg/file_stream\": EOF"} +{"time":"2025-12-22T07:29:16.409762506Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/cflo0geg/file_stream\": unexpected EOF"} +{"time":"2025-12-22T07:32:33.686447472Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:33:05.887016615Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:35:49.545876342Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/cflo0geg/file_stream\": unexpected EOF"} +{"time":"2025-12-27T19:54:59.326572801Z","level":"INFO","msg":"stream: closing","id":"cflo0geg"} +{"time":"2025-12-27T19:54:59.326610662Z","level":"INFO","msg":"Stopping system monitor"} +{"time":"2025-12-27T19:54:59.340210928Z","level":"INFO","msg":"Stopped system monitor"} +{"time":"2025-12-27T19:55:02.304599868Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"} +{"time":"2025-12-27T19:55:02.563003931Z","level":"INFO","msg":"handler: closed","stream_id":{"value":"cflo0geg"}} +{"time":"2025-12-27T19:55:02.563038962Z","level":"INFO","msg":"sender: closed","stream_id":"cflo0geg"} +{"time":"2025-12-27T19:55:02.563034816Z","level":"INFO","msg":"writer: Close: closed","stream_id":{"value":"cflo0geg"}} +{"time":"2025-12-27T19:55:02.563274828Z","level":"INFO","msg":"stream: closed","id":"cflo0geg"} diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/logs/debug.log b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..f108eb94ca037e0bbb2892a200f79fb77a1aa873 --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/logs/debug.log @@ -0,0 +1,27 @@ +2025-12-20 17:23:46,608 INFO MainThread:14641 [wandb_setup.py:_flush():79] Current SDK version is 0.18.6 +2025-12-20 17:23:46,608 INFO MainThread:14641 [wandb_setup.py:_flush():79] Configure stats pid to 14641 +2025-12-20 17:23:46,608 INFO MainThread:14641 [wandb_setup.py:_flush():79] Loading settings from /root/.config/wandb/settings +2025-12-20 17:23:46,608 INFO MainThread:14641 [wandb_setup.py:_flush():79] Loading settings from /workspace/LLM-BC/wandb/settings +2025-12-20 17:23:46,608 INFO MainThread:14641 [wandb_setup.py:_flush():79] Loading settings from environment variables: {} +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_setup.py:_flush():79] Applying setup settings: {'mode': 'online', '_disable_service': None} +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_setup.py:_flush():79] Inferring run settings from compute environment: {'program_relpath': 'train.py', 'program_abspath': '/workspace/LLM-BC/train.py', 'program': '/workspace/LLM-BC/./train.py'} +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_setup.py:_flush():79] Applying login settings: {} +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_init.py:_log_setup():533] Logging user logs to /workspace/LLM-BC/data/outputs/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/logs/debug.log +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_init.py:_log_setup():534] Logging internal logs to /workspace/LLM-BC/data/outputs/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/logs/debug-internal.log +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_init.py:init():619] calling init triggers +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_init.py:init():626] wandb.init called with sweep_config: {} +config: {'name': 'train_llm_diffusion_unet_lowdim', '_target_': 'llmbc.workspace.train_llm_diffusion_unet_lowdim_workspace.TrainLLMDiffusionUnetLowdimWorkspace', 'obs_dim': 6, 'action_dim': 2, 'task_name': 'maze2d-medium-v0', 'exp_name': 'default', 'model_name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'horizon': 1, 'n_obs_steps': 1, 'n_action_steps': 1, 'n_latency_steps': 0, 'past_action_visible': False, 'keypoint_visible_rate': 1.0, 'obs_as_local_cond': False, 'obs_as_global_cond': True, 'pred_action_steps_only': False, 'llm_orig_expert_feedback': True, 'llm_do_sample': False, 'policy': {'_target_': 'llmbc.policy.llm_diffusion_unet_lowdim_policy.LLMDiffusionUnetLowdimPolicy', 'model': {'_target_': 'llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D', 'input_dim': 2, 'local_cond_dim': None, 'global_cond_dim': 6, 'diffusion_step_embed_dim': 256, 'down_dims': [256, 512, 1024], 'kernel_size': 5, 'n_groups': 8, 'cond_predict_scale': True}, 'noise_scheduler': {'_target_': 'diffusers.schedulers.scheduling_ddpm.DDPMScheduler', 'num_train_timesteps': 100, 'beta_start': 0.0001, 'beta_end': 0.02, 'beta_schedule': 'squaredcos_cap_v2', 'variance_type': 'fixed_small', 'clip_sample': True, 'prediction_type': 'epsilon'}, 'horizon': 1, 'obs_dim': 6, 'action_dim': 2, 'n_action_steps': 1, 'n_obs_steps': 1, 'num_inference_steps': 100, 'obs_as_local_cond': False, 'obs_as_global_cond': True, 'pred_action_steps_only': False, 'oa_step_convention': True, 'llm_discriminator': {'_target_': 'llmbc.discriminator.llm_ce_discriminator.LLMCEDiscriminator', 'task_id': 'maze2d-medium-v0', 'llm_translator': {'_target_': 'llmbc.translator.llm_translator.LLMTranslator', 'cfg': {'name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'model_name': 'SmolLM2-135M-Instruct', 'config_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig', 'causal_lm_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM', 'use_quantization': False, 'use_joint_mlp_projector': True, 'llm_mode': 'ete-finetuned', 'finetune_mode': 'orig', 'checkpoint': 'data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850', 'max_length': 100, 'lora_config': {'r': 32, 'lora_alpha': 64, 'lora_dropout': 0.05, 'bias': 'none', 'task_type': 'CAUSAL_LM'}, 'prompter': {'_target_': 'llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter', 'use_joint_mlp_projector': True}, 'hydra': {'job': {'override_dirname': 'HuggingFaceTB/SmolLM2-135M-Instruct'}, 'run': {'dir': 'data/outputs/2025.12.20/17.23.23_HuggingFaceTB/SmolLM2-135M-Instruct'}}}, 'obs_dim': 6, 'action_dim': 2, 'horizon': 1, 'n_obs_steps': 1, 'n_action_steps': 1}}, 'loss_dp_weight': 1.0, 'loss_llm_weight': 0.0001, 'normalize_llm_loss': True, 'reweight_llm_loss': True}, 'ema': {'_target_': 'llmbc.model.diffusion.ema_model.EMAModel', 'update_after_step': 0, 'inv_gamma': 1.0, 'power': 0.75, 'min_value': 0.0, 'max_value': 0.9999}, 'dataloader': {'batch_size': 16, 'num_workers': 0, 'shuffle': True, 'pin_memory': False, 'persistent_workers': False}, 'val_dataloader': {'batch_size': 16, 'num_workers': 0, 'shuffle': False, 'pin_memory': False, 'persistent_workers': False}, 'optimizer': {'_target_': 'torch.optim.AdamW', 'lr': 0.0001, 'betas': [0.95, 0.999], 'eps': 1e-08, 'weight_decay': 1e-06}, 'training': {'device': 'cuda:0', 'seed': 44, 'debug': False, 'resume': True, 'lr_scheduler': 'cosine', 'lr_warmup_steps': 500, 'num_epochs': 1001, 'gradient_accumulate_every': 16, 'use_ema': True, 'rollout_every': 5, 'checkpoint_every': 5, 'val_every': 1, 'sample_every': 5, 'max_train_steps': None, 'max_val_steps': None, 'tqdm_interval_sec': 1.0}, 'logging': {'project': 'maze2d-medium-v0-training', 'resume': True, 'mode': 'online', 'name': '2025.12.20-17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0', 'tags': ['train_llm_diffusion_unet_lowdim', 'maze2d-medium-v0', 'default'], 'id': None, 'group': None}, 'checkpoint': {'topk': {'monitor_key': 'test_success_rate', 'mode': 'max', 'k': 5, 'format_str': 'epoch={epoch:04d}-test_success_rate={test_success_rate:.3f}.ckpt'}, 'save_last_ckpt': True, 'save_last_snapshot': False}, 'multi_run': {'run_dir': 'data/outputs/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0', 'wandb_name_base': '2025.12.20-17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0'}, 'task': {'name': 'maze2d-medium-v0', 'obs_dim': 6, 'action_dim': 2, 'env_runner': {'_target_': 'llmbc.env_runner.pointmaze_lowdim_runner.PointmazeLowdimRunner', 'env_name': 'llf-pointmaze-maze2d-medium-v0', 'n_train': 10, 'n_test': 50, 'n_envs': 10, 'max_steps': 250, 'n_obs_steps': 1, 'n_action_steps': 1, 'instruction_type': 'b', 'feedback_type': ['hp', 'hn', 'fp'], 'visual': False, 'discount': 0.99}, 'dataset': {'_target_': 'llmbc.dataset.pointmaze_lowdim_dataset.PointmazeLowdimDataset', 'data_path': 'datasets/maze2d-medium-v0.pt', 'data_path2': 'datasets/maze2d-medium-v0.pt', 'horizon': 1, 'pad_before': 0, 'pad_after': 0, 'obs_eef_target': True, 'use_manual_normalizer': False, 'val_ratio': 0.02, 'dummy_normalizer': False}, 'instructor': {'_target_': 'llmbc.translator.instructor.pointmaze_instructor.maze2d_medium_v0_instructor.Maze2dMediumV0Instructor'}}, 'llm': {'name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'model_name': 'SmolLM2-135M-Instruct', 'config_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig', 'causal_lm_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM', 'use_quantization': False, 'use_joint_mlp_projector': True, 'llm_mode': 'ete-finetuned', 'finetune_mode': 'orig', 'checkpoint': 'data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850', 'max_length': 100, 'lora_config': {'r': 32, 'lora_alpha': 64, 'lora_dropout': 0.05, 'bias': 'none', 'task_type': 'CAUSAL_LM'}, 'prompter': {'_target_': 'llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter', 'use_joint_mlp_projector': True}, 'hydra': {'job': {'override_dirname': 'HuggingFaceTB/SmolLM2-135M-Instruct'}, 'run': {'dir': 'data/outputs/2025.12.20/17.23.23_HuggingFaceTB/SmolLM2-135M-Instruct'}}}} +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_init.py:init():669] starting backend +2025-12-20 17:23:46,609 INFO MainThread:14641 [wandb_init.py:init():673] sending inform_init