diff --git a/.gitattributes b/.gitattributes index 759cec7289e4e41ec97e57aa1e2e915874e774e3..31f30c15c389bee0ebe31118e1592a08068dd343 100644 --- a/.gitattributes +++ b/.gitattributes @@ -57,3 +57,12 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text 2025.12.18/04.43.54_train_llmbc_lowdim_box-close-v2/wandb/run-20251218_044410-v5c3a4ag/run-v5c3a4ag.wandb filter=lfs diff=lfs merge=lfs -text 2025.12.18/04.43.59_train_llmbc_lowdim_box-close-v2/logs.json.txt filter=lfs diff=lfs merge=lfs -text 2025.12.18/04.43.59_train_llmbc_lowdim_box-close-v2/wandb/run-20251218_044411-dwnu9dgu/run-dwnu9dgu.wandb filter=lfs diff=lfs merge=lfs -text +2025.12.20/07.24.13_train_llm_diffusion_unet_lowdim_parking-v0/wandb/run-20251220_072425-dwqvyi2n/run-dwqvyi2n.wandb filter=lfs diff=lfs merge=lfs -text +2025.12.20/07.31.07_train_llm_diffusion_unet_lowdim_parking-v0/logs.json.txt filter=lfs diff=lfs merge=lfs -text 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a/2025.12.20/07.24.13_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/config.yaml b/2025.12.20/07.24.13_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3e85301528b11b30ba7645629e461f67705469a7 --- /dev/null +++ b/2025.12.20/07.24.13_train_llm_diffusion_unet_lowdim_parking-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: 0.001 + 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: parking-v0 + obs_dim: 18 + action_dim: 2 + env_runner: + _target_: llmbc.env_runner.highway_lowdim_runner.HighwayLowdimRunner + env_name: llf-highway-parking-v0 + n_train: 10 + n_test: 50 