request +2025-12-20 17:23:46,610 INFO MainThread:14641 [backend.py:_multiprocessing_setup():104] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-12-20 17:23:46,610 INFO MainThread:14641 [wandb_init.py:init():686] backend started and connected +2025-12-20 17:23:46,618 INFO MainThread:14641 [wandb_init.py:init():781] updated telemetry +2025-12-20 17:23:46,663 INFO MainThread:14641 [wandb_init.py:init():814] communicating run to backend with 90.0 second timeout +2025-12-20 17:23:47,376 INFO MainThread:14641 [wandb_init.py:init():867] starting run threads in backend +2025-12-20 17:23:47,750 INFO MainThread:14641 [wandb_run.py:_console_start():2451] atexit reg +2025-12-20 17:23:47,750 INFO MainThread:14641 [wandb_run.py:_redirect():2299] redirect: wrap_raw +2025-12-20 17:23:47,750 INFO MainThread:14641 [wandb_run.py:_redirect():2364] Wrapping output streams. +2025-12-20 17:23:47,750 INFO MainThread:14641 [wandb_run.py:_redirect():2389] Redirects installed. +2025-12-20 17:23:47,752 INFO MainThread:14641 [wandb_init.py:init():911] run started, returning control to user process +2025-12-20 17:23:47,753 INFO MainThread:14641 [wandb_run.py:_config_callback():1389] config_cb None None {'output_dir': '/workspace/LLM-BC/data/outputs/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0'} +2025-12-27 19:54:59,326 WARNING MsgRouterThr:14641 [router.py:message_loop():75] message_loop has been closed diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/run-cflo0geg.wandb b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/run-cflo0geg.wandb new file mode 100644 index 0000000000000000000000000000000000000000..7a5f55d9e75b03f7acc1a20fa1cc8665c3755795 --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172346-cflo0geg/run-cflo0geg.wandb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98ec254f012d18dfeb85ec2cbb996eb8d79f69a4b99fa6fccf958a6472c3995b +size 1556242175 diff --git a/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/wandb-resume.json b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/wandb-resume.json new file mode 100644 index 0000000000000000000000000000000000000000..4d98580f001e098d7aa87119202e24309be3cc8b --- /dev/null +++ b/2025.12.20/17.23.23_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/wandb-resume.json @@ -0,0 +1 @@ +{"run_id": "cflo0geg"} \ No newline at end of file diff --git a/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/config.yaml b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2da229f613a960e238ab44fe436543997a80f75f --- /dev/null +++ b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/config.yaml @@ -0,0 +1,193 @@ +name: train_llm_diffusion_unet_lowdim +_target_: llmbc.workspace.train_llm_diffusion_unet_lowdim_workspace.TrainLLMDiffusionUnetLowdimWorkspace +obs_dim: ${task.obs_dim} +action_dim: ${task.action_dim} +task_name: ${task.name} +exp_name: default +model_name: ${llm.name} +horizon: 1 +n_obs_steps: 1 +n_action_steps: 1 +n_latency_steps: 0 +past_action_visible: false +keypoint_visible_rate: 1.0 +obs_as_local_cond: false +obs_as_global_cond: true +pred_action_steps_only: false +llm_orig_expert_feedback: true +llm_do_sample: false +policy: + _target_: llmbc.policy.llm_diffusion_unet_lowdim_policy.LLMDiffusionUnetLowdimPolicy + model: + _target_: llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D + input_dim: '${eval: ${task.action_dim} if ${obs_as_local_cond} or ${obs_as_global_cond} + else ${task.obs_dim} + ${task.action_dim}}' + local_cond_dim: '${eval: ${task.obs_dim} if ${obs_as_local_cond} else None}' + global_cond_dim: '${eval: ${task.obs_dim}*${n_obs_steps} if ${obs_as_global_cond} + else None}' + diffusion_step_embed_dim: 256 + down_dims: + - 256 + - 512 + - 1024 + kernel_size: 5 + n_groups: 8 + cond_predict_scale: true + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + num_train_timesteps: 100 + beta_start: 0.0001 + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + variance_type: fixed_small + clip_sample: true + prediction_type: epsilon + horizon: ${horizon} + obs_dim: ${obs_dim} + action_dim: ${action_dim} + n_action_steps: ${eval:'${n_action_steps}+${n_latency_steps}'} + n_obs_steps: ${n_obs_steps} + num_inference_steps: 100 + obs_as_local_cond: ${obs_as_local_cond} + obs_as_global_cond: ${obs_as_global_cond} + pred_action_steps_only: ${pred_action_steps_only} + oa_step_convention: true + llm_discriminator: + _target_: llmbc.discriminator.llm_ce_discriminator.LLMCEDiscriminator + task_id: ${task_name} + llm_translator: + _target_: llmbc.translator.llm_translator.LLMTranslator + cfg: ${llm} + obs_dim: ${obs_dim} + action_dim: ${action_dim} + horizon: ${horizon} + n_obs_steps: ${n_obs_steps} + n_action_steps: ${eval:'${n_action_steps}+${n_latency_steps}'} + loss_dp_weight: 1.0 + loss_llm_weight: 0.0001 + normalize_llm_loss: true + reweight_llm_loss: true +ema: + _target_: llmbc.model.diffusion.ema_model.EMAModel + update_after_step: 0 + inv_gamma: 1.0 + power: 0.75 + min_value: 0.0 + max_value: 0.9999 +dataloader: + batch_size: 16 + num_workers: 0 + shuffle: true + pin_memory: false + persistent_workers: false +val_dataloader: + batch_size: 16 + num_workers: 0 + shuffle: false + pin_memory: false + persistent_workers: false +optimizer: + _target_: torch.optim.AdamW + lr: 0.0001 + betas: + - 0.95 + - 0.999 + eps: 1.0e-08 + weight_decay: 1.0e-06 +training: + device: cuda:0 + seed: 45 + debug: false + resume: true + lr_scheduler: cosine + lr_warmup_steps: 500 + num_epochs: 1001 + gradient_accumulate_every: 16 + use_ema: true + rollout_every: 5 + checkpoint_every: 5 + val_every: 1 + sample_every: 5 + max_train_steps: null + max_val_steps: null + tqdm_interval_sec: 1.0 +logging: + project: ${task.name}-training + resume: true + mode: online + name: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name} + tags: + - ${name} + - ${task_name} + - ${exp_name} + id: null + group: null +checkpoint: + topk: + monitor_key: test_success_rate + mode: max + k: 5 + format_str: epoch={epoch:04d}-test_success_rate={test_success_rate:.3f}.ckpt + save_last_ckpt: true + save_last_snapshot: false +multi_run: + run_dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name} + wandb_name_base: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name} +task: + name: maze2d-medium-v0 + obs_dim: 6 + action_dim: 2 + env_runner: + _target_: llmbc.env_runner.pointmaze_lowdim_runner.PointmazeLowdimRunner + env_name: llf-pointmaze-maze2d-medium-v0 + n_train: 10 + n_test: 50 + n_envs: 10 + max_steps: 250 + n_obs_steps: ${n_obs_steps} + n_action_steps: ${n_action_steps} + instruction_type: b + feedback_type: + - hp + - hn + - fp + visual: false + discount: 0.99 + dataset: + _target_: llmbc.dataset.pointmaze_lowdim_dataset.PointmazeLowdimDataset + data_path: datasets/maze2d-medium-v0.pt + data_path2: datasets/maze2d-medium-v0.pt + horizon: ${horizon} + pad_before: ${eval:'${n_obs_steps}-1'} + pad_after: ${eval:'${n_action_steps}-1'} + obs_eef_target: true + use_manual_normalizer: false + val_ratio: 0.02 + dummy_normalizer: false + instructor: + _target_: llmbc.translator.instructor.pointmaze_instructor.maze2d_medium_v0_instructor.Maze2dMediumV0Instructor +llm: + name: HuggingFaceTB/SmolLM2-135M-Instruct + model_name: SmolLM2-135M-Instruct + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + causal_lm_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM + use_quantization: false + use_joint_mlp_projector: true + llm_mode: ete-finetuned + finetune_mode: orig + checkpoint: data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850 + max_length: 100 + lora_config: + r: 32 + lora_alpha: 64 + lora_dropout: 0.05 + bias: none + task_type: CAUSAL_LM + prompter: + _target_: llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter + use_joint_mlp_projector: true + hydra: + job: + override_dirname: ${model_name} + run: + dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${model_name} diff --git a/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/hydra.yaml b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9688001ae50dff22cbb7f235c373f5a3f684b9fa --- /dev/null +++ b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/hydra.yaml @@ -0,0 +1,156 @@ +hydra: + run: + dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name} + sweep: + dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - policy.loss_llm_weight=1.0e-4 + - training.seed=45 + job: + name: train + chdir: null + override_dirname: policy.loss_llm_weight=1.0e-4,training.seed=45 + id: ??? + num: ??? + config_name: llmdp_maze2d-medium-v0.yaml + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.2.0 + version_base: '1.2' + cwd: /workspace/LLM-BC + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /workspace/LLM-BC/config/main_table + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /workspace/LLM-BC/data/outputs/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 + choices: + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/overrides.yaml b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..24dfb526d907bcd6391a69e94888fc61fa531221 --- /dev/null +++ b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/.hydra/overrides.yaml @@ -0,0 +1,2 @@ +- policy.loss_llm_weight=1.0e-4 +- training.seed=45 diff --git a/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0620-test_success_rate=0.900.ckpt b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0620-test_success_rate=0.900.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..15bbe3434af806d46a31b379dd2864a8a7b4620c --- /dev/null +++ b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0620-test_success_rate=0.900.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61e4af4c75873c7afd825938b6d0ced046798bb0365196d07ac9a970f93d2179 +size 1039753586 diff --git a/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0670-test_success_rate=0.920.ckpt b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0670-test_success_rate=0.920.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..1d2b33d04b0666e5074223b330627855a537c926 --- /dev/null +++ b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0670-test_success_rate=0.920.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:425d5acb3c09db767c0653bf26372a0505f0b9e370b26f93af32e59d1166a00e +size 1039753586 diff --git a/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0680-test_success_rate=0.920.ckpt b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0680-test_success_rate=0.920.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..84ed3fd12726ec7401d55ba46618e4cb87d3b381 --- /dev/null +++ b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0680-test_success_rate=0.920.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fecfb952eb9099212c8ebd72b83a5cd6d9aba49005d526220f66605256f15dab +size 1039753586 diff --git a/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0705-test_success_rate=0.940.ckpt b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0705-test_success_rate=0.940.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..1d207a49a7a5c59d9ef1bcb87e8a4c89e46fbd0a --- /dev/null +++ b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0705-test_success_rate=0.940.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cc06ffd32119f45ea34e563d0c3a96e3fcc61d430cfbc72a3a2375feb33ab3b +size 1039753586 diff --git a/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0840-test_success_rate=0.920.ckpt b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0840-test_success_rate=0.920.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..1fa5e686bb9aff974ecb4bf2bfe34699e2da53fc --- /dev/null +++ b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/epoch=0840-test_success_rate=0.920.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2854b65e17de4a36a72fb839a5faa990b59a704b8863552e866dde9f5e5965ac +size 1039753586 diff --git a/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/latest.ckpt b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/latest.ckpt new file mode 100644 index 0000000000000000000000000000000000000000..a1b95e12cd416b06a458528943e8412829933eaf --- /dev/null +++ b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/checkpoints/latest.ckpt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d21bfaed5110c81ab3db463edf15c1a4e4e10b249912611a8e90dbd0fa625d97 +size 1039753586 diff --git a/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/logs.json.txt b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/logs.json.txt new file mode 100644 index 0000000000000000000000000000000000000000..fb0e312bc3105a41ad1900d54a1b79146e394a95 --- /dev/null +++ b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/logs.json.txt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:785a54b39d68bba184aefc7ffdf97a489b32c873eae43934389d5510b5f75a45 +size 280683384 diff --git a/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/train.log b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/train.log new file mode 100644 index 0000000000000000000000000000000000000000..a7652ec71b3970f56087b48a7f211c8ddf287dcf --- /dev/null +++ b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/train.log @@ -0,0 +1,9 @@ +[2025-12-20 17:23:32,379][numexpr.utils][INFO] - Note: detected 128 virtual cores but NumExpr set to maximum of 64, check "NUMEXPR_MAX_THREADS" environment variable. +[2025-12-20 17:23:32,379][numexpr.utils][INFO] - Note: NumExpr detected 128 cores but "NUMEXPR_MAX_THREADS" not set, so enforcing safe limit of 16. +[2025-12-20 17:23:32,379][numexpr.utils][INFO] - NumExpr defaulting to 16 threads. +[2025-12-20 17:23:36,762][datasets][INFO] - PyTorch version 2.2.2 available. +[2025-12-20 17:23:36,764][datasets][INFO] - TensorFlow version 2.15.1 available. +[2025-12-20 17:23:36,819][datasets][INFO] - JAX version 0.4.30 available. +[2025-12-20 17:23:39,502][llmbc.model.diffusion.conditional_unet1d][INFO] - number of parameters: 6.496819e+07 +[2025-12-20 17:23:55,568][absl][INFO] - MUJOCO_GL=osmesa, attempting to import specified OpenGL backend. +[2025-12-20 17:23:55,574][absl][INFO] - MuJoCo library version is: 2.3.7 diff --git a/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug-internal.log b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug-internal.log new file mode 100644 index 0000000000000000000000000000000000000000..4eb9202f2241018e0beb3d67eb8f891645a5fa31 --- /dev/null +++ b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug-internal.log @@ -0,0 +1,26 @@ +{"time":"2025-12-20T17:23:56.449934503Z","level":"INFO","msg":"using version","core version":"0.18.6"} +{"time":"2025-12-20T17:23:56.449980062Z","level":"INFO","msg":"created symlink","path":"/workspace/LLM-BC/data/outputs/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172356-7wg8nalk/logs/debug-core.log"} +{"time":"2025-12-20T17:23:56.558879369Z","level":"INFO","msg":"created new stream","id":"7wg8nalk"} +{"time":"2025-12-20T17:23:56.558921864Z","level":"INFO","msg":"stream: started","id":"7wg8nalk"} +{"time":"2025-12-20T17:23:56.558949864Z","level":"INFO","msg":"sender: started","stream_id":"7wg8nalk"} +{"time":"2025-12-20T17:23:56.558932648Z","level":"INFO","msg":"writer: Do: started","stream_id":{"value":"7wg8nalk"}} +{"time":"2025-12-20T17:23:56.558950428Z","level":"INFO","msg":"handler: started","stream_id":{"value":"7wg8nalk"}} +{"time":"2025-12-20T17:23:57.273085213Z","level":"INFO","msg":"Starting system monitor"} +{"time":"2025-12-22T01:59:32.071440427Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/7wg8nalk/file_stream\": EOF"} +{"time":"2025-12-22T02:00:58.787015377Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T02:01:30.927500895Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded"} +{"time":"2025-12-22T02:02:05.006121542Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T05:06:57.674480911Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/7wg8nalk/file_stream\": EOF"} +{"time":"2025-12-22T07:24:58.907718288Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:28:07.372039477Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/7wg8nalk/file_stream\": EOF"} +{"time":"2025-12-22T07:32:40.555983785Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/7wg8nalk/file_stream\": unexpected EOF"} +{"time":"2025-12-22T07:33:28.916725705Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded"} +{"time":"2025-12-23T19:02:50.061811222Z","level":"INFO","msg":"api: retrying HTTP error","status":502,"url":"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/7wg8nalk/file_stream"} +{"time":"2025-12-27T20:32:36.390632294Z","level":"INFO","msg":"stream: closing","id":"7wg8nalk"} +{"time":"2025-12-27T20:32:36.390679097Z","level":"INFO","msg":"Stopping system monitor"} +{"time":"2025-12-27T20:32:36.391786627Z","level":"INFO","msg":"Stopped system monitor"} +{"time":"2025-12-27T20:32:37.764629114Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"} +{"time":"2025-12-27T20:32:38.104942738Z","level":"INFO","msg":"handler: closed","stream_id":{"value":"7wg8nalk"}} +{"time":"2025-12-27T20:32:38.104996729Z","level":"INFO","msg":"sender: closed","stream_id":"7wg8nalk"} +{"time":"2025-12-27T20:32:38.104981006Z","level":"INFO","msg":"writer: Close: closed","stream_id":{"value":"7wg8nalk"}} +{"time":"2025-12-27T20:32:38.105145196Z","level":"INFO","msg":"stream: closed","id":"7wg8nalk"} diff --git a/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug.log b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..324aab0bc74acc91444cca678432f3d55d738dfc --- /dev/null +++ b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug.log @@ -0,0 +1,27 @@ +2025-12-20 17:23:56,445 INFO MainThread:14791 [wandb_setup.py:_flush():79] Current SDK version is 0.18.6 +2025-12-20 17:23:56,445 INFO MainThread:14791 [wandb_setup.py:_flush():79] Configure stats pid to 14791 +2025-12-20 17:23:56,445 INFO MainThread:14791 [wandb_setup.py:_flush():79] Loading settings from /root/.config/wandb/settings +2025-12-20 17:23:56,445 INFO MainThread:14791 [wandb_setup.py:_flush():79] Loading settings from /workspace/LLM-BC/wandb/settings +2025-12-20 17:23:56,445 INFO MainThread:14791 [wandb_setup.py:_flush():79] Loading settings from environment variables: {} +2025-12-20 17:23:56,445 INFO MainThread:14791 [wandb_setup.py:_flush():79] Applying setup settings: {'mode': 'online', '_disable_service': None} +2025-12-20 17:23:56,445 INFO MainThread:14791 [wandb_setup.py:_flush():79] Inferring run settings from compute environment: {'program_relpath': 'train.py', 'program_abspath': '/workspace/LLM-BC/train.py', 'program': '/workspace/LLM-BC/./train.py'} +2025-12-20 17:23:56,445 INFO MainThread:14791 [wandb_setup.py:_flush():79] Applying login settings: {} +2025-12-20 17:23:56,445 INFO MainThread:14791 [wandb_init.py:_log_setup():533] Logging user logs to /workspace/LLM-BC/data/outputs/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172356-7wg8nalk/logs/debug.log +2025-12-20 17:23:56,445 INFO MainThread:14791 [wandb_init.py:_log_setup():534] Logging internal logs to /workspace/LLM-BC/data/outputs/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172356-7wg8nalk/logs/debug-internal.log +2025-12-20 17:23:56,445 INFO MainThread:14791 [wandb_init.py:init():619] calling init triggers +2025-12-20 17:23:56,446 INFO MainThread:14791 [wandb_init.py:init():626] wandb.init called with sweep_config: {} +config: {'name': 'train_llm_diffusion_unet_lowdim', '_target_': 'llmbc.workspace.train_llm_diffusion_unet_lowdim_workspace.TrainLLMDiffusionUnetLowdimWorkspace', 'obs_dim': 6, 'action_dim': 2, 'task_name': 'maze2d-medium-v0', 'exp_name': 'default', 'model_name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'horizon': 1, 'n_obs_steps': 1, 'n_action_steps': 1, 'n_latency_steps': 0, 'past_action_visible': False, 'keypoint_visible_rate': 1.0, 'obs_as_local_cond': False, 'obs_as_global_cond': True, 'pred_action_steps_only': False, 'llm_orig_expert_feedback': True, 'llm_do_sample': False, 'policy': {'_target_': 'llmbc.policy.llm_diffusion_unet_lowdim_policy.LLMDiffusionUnetLowdimPolicy', 'model': {'_target_': 'llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D', 'input_dim': 2, 'local_cond_dim': None, 'global_cond_dim': 6, 'diffusion_step_embed_dim': 256, 'down_dims': [256, 512, 1024], 'kernel_size': 5, 'n_groups': 8, 'cond_predict_scale': True}, 'noise_scheduler': {'_target_': 'diffusers.schedulers.scheduling_ddpm.DDPMScheduler', 'num_train_timesteps': 100, 'beta_start': 0.0001, 'beta_end': 0.02, 'beta_schedule': 'squaredcos_cap_v2', 'variance_type': 'fixed_small', 'clip_sample': True, 'prediction_type': 'epsilon'}, 'horizon': 1, 'obs_dim': 6, 'action_dim': 2, 'n_action_steps': 1, 'n_obs_steps': 1, 'num_inference_steps': 100, 'obs_as_local_cond': False, 'obs_as_global_cond': True, 'pred_action_steps_only': False, 'oa_step_convention': True, 'llm_discriminator': {'_target_': 'llmbc.discriminator.llm_ce_discriminator.LLMCEDiscriminator', 'task_id': 'maze2d-medium-v0', 'llm_translator': {'_target_': 'llmbc.translator.llm_translator.LLMTranslator', 'cfg': {'name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'model_name': 'SmolLM2-135M-Instruct', 'config_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig', 'causal_lm_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM', 'use_quantization': False, 'use_joint_mlp_projector': True, 'llm_mode': 'ete-finetuned', 'finetune_mode': 'orig', 'checkpoint': 'data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850', 'max_length': 100, 'lora_config': {'r': 32, 'lora_alpha': 64, 'lora_dropout': 0.05, 'bias': 'none', 'task_type': 'CAUSAL_LM'}, 'prompter': {'_target_': 'llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter', 'use_joint_mlp_projector': True}, 'hydra': {'job': {'override_dirname': 'HuggingFaceTB/SmolLM2-135M-Instruct'}, 'run': {'dir': 'data/outputs/2025.12.20/17.23.30_HuggingFaceTB/SmolLM2-135M-Instruct'}}}, 'obs_dim': 6, 'action_dim': 2, 'horizon': 1, 'n_obs_steps': 1, 'n_action_steps': 1}}, 'loss_dp_weight': 1.0, 'loss_llm_weight': 0.0001, 'normalize_llm_loss': True, 'reweight_llm_loss': True}, 'ema': {'_target_': 'llmbc.model.diffusion.ema_model.EMAModel', 'update_after_step': 0, 'inv_gamma': 1.0, 'power': 0.75, 'min_value': 0.0, 'max_value': 0.9999}, 'dataloader': {'batch_size': 16, 'num_workers': 0, 'shuffle': True, 'pin_memory': False, 'persistent_workers': False}, 'val_dataloader': {'batch_size': 16, 'num_workers': 0, 'shuffle': False, 'pin_memory': False, 'persistent_workers': False}, 'optimizer': {'_target_': 'torch.optim.AdamW', 'lr': 0.0001, 'betas': [0.95, 0.999], 'eps': 1e-08, 'weight_decay': 1e-06}, 'training': {'device': 'cuda:0', 'seed': 45, 'debug': False, 'resume': True, 'lr_scheduler': 'cosine', 'lr_warmup_steps': 500, 'num_epochs': 1001, 'gradient_accumulate_every': 16, 'use_ema': True, 'rollout_every': 5, 'checkpoint_every': 5, 'val_every': 1, 'sample_every': 5, 'max_train_steps': None, 'max_val_steps': None, 'tqdm_interval_sec': 1.0}, 'logging': {'project': 'maze2d-medium-v0-training', 'resume': True, 'mode': 'online', 'name': '2025.12.20-17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0', 'tags': ['train_llm_diffusion_unet_lowdim', 'maze2d-medium-v0', 'default'], 'id': None, 'group': None}, 'checkpoint': {'topk': {'monitor_key': 'test_success_rate', 'mode': 'max', 'k': 5, 'format_str': 'epoch={epoch:04d}-test_success_rate={test_success_rate:.3f}.ckpt'}, 'save_last_ckpt': True, 'save_last_snapshot': False}, 'multi_run': {'run_dir': 'data/outputs/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0', 'wandb_name_base': '2025.12.20-17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0'}, 'task': {'name': 'maze2d-medium-v0', 'obs_dim': 6, 'action_dim': 2, 'env_runner': {'_target_': 'llmbc.env_runner.pointmaze_lowdim_runner.PointmazeLowdimRunner', 'env_name': 'llf-pointmaze-maze2d-medium-v0', 'n_train': 10, 'n_test': 50, 'n_envs': 10, 'max_steps': 250, 'n_obs_steps': 1, 'n_action_steps': 1, 'instruction_type': 'b', 'feedback_type': ['hp', 'hn', 'fp'], 'visual': False, 'discount': 0.99}, 'dataset': {'_target_': 'llmbc.dataset.pointmaze_lowdim_dataset.PointmazeLowdimDataset', 'data_path': 'datasets/maze2d-medium-v0.pt', 'data_path2': 'datasets/maze2d-medium-v0.pt', 'horizon': 1, 'pad_before': 0, 'pad_after': 0, 'obs_eef_target': True, 'use_manual_normalizer': False, 'val_ratio': 0.02, 'dummy_normalizer': False}, 'instructor': {'_target_': 'llmbc.translator.instructor.pointmaze_instructor.maze2d_medium_v0_instructor.Maze2dMediumV0Instructor'}}, 'llm': {'name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'model_name': 'SmolLM2-135M-Instruct', 'config_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig', 'causal_lm_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM', 'use_quantization': False, 'use_joint_mlp_projector': True, 'llm_mode': 'ete-finetuned', 'finetune_mode': 'orig', 'checkpoint': 'data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850', 'max_length': 100, 'lora_config': {'r': 32, 'lora_alpha': 64, 'lora_dropout': 0.05, 'bias': 'none', 'task_type': 'CAUSAL_LM'}, 'prompter': {'_target_': 'llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter', 'use_joint_mlp_projector': True}, 'hydra': {'job': {'override_dirname': 'HuggingFaceTB/SmolLM2-135M-Instruct'}, 'run': {'dir': 'data/outputs/2025.12.20/17.23.30_HuggingFaceTB/SmolLM2-135M-Instruct'}}}} +2025-12-20 17:23:56,446 INFO MainThread:14791 [wandb_init.py:init():669] starting backend +2025-12-20 17:23:56,446 INFO MainThread:14791 [wandb_init.py:init():673] sending inform_init request +2025-12-20 17:23:56,447 INFO MainThread:14791 [backend.py:_multiprocessing_setup():104] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-12-20 17:23:56,447 INFO MainThread:14791 [wandb_init.py:init():686] backend started and connected +2025-12-20 17:23:56,454 INFO MainThread:14791 [wandb_init.py:init():781] updated telemetry +2025-12-20 17:23:56,487 INFO MainThread:14791 [wandb_init.py:init():814] communicating run to backend with 90.0 second timeout +2025-12-20 17:23:57,270 INFO MainThread:14791 [wandb_init.py:init():867] starting run threads in backend +2025-12-20 17:23:57,644 INFO MainThread:14791 [wandb_run.py:_console_start():2451] atexit reg +2025-12-20 17:23:57,644 INFO MainThread:14791 [wandb_run.py:_redirect():2299] redirect: wrap_raw +2025-12-20 17:23:57,644 INFO MainThread:14791 [wandb_run.py:_redirect():2364] Wrapping output streams. +2025-12-20 17:23:57,644 INFO MainThread:14791 [wandb_run.py:_redirect():2389] Redirects installed. +2025-12-20 17:23:57,646 INFO MainThread:14791 [wandb_init.py:init():911] run started, returning control to user process +2025-12-20 17:23:57,646 INFO MainThread:14791 [wandb_run.py:_config_callback():1389] config_cb None None {'output_dir': '/workspace/LLM-BC/data/outputs/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0'} +2025-12-27 20:32:36,390 WARNING MsgRouterThr:14791 [router.py:message_loop():75] message_loop has been closed diff --git a/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172356-7wg8nalk/files/config.yaml b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172356-7wg8nalk/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aaebff2e8341d264b0e6113ad9acf6c434b98f7b --- /dev/null +++ b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172356-7wg8nalk/files/config.yaml @@ -0,0 +1,304 @@ +_target_: + value: llmbc.workspace.train_llm_diffusion_unet_lowdim_workspace.TrainLLMDiffusionUnetLowdimWorkspace +_wandb: + value: + cli_version: 0.18.6 + m: [] + python_version: 3.9.25 + t: + "1": + - 1 + - 2 + - 3 + - 5 + - 11 + - 12 + - 41 + - 49 + - 50 + - 51 + - 53 + - 55 + - 71 + - 83 + - 95 + - 98 + - 100 + - 105 + "2": + - 1 + - 2 + - 3 + - 5 + - 11 + - 12 + - 41 + - 49 + - 50 + - 51 + - 53 + - 55 + - 71 + - 83 + - 95 + - 98 + - 100 + - 105 + "3": + - 13 + - 15 + - 16 + - 23 + - 55 + - 61 + "4": 3.9.25 + "5": 0.18.6 + "6": 4.47.1 + "8": + - 5 + "12": 0.18.6 + "13": linux-x86_64 +action_dim: + value: 2 +checkpoint: + value: + save_last_ckpt: true + save_last_snapshot: false + topk: + format_str: epoch={epoch:04d}-test_success_rate={test_success_rate:.3f}.ckpt + k: 5 + mode: max + monitor_key: test_success_rate +dataloader: + value: + batch_size: 16 + num_workers: 0 + persistent_workers: false + pin_memory: false + shuffle: true +ema: + value: + _target_: llmbc.model.diffusion.ema_model.EMAModel + inv_gamma: 1 + max_value: 0.9999 + min_value: 0 + power: 0.75 + update_after_step: 0 +exp_name: + value: default +horizon: + value: 1 +keypoint_visible_rate: + value: 1 +llm: + value: + causal_lm_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM + checkpoint: data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/17.23.30_HuggingFaceTB/SmolLM2-135M-Instruct + llm_mode: ete-finetuned + lora_config: + bias: none + lora_alpha: 64 + lora_dropout: 0.05 + r: 32 + task_type: CAUSAL_LM + max_length: 100 + model_name: SmolLM2-135M-Instruct + name: HuggingFaceTB/SmolLM2-135M-Instruct + prompter: + _target_: llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter + use_joint_mlp_projector: true + use_joint_mlp_projector: true + use_quantization: false +llm_do_sample: + value: false +llm_orig_expert_feedback: + value: true +logging: + value: + group: null + id: null + mode: online + name: 2025.12.20-17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 + project: maze2d-medium-v0-training + resume: true + tags: + - train_llm_diffusion_unet_lowdim + - maze2d-medium-v0 + - default +model_name: + value: HuggingFaceTB/SmolLM2-135M-Instruct +multi_run: + value: + run_dir: data/outputs/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 + wandb_name_base: 2025.12.20-17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 +n_action_steps: + value: 1 +n_latency_steps: + value: 0 +n_obs_steps: + value: 1 +name: + value: train_llm_diffusion_unet_lowdim +obs_as_global_cond: + value: true +obs_as_local_cond: + value: false +obs_dim: + value: 6 +optimizer: + value: + _target_: torch.optim.AdamW + betas: + - 0.95 + - 0.999 + eps: 1e-08 + lr: 0.0001 + weight_decay: 1e-06 +output_dir: + value: /workspace/LLM-BC/data/outputs/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 +past_action_visible: + value: false +policy: + value: + _target_: llmbc.policy.llm_diffusion_unet_lowdim_policy.LLMDiffusionUnetLowdimPolicy + action_dim: 2 + horizon: 1 + llm_discriminator: + _target_: llmbc.discriminator.llm_ce_discriminator.LLMCEDiscriminator + llm_translator: + _target_: llmbc.translator.llm_translator.LLMTranslator + action_dim: 2 + cfg: + causal_lm_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM + checkpoint: data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/17.23.30_HuggingFaceTB/SmolLM2-135M-Instruct + llm_mode: ete-finetuned + lora_config: + bias: none + lora_alpha: 64 + lora_dropout: 0.05 + r: 32 + task_type: CAUSAL_LM + max_length: 100 + model_name: SmolLM2-135M-Instruct + name: HuggingFaceTB/SmolLM2-135M-Instruct + prompter: + _target_: llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter + use_joint_mlp_projector: true + use_joint_mlp_projector: true + use_quantization: false + horizon: 1 + n_action_steps: 1 + n_obs_steps: 1 + obs_dim: 6 + task_id: maze2d-medium-v0 + loss_dp_weight: 1 + loss_llm_weight: 0.0001 + model: + _target_: llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D + cond_predict_scale: true + diffusion_step_embed_dim: 256 + down_dims: + - 256 + - 512 + - 1024 + global_cond_dim: 6 + input_dim: 2 + kernel_size: 5 + local_cond_dim: null + n_groups: 8 + n_action_steps: 1 + n_obs_steps: 1 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + beta_start: 0.0001 + clip_sample: true + num_train_timesteps: 100 + prediction_type: epsilon + variance_type: fixed_small + normalize_llm_loss: true + num_inference_steps: 100 + oa_step_convention: true + obs_as_global_cond: true + obs_as_local_cond: false + obs_dim: 6 + pred_action_steps_only: false + reweight_llm_loss: true +pred_action_steps_only: + value: false +task: + value: + action_dim: 2 + dataset: + _target_: llmbc.dataset.pointmaze_lowdim_dataset.PointmazeLowdimDataset + data_path: datasets/maze2d-medium-v0.pt + data_path2: datasets/maze2d-medium-v0.pt + dummy_normalizer: false + horizon: 1 + obs_eef_target: true + pad_after: 0 + pad_before: 0 + use_manual_normalizer: false + val_ratio: 0.02 + env_runner: + _target_: llmbc.env_runner.pointmaze_lowdim_runner.PointmazeLowdimRunner + discount: 0.99 + env_name: llf-pointmaze-maze2d-medium-v0 + feedback_type: + - hp + - hn + - fp + instruction_type: b + max_steps: 250 + n_action_steps: 1 + n_envs: 10 + n_obs_steps: 1 + n_test: 50 + n_train: 10 + visual: false + instructor: + _target_: llmbc.translator.instructor.pointmaze_instructor.maze2d_medium_v0_instructor.Maze2dMediumV0Instructor + name: maze2d-medium-v0 + obs_dim: 6 +task_name: + value: maze2d-medium-v0 +training: + value: + checkpoint_every: 5 + debug: false + device: cuda:0 + gradient_accumulate_every: 16 + lr_scheduler: cosine + lr_warmup_steps: 500 + max_train_steps: null + max_val_steps: null + num_epochs: 1001 + resume: true + rollout_every: 5 + sample_every: 5 + seed: 45 + tqdm_interval_sec: 1 + use_ema: true + val_every: 1 +val_dataloader: + value: + batch_size: 16 + num_workers: 0 + persistent_workers: false + pin_memory: false + shuffle: false diff --git a/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172356-7wg8nalk/files/output.log b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172356-7wg8nalk/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..4bb0e3d1cfcc585d2842c15c7fa23678833553d6 --- /dev/null +++ b/2025.12.20/17.23.30_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172356-7wg8nalk/files/output.log @@ -0,0 +1,5 @@ +/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/gym/envs/registration.py:505: UserWarning: WARN: The environment maze2d-medium-v0 is out of date. You should consider upgrading to version `v1` with the environment ID `maze2d-medium-v1`. + logger.warn( +Eval PointmazeLowdimRunner 1/6: 0%| | 0/250 [00:0035.186.228.49:443: read: connection reset by peer"} +{"time":"2025-12-22T05:11:03.152954421Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T05:11:35.431688301Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T05:11:49.818008572Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/9iiqcyau/file_stream\": read tcp 192.168.19.170:51356->35.186.228.49:443: read: connection reset by peer"} +{"time":"2025-12-22T05:12:09.779013938Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T05:22:09.972523231Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/9iiqcyau/file_stream\": read tcp 192.168.19.170:47146->35.186.228.49:443: read: connection reset by peer"} +{"time":"2025-12-22T07:24:33.307340715Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/9iiqcyau/file_stream\": unexpected EOF"} +{"time":"2025-12-22T07:24:48.215047471Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:32:33.224713826Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded"} +{"time":"2025-12-22T07:32:38.423809311Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/9iiqcyau/file_stream\": read tcp 192.168.19.170:41812->35.186.228.49:443: read: connection reset by peer"} +{"time":"2025-12-22T07:33:05.503159751Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:35:03.232107635Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:35:35.400877181Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-27T20:51:59.049351943Z","level":"INFO","msg":"stream: closing","id":"9iiqcyau"} +{"time":"2025-12-27T20:51:59.049389989Z","level":"INFO","msg":"Stopping system monitor"} +{"time":"2025-12-27T20:51:59.056495254Z","level":"INFO","msg":"Stopped system monitor"} +{"time":"2025-12-27T20:52:00.052842236Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"} +{"time":"2025-12-27T20:52:00.538985905Z","level":"INFO","msg":"handler: closed","stream_id":{"value":"9iiqcyau"}} +{"time":"2025-12-27T20:52:00.539009618Z","level":"INFO","msg":"writer: Close: closed","stream_id":{"value":"9iiqcyau"}} +{"time":"2025-12-27T20:52:00.539026172Z","level":"INFO","msg":"sender: closed","stream_id":"9iiqcyau"} +{"time":"2025-12-27T20:52:00.539170308Z","level":"INFO","msg":"stream: closed","id":"9iiqcyau"} diff --git a/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug.log b/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..78f43174b903d2e36ce21ec1c6723c68ebebb981 --- /dev/null +++ b/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/debug.log @@ -0,0 +1,27 @@ +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_setup.py:_flush():79] Current SDK version is 0.18.6 +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_setup.py:_flush():79] Configure stats pid to 14963 +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_setup.py:_flush():79] Loading settings from /root/.config/wandb/settings +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_setup.py:_flush():79] Loading settings from /workspace/LLM-BC/wandb/settings +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_setup.py:_flush():79] Loading settings from environment variables: {} +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_setup.py:_flush():79] Applying setup settings: {'mode': 'online', '_disable_service': None} +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_setup.py:_flush():79] Inferring run settings from compute environment: {'program_relpath': 'train.py', 'program_abspath': '/workspace/LLM-BC/train.py', 'program': '/workspace/LLM-BC/./train.py'} +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_setup.py:_flush():79] Applying login settings: {} +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_init.py:_log_setup():533] Logging user logs to /workspace/LLM-BC/data/outputs/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/logs/debug.log +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_init.py:_log_setup():534] Logging internal logs to /workspace/LLM-BC/data/outputs/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/logs/debug-internal.log +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_init.py:init():619] calling init triggers +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_init.py:init():626] wandb.init called with sweep_config: {} +config: {'name': 'train_llm_diffusion_unet_lowdim', '_target_': 'llmbc.workspace.train_llm_diffusion_unet_lowdim_workspace.TrainLLMDiffusionUnetLowdimWorkspace', 'obs_dim': 6, 'action_dim': 2, 'task_name': 'maze2d-medium-v0', 'exp_name': 'default', 'model_name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'horizon': 1, 'n_obs_steps': 1, 'n_action_steps': 1, 'n_latency_steps': 0, 'past_action_visible': False, 'keypoint_visible_rate': 1.0, 'obs_as_local_cond': False, 'obs_as_global_cond': True, 'pred_action_steps_only': False, 'llm_orig_expert_feedback': True, 'llm_do_sample': False, 'policy': {'_target_': 'llmbc.policy.llm_diffusion_unet_lowdim_policy.LLMDiffusionUnetLowdimPolicy', 'model': {'_target_': 'llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D', 'input_dim': 2, 'local_cond_dim': None, 'global_cond_dim': 6, 'diffusion_step_embed_dim': 256, 'down_dims': [256, 512, 1024], 'kernel_size': 5, 'n_groups': 8, 'cond_predict_scale': True}, 'noise_scheduler': {'_target_': 'diffusers.schedulers.scheduling_ddpm.DDPMScheduler', 'num_train_timesteps': 100, 'beta_start': 0.0001, 'beta_end': 0.02, 'beta_schedule': 'squaredcos_cap_v2', 'variance_type': 'fixed_small', 'clip_sample': True, 'prediction_type': 'epsilon'}, 'horizon': 1, 'obs_dim': 6, 'action_dim': 2, 'n_action_steps': 1, 'n_obs_steps': 1, 'num_inference_steps': 100, 'obs_as_local_cond': False, 'obs_as_global_cond': True, 'pred_action_steps_only': False, 'oa_step_convention': True, 'llm_discriminator': {'_target_': 'llmbc.discriminator.llm_ce_discriminator.LLMCEDiscriminator', 'task_id': 'maze2d-medium-v0', 'llm_translator': {'_target_': 'llmbc.translator.llm_translator.LLMTranslator', 'cfg': {'name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'model_name': 'SmolLM2-135M-Instruct', 'config_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig', 'causal_lm_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM', 'use_quantization': False, 'use_joint_mlp_projector': True, 'llm_mode': 'ete-finetuned', 'finetune_mode': 'orig', 'checkpoint': 'data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850', 'max_length': 100, 'lora_config': {'r': 32, 'lora_alpha': 64, 'lora_dropout': 0.05, 'bias': 'none', 'task_type': 'CAUSAL_LM'}, 'prompter': {'_target_': 'llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter', 'use_joint_mlp_projector': True}, 'hydra': {'job': {'override_dirname': 'HuggingFaceTB/SmolLM2-135M-Instruct'}, 'run': {'dir': 'data/outputs/2025.12.20/17.23.38_HuggingFaceTB/SmolLM2-135M-Instruct'}}}, 'obs_dim': 6, 'action_dim': 2, 'horizon': 1, 'n_obs_steps': 1, 'n_action_steps': 1}}, 'loss_dp_weight': 1.0, 'loss_llm_weight': 0.0001, 'normalize_llm_loss': True, 'reweight_llm_loss': True}, 'ema': {'_target_': 'llmbc.model.diffusion.ema_model.EMAModel', 'update_after_step': 0, 'inv_gamma': 1.0, 'power': 0.75, 'min_value': 0.0, 'max_value': 0.9999}, 'dataloader': {'batch_size': 16, 'num_workers': 0, 'shuffle': True, 'pin_memory': False, 'persistent_workers': False}, 'val_dataloader': {'batch_size': 16, 'num_workers': 0, 'shuffle': False, 'pin_memory': False, 'persistent_workers': False}, 'optimizer': {'_target_': 'torch.optim.AdamW', 'lr': 0.0001, 'betas': [0.95, 0.999], 'eps': 1e-08, 'weight_decay': 1e-06}, 'training': {'device': 'cuda:0', 'seed': 46, 'debug': False, 'resume': True, 'lr_scheduler': 'cosine', 'lr_warmup_steps': 500, 'num_epochs': 1001, 'gradient_accumulate_every': 16, 'use_ema': True, 'rollout_every': 5, 'checkpoint_every': 5, 'val_every': 1, 'sample_every': 5, 'max_train_steps': None, 'max_val_steps': None, 'tqdm_interval_sec': 1.0}, 'logging': {'project': 'maze2d-medium-v0-training', 'resume': True, 'mode': 'online', 'name': '2025.12.20-17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0', 'tags': ['train_llm_diffusion_unet_lowdim', 'maze2d-medium-v0', 'default'], 'id': None, 'group': None}, 'checkpoint': {'topk': {'monitor_key': 'test_success_rate', 'mode': 'max', 'k': 5, 'format_str': 'epoch={epoch:04d}-test_success_rate={test_success_rate:.3f}.ckpt'}, 'save_last_ckpt': True, 'save_last_snapshot': False}, 'multi_run': {'run_dir': 'data/outputs/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0', 'wandb_name_base': '2025.12.20-17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0'}, 'task': {'name': 'maze2d-medium-v0', 'obs_dim': 6, 'action_dim': 2, 'env_runner': {'_target_': 'llmbc.env_runner.pointmaze_lowdim_runner.PointmazeLowdimRunner', 'env_name': 'llf-pointmaze-maze2d-medium-v0', 'n_train': 10, 'n_test': 50, 'n_envs': 10, 'max_steps': 250, 'n_obs_steps': 1, 'n_action_steps': 1, 'instruction_type': 'b', 'feedback_type': ['hp', 'hn', 'fp'], 'visual': False, 'discount': 0.99}, 'dataset': {'_target_': 'llmbc.dataset.pointmaze_lowdim_dataset.PointmazeLowdimDataset', 'data_path': 'datasets/maze2d-medium-v0.pt', 'data_path2': 'datasets/maze2d-medium-v0.pt', 'horizon': 1, 'pad_before': 0, 'pad_after': 0, 'obs_eef_target': True, 'use_manual_normalizer': False, 'val_ratio': 0.02, 'dummy_normalizer': False}, 'instructor': {'_target_': 'llmbc.translator.instructor.pointmaze_instructor.maze2d_medium_v0_instructor.Maze2dMediumV0Instructor'}}, 'llm': {'name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'model_name': 'SmolLM2-135M-Instruct', 'config_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig', 'causal_lm_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM', 'use_quantization': False, 'use_joint_mlp_projector': True, 'llm_mode': 'ete-finetuned', 'finetune_mode': 'orig', 'checkpoint': 'data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850', 'max_length': 100, 'lora_config': {'r': 32, 'lora_alpha': 64, 'lora_dropout': 0.05, 'bias': 'none', 'task_type': 'CAUSAL_LM'}, 'prompter': {'_target_': 'llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter', 'use_joint_mlp_projector': True}, 'hydra': {'job': {'override_dirname': 'HuggingFaceTB/SmolLM2-135M-Instruct'}, 'run': {'dir': 'data/outputs/2025.12.20/17.23.38_HuggingFaceTB/SmolLM2-135M-Instruct'}}}} +2025-12-20 17:24:00,439 INFO MainThread:14963 [wandb_init.py:init():669] starting backend +2025-12-20 17:24:00,439 INFO MainThread:14963 [wandb_init.py:init():673] sending inform_init request +2025-12-20 17:24:00,440 INFO MainThread:14963 [backend.py:_multiprocessing_setup():104] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-12-20 17:24:00,440 INFO MainThread:14963 [wandb_init.py:init():686] backend started and connected +2025-12-20 17:24:00,447 INFO MainThread:14963 [wandb_init.py:init():781] updated telemetry +2025-12-20 17:24:00,480 INFO MainThread:14963 [wandb_init.py:init():814] communicating run to backend with 90.0 second timeout +2025-12-20 17:24:01,239 INFO MainThread:14963 [wandb_init.py:init():867] starting run threads in backend +2025-12-20 17:24:01,614 INFO MainThread:14963 [wandb_run.py:_console_start():2451] atexit reg +2025-12-20 17:24:01,614 INFO MainThread:14963 [wandb_run.py:_redirect():2299] redirect: wrap_raw +2025-12-20 17:24:01,614 INFO MainThread:14963 [wandb_run.py:_redirect():2364] Wrapping output streams. +2025-12-20 17:24:01,614 INFO MainThread:14963 [wandb_run.py:_redirect():2389] Redirects installed. +2025-12-20 17:24:01,616 INFO MainThread:14963 [wandb_init.py:init():911] run started, returning control to user process +2025-12-20 17:24:01,617 INFO MainThread:14963 [wandb_run.py:_config_callback():1389] config_cb None None {'output_dir': '/workspace/LLM-BC/data/outputs/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0'} +2025-12-27 20:51:59,049 WARNING MsgRouterThr:14963 [router.py:message_loop():75] message_loop has been closed diff --git a/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/files/config.yaml b/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..331d5d6d3f9da1ef681a2a5540028f51df2229ed --- /dev/null +++ b/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/files/config.yaml @@ -0,0 +1,304 @@ +_target_: + value: llmbc.workspace.train_llm_diffusion_unet_lowdim_workspace.TrainLLMDiffusionUnetLowdimWorkspace +_wandb: + value: + cli_version: 0.18.6 + m: [] + python_version: 3.9.25 + t: + "1": + - 1 + - 2 + - 3 + - 5 + - 11 + - 12 + - 41 + - 49 + - 50 + - 51 + - 53 + - 55 + - 71 + - 83 + - 95 + - 98 + - 100 + - 105 + "2": + - 1 + - 2 + - 3 + - 5 + - 11 + - 12 + - 41 + - 49 + - 50 + - 51 + - 53 + - 55 + - 71 + - 83 + - 95 + - 98 + - 100 + - 105 + "3": + - 13 + - 15 + - 16 + - 23 + - 55 + - 61 + "4": 3.9.25 + "5": 0.18.6 + "6": 4.47.1 + "8": + - 5 + "12": 0.18.6 + "13": linux-x86_64 +action_dim: + value: 2 +checkpoint: + value: + save_last_ckpt: true + save_last_snapshot: false + topk: + format_str: epoch={epoch:04d}-test_success_rate={test_success_rate:.3f}.ckpt + k: 5 + mode: max + monitor_key: test_success_rate +dataloader: + value: + batch_size: 16 + num_workers: 0 + persistent_workers: false + pin_memory: false + shuffle: true +ema: + value: + _target_: llmbc.model.diffusion.ema_model.EMAModel + inv_gamma: 1 + max_value: 0.9999 + min_value: 0 + power: 0.75 + update_after_step: 0 +exp_name: + value: default +horizon: + value: 1 +keypoint_visible_rate: + value: 1 +llm: + value: + causal_lm_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM + checkpoint: data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/17.23.38_HuggingFaceTB/SmolLM2-135M-Instruct + llm_mode: ete-finetuned + lora_config: + bias: none + lora_alpha: 64 + lora_dropout: 0.05 + r: 32 + task_type: CAUSAL_LM + max_length: 100 + model_name: SmolLM2-135M-Instruct + name: HuggingFaceTB/SmolLM2-135M-Instruct + prompter: + _target_: llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter + use_joint_mlp_projector: true + use_joint_mlp_projector: true + use_quantization: false +llm_do_sample: + value: false +llm_orig_expert_feedback: + value: true +logging: + value: + group: null + id: null + mode: online + name: 2025.12.20-17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 + project: maze2d-medium-v0-training + resume: true + tags: + - train_llm_diffusion_unet_lowdim + - maze2d-medium-v0 + - default +model_name: + value: HuggingFaceTB/SmolLM2-135M-Instruct +multi_run: + value: + run_dir: data/outputs/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 + wandb_name_base: 2025.12.20-17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 +n_action_steps: + value: 1 +n_latency_steps: + value: 0 +n_obs_steps: + value: 1 +name: + value: train_llm_diffusion_unet_lowdim +obs_as_global_cond: + value: true +obs_as_local_cond: + value: false +obs_dim: + value: 6 +optimizer: + value: + _target_: torch.optim.AdamW + betas: + - 0.95 + - 0.999 + eps: 1e-08 + lr: 0.0001 + weight_decay: 1e-06 +output_dir: + value: /workspace/LLM-BC/data/outputs/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0 +past_action_visible: + value: false +policy: + value: + _target_: llmbc.policy.llm_diffusion_unet_lowdim_policy.LLMDiffusionUnetLowdimPolicy + action_dim: 2 + horizon: 1 + llm_discriminator: + _target_: llmbc.discriminator.llm_ce_discriminator.LLMCEDiscriminator + llm_translator: + _target_: llmbc.translator.llm_translator.LLMTranslator + action_dim: 2 + cfg: + causal_lm_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM + checkpoint: data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/17.23.38_HuggingFaceTB/SmolLM2-135M-Instruct + llm_mode: ete-finetuned + lora_config: + bias: none + lora_alpha: 64 + lora_dropout: 0.05 + r: 32 + task_type: CAUSAL_LM + max_length: 100 + model_name: SmolLM2-135M-Instruct + name: HuggingFaceTB/SmolLM2-135M-Instruct + prompter: + _target_: llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter + use_joint_mlp_projector: true + use_joint_mlp_projector: true + use_quantization: false + horizon: 1 + n_action_steps: 1 + n_obs_steps: 1 + obs_dim: 6 + task_id: maze2d-medium-v0 + loss_dp_weight: 1 + loss_llm_weight: 0.0001 + model: + _target_: llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D + cond_predict_scale: true + diffusion_step_embed_dim: 256 + down_dims: + - 256 + - 512 + - 1024 + global_cond_dim: 6 + input_dim: 2 + kernel_size: 5 + local_cond_dim: null + n_groups: 8 + n_action_steps: 1 + n_obs_steps: 1 + noise_scheduler: + _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler + beta_end: 0.02 + beta_schedule: squaredcos_cap_v2 + beta_start: 0.0001 + clip_sample: true + num_train_timesteps: 100 + prediction_type: epsilon + variance_type: fixed_small + normalize_llm_loss: true + num_inference_steps: 100 + oa_step_convention: true + obs_as_global_cond: true + obs_as_local_cond: false + obs_dim: 6 + pred_action_steps_only: false + reweight_llm_loss: true +pred_action_steps_only: + value: false +task: + value: + action_dim: 2 + dataset: + _target_: llmbc.dataset.pointmaze_lowdim_dataset.PointmazeLowdimDataset + data_path: datasets/maze2d-medium-v0.pt + data_path2: datasets/maze2d-medium-v0.pt + dummy_normalizer: false + horizon: 1 + obs_eef_target: true + pad_after: 0 + pad_before: 0 + use_manual_normalizer: false + val_ratio: 0.02 + env_runner: + _target_: llmbc.env_runner.pointmaze_lowdim_runner.PointmazeLowdimRunner + discount: 0.99 + env_name: llf-pointmaze-maze2d-medium-v0 + feedback_type: + - hp + - hn + - fp + instruction_type: b + max_steps: 250 + n_action_steps: 1 + n_envs: 10 + n_obs_steps: 1 + n_test: 50 + n_train: 10 + visual: false + instructor: + _target_: llmbc.translator.instructor.pointmaze_instructor.maze2d_medium_v0_instructor.Maze2dMediumV0Instructor + name: maze2d-medium-v0 + obs_dim: 6 +task_name: + value: maze2d-medium-v0 +training: + value: + checkpoint_every: 5 + debug: false + device: cuda:0 + gradient_accumulate_every: 16 + lr_scheduler: cosine + lr_warmup_steps: 500 + max_train_steps: null + max_val_steps: null + num_epochs: 1001 + resume: true + rollout_every: 5 + sample_every: 5 + seed: 46 + tqdm_interval_sec: 1 + use_ema: true + val_every: 1 +val_dataloader: + value: + batch_size: 16 + num_workers: 0 + persistent_workers: false + pin_memory: false + shuffle: false diff --git a/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/files/output.log b/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..4bb0e3d1cfcc585d2842c15c7fa23678833553d6 --- /dev/null +++ b/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/files/output.log @@ -0,0 +1,5 @@ +/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/gym/envs/registration.py:505: UserWarning: WARN: The environment maze2d-medium-v0 is out of date. You should consider upgrading to version `v1` with the environment ID `maze2d-medium-v1`. + logger.warn( +Eval PointmazeLowdimRunner 1/6: 0%| | 0/250 [00:0035.186.228.49:443: read: connection reset by peer"} +{"time":"2025-12-22T05:11:03.152954421Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T05:11:35.431688301Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T05:11:49.818008572Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/9iiqcyau/file_stream\": read tcp 192.168.19.170:51356->35.186.228.49:443: read: connection reset by peer"} +{"time":"2025-12-22T05:12:09.779013938Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T05:22:09.972523231Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/9iiqcyau/file_stream\": read tcp 192.168.19.170:47146->35.186.228.49:443: read: connection reset by peer"} +{"time":"2025-12-22T07:24:33.307340715Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/9iiqcyau/file_stream\": unexpected EOF"} +{"time":"2025-12-22T07:24:48.215047471Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:32:33.224713826Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded"} +{"time":"2025-12-22T07:32:38.423809311Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/files/chyang25-national-taiwan-university/maze2d-medium-v0-training/9iiqcyau/file_stream\": read tcp 192.168.19.170:41812->35.186.228.49:443: read: connection reset by peer"} +{"time":"2025-12-22T07:33:05.503159751Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:35:03.232107635Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": net/http: request canceled (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-22T07:35:35.400877181Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": context deadline exceeded (Client.Timeout exceeded while awaiting headers)"} +{"time":"2025-12-27T20:51:59.049351943Z","level":"INFO","msg":"stream: closing","id":"9iiqcyau"} +{"time":"2025-12-27T20:51:59.049389989Z","level":"INFO","msg":"Stopping system monitor"} +{"time":"2025-12-27T20:51:59.056495254Z","level":"INFO","msg":"Stopped system monitor"} +{"time":"2025-12-27T20:52:00.052842236Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"} +{"time":"2025-12-27T20:52:00.538985905Z","level":"INFO","msg":"handler: closed","stream_id":{"value":"9iiqcyau"}} +{"time":"2025-12-27T20:52:00.539009618Z","level":"INFO","msg":"writer: Close: closed","stream_id":{"value":"9iiqcyau"}} +{"time":"2025-12-27T20:52:00.539026172Z","level":"INFO","msg":"sender: closed","stream_id":"9iiqcyau"} +{"time":"2025-12-27T20:52:00.539170308Z","level":"INFO","msg":"stream: closed","id":"9iiqcyau"} diff --git a/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/logs/debug.log b/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..78f43174b903d2e36ce21ec1c6723c68ebebb981 --- /dev/null +++ b/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/logs/debug.log @@ -0,0 +1,27 @@ +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_setup.py:_flush():79] Current SDK version is 0.18.6 +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_setup.py:_flush():79] Configure stats pid to 14963 +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_setup.py:_flush():79] Loading settings from /root/.config/wandb/settings +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_setup.py:_flush():79] Loading settings from /workspace/LLM-BC/wandb/settings +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_setup.py:_flush():79] Loading settings from environment variables: {} +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_setup.py:_flush():79] Applying setup settings: {'mode': 'online', '_disable_service': None} +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_setup.py:_flush():79] Inferring run settings from compute environment: {'program_relpath': 'train.py', 'program_abspath': '/workspace/LLM-BC/train.py', 'program': '/workspace/LLM-BC/./train.py'} +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_setup.py:_flush():79] Applying login settings: {} +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_init.py:_log_setup():533] Logging user logs to /workspace/LLM-BC/data/outputs/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/logs/debug.log +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_init.py:_log_setup():534] Logging internal logs to /workspace/LLM-BC/data/outputs/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/logs/debug-internal.log +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_init.py:init():619] calling init triggers +2025-12-20 17:24:00,438 INFO MainThread:14963 [wandb_init.py:init():626] wandb.init called with sweep_config: {} +config: {'name': 'train_llm_diffusion_unet_lowdim', '_target_': 'llmbc.workspace.train_llm_diffusion_unet_lowdim_workspace.TrainLLMDiffusionUnetLowdimWorkspace', 'obs_dim': 6, 'action_dim': 2, 'task_name': 'maze2d-medium-v0', 'exp_name': 'default', 'model_name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'horizon': 1, 'n_obs_steps': 1, 'n_action_steps': 1, 'n_latency_steps': 0, 'past_action_visible': False, 'keypoint_visible_rate': 1.0, 'obs_as_local_cond': False, 'obs_as_global_cond': True, 'pred_action_steps_only': False, 'llm_orig_expert_feedback': True, 'llm_do_sample': False, 'policy': {'_target_': 'llmbc.policy.llm_diffusion_unet_lowdim_policy.LLMDiffusionUnetLowdimPolicy', 'model': {'_target_': 'llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D', 'input_dim': 2, 'local_cond_dim': None, 'global_cond_dim': 6, 'diffusion_step_embed_dim': 256, 'down_dims': [256, 512, 1024], 'kernel_size': 5, 'n_groups': 8, 'cond_predict_scale': True}, 'noise_scheduler': {'_target_': 'diffusers.schedulers.scheduling_ddpm.DDPMScheduler', 'num_train_timesteps': 100, 'beta_start': 0.0001, 'beta_end': 0.02, 'beta_schedule': 'squaredcos_cap_v2', 'variance_type': 'fixed_small', 'clip_sample': True, 'prediction_type': 'epsilon'}, 'horizon': 1, 'obs_dim': 6, 'action_dim': 2, 'n_action_steps': 1, 'n_obs_steps': 1, 'num_inference_steps': 100, 'obs_as_local_cond': False, 'obs_as_global_cond': True, 'pred_action_steps_only': False, 'oa_step_convention': True, 'llm_discriminator': {'_target_': 'llmbc.discriminator.llm_ce_discriminator.LLMCEDiscriminator', 'task_id': 'maze2d-medium-v0', 'llm_translator': {'_target_': 'llmbc.translator.llm_translator.LLMTranslator', 'cfg': {'name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'model_name': 'SmolLM2-135M-Instruct', 'config_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig', 'causal_lm_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM', 'use_quantization': False, 'use_joint_mlp_projector': True, 'llm_mode': 'ete-finetuned', 'finetune_mode': 'orig', 'checkpoint': 'data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850', 'max_length': 100, 'lora_config': {'r': 32, 'lora_alpha': 64, 'lora_dropout': 0.05, 'bias': 'none', 'task_type': 'CAUSAL_LM'}, 'prompter': {'_target_': 'llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter', 'use_joint_mlp_projector': True}, 'hydra': {'job': {'override_dirname': 'HuggingFaceTB/SmolLM2-135M-Instruct'}, 'run': {'dir': 'data/outputs/2025.12.20/17.23.38_HuggingFaceTB/SmolLM2-135M-Instruct'}}}, 'obs_dim': 6, 'action_dim': 2, 'horizon': 1, 'n_obs_steps': 1, 'n_action_steps': 1}}, 'loss_dp_weight': 1.0, 'loss_llm_weight': 0.0001, 'normalize_llm_loss': True, 'reweight_llm_loss': True}, 'ema': {'_target_': 'llmbc.model.diffusion.ema_model.EMAModel', 'update_after_step': 0, 'inv_gamma': 1.0, 'power': 0.75, 'min_value': 0.0, 'max_value': 0.9999}, 'dataloader': {'batch_size': 16, 'num_workers': 0, 'shuffle': True, 'pin_memory': False, 'persistent_workers': False}, 'val_dataloader': {'batch_size': 16, 'num_workers': 0, 'shuffle': False, 'pin_memory': False, 'persistent_workers': False}, 'optimizer': {'_target_': 'torch.optim.AdamW', 'lr': 0.0001, 'betas': [0.95, 0.999], 'eps': 1e-08, 'weight_decay': 1e-06}, 'training': {'device': 'cuda:0', 'seed': 46, 'debug': False, 'resume': True, 'lr_scheduler': 'cosine', 'lr_warmup_steps': 500, 'num_epochs': 1001, 'gradient_accumulate_every': 16, 'use_ema': True, 'rollout_every': 5, 'checkpoint_every': 5, 'val_every': 1, 'sample_every': 5, 'max_train_steps': None, 'max_val_steps': None, 'tqdm_interval_sec': 1.0}, 'logging': {'project': 'maze2d-medium-v0-training', 'resume': True, 'mode': 'online', 'name': '2025.12.20-17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0', 'tags': ['train_llm_diffusion_unet_lowdim', 'maze2d-medium-v0', 'default'], 'id': None, 'group': None}, 'checkpoint': {'topk': {'monitor_key': 'test_success_rate', 'mode': 'max', 'k': 5, 'format_str': 'epoch={epoch:04d}-test_success_rate={test_success_rate:.3f}.ckpt'}, 'save_last_ckpt': True, 'save_last_snapshot': False}, 'multi_run': {'run_dir': 'data/outputs/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0', 'wandb_name_base': '2025.12.20-17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0'}, 'task': {'name': 'maze2d-medium-v0', 'obs_dim': 6, 'action_dim': 2, 'env_runner': {'_target_': 'llmbc.env_runner.pointmaze_lowdim_runner.PointmazeLowdimRunner', 'env_name': 'llf-pointmaze-maze2d-medium-v0', 'n_train': 10, 'n_test': 50, 'n_envs': 10, 'max_steps': 250, 'n_obs_steps': 1, 'n_action_steps': 1, 'instruction_type': 'b', 'feedback_type': ['hp', 'hn', 'fp'], 'visual': False, 'discount': 0.99}, 'dataset': {'_target_': 'llmbc.dataset.pointmaze_lowdim_dataset.PointmazeLowdimDataset', 'data_path': 'datasets/maze2d-medium-v0.pt', 'data_path2': 'datasets/maze2d-medium-v0.pt', 'horizon': 1, 'pad_before': 0, 'pad_after': 0, 'obs_eef_target': True, 'use_manual_normalizer': False, 'val_ratio': 0.02, 'dummy_normalizer': False}, 'instructor': {'_target_': 'llmbc.translator.instructor.pointmaze_instructor.maze2d_medium_v0_instructor.Maze2dMediumV0Instructor'}}, 'llm': {'name': 'HuggingFaceTB/SmolLM2-135M-Instruct', 'model_name': 'SmolLM2-135M-Instruct', 'config_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig', 'causal_lm_target': 'llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM', 'use_quantization': False, 'use_joint_mlp_projector': True, 'llm_mode': 'ete-finetuned', 'finetune_mode': 'orig', 'checkpoint': 'data/outputs/2025.11.04/14.51.54_train_llm_lowdim_maze2d-medium-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-maze2d-medium-v0/checkpoint-11850', 'max_length': 100, 'lora_config': {'r': 32, 'lora_alpha': 64, 'lora_dropout': 0.05, 'bias': 'none', 'task_type': 'CAUSAL_LM'}, 'prompter': {'_target_': 'llmbc.translator.prompter.smollm2_prompter.SmolLM2Prompter', 'use_joint_mlp_projector': True}, 'hydra': {'job': {'override_dirname': 'HuggingFaceTB/SmolLM2-135M-Instruct'}, 'run': {'dir': 'data/outputs/2025.12.20/17.23.38_HuggingFaceTB/SmolLM2-135M-Instruct'}}}} +2025-12-20 17:24:00,439 INFO MainThread:14963 [wandb_init.py:init():669] starting backend +2025-12-20 17:24:00,439 INFO MainThread:14963 [wandb_init.py:init():673] sending inform_init request +2025-12-20 17:24:00,440 INFO MainThread:14963 [backend.py:_multiprocessing_setup():104] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-12-20 17:24:00,440 INFO MainThread:14963 [wandb_init.py:init():686] backend started and connected +2025-12-20 17:24:00,447 INFO MainThread:14963 [wandb_init.py:init():781] updated telemetry +2025-12-20 17:24:00,480 INFO MainThread:14963 [wandb_init.py:init():814] communicating run to backend with 90.0 second timeout +2025-12-20 17:24:01,239 INFO MainThread:14963 [wandb_init.py:init():867] starting run threads in backend +2025-12-20 17:24:01,614 INFO MainThread:14963 [wandb_run.py:_console_start():2451] atexit reg +2025-12-20 17:24:01,614 INFO MainThread:14963 [wandb_run.py:_redirect():2299] redirect: wrap_raw +2025-12-20 17:24:01,614 INFO MainThread:14963 [wandb_run.py:_redirect():2364] Wrapping output streams. +2025-12-20 17:24:01,614 INFO MainThread:14963 [wandb_run.py:_redirect():2389] Redirects installed. +2025-12-20 17:24:01,616 INFO MainThread:14963 [wandb_init.py:init():911] run started, returning control to user process +2025-12-20 17:24:01,617 INFO MainThread:14963 [wandb_run.py:_config_callback():1389] config_cb None None {'output_dir': '/workspace/LLM-BC/data/outputs/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0'} +2025-12-27 20:51:59,049 WARNING MsgRouterThr:14963 [router.py:message_loop():75] message_loop has been closed diff --git a/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/run-9iiqcyau.wandb b/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/run-9iiqcyau.wandb new file mode 100644 index 0000000000000000000000000000000000000000..3b2a5730a1a4e2b7c63128d75075f5cea65ee730 --- /dev/null +++ b/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/run-20251220_172400-9iiqcyau/run-9iiqcyau.wandb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96183150427b0541c15df6dbdbf04bd2723a232ebfae65b3ca1d492737680197 +size 1566869103 diff --git a/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/wandb-resume.json b/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/wandb-resume.json new file mode 100644 index 0000000000000000000000000000000000000000..2a668befc6594fd7bc55a4077e80adb854564823 --- /dev/null +++ b/2025.12.20/17.23.38_train_llm_diffusion_unet_lowdim_maze2d-medium-v0/wandb/wandb-resume.json @@ -0,0 +1 @@ +{"run_id": "9iiqcyau"} \ No newline at end of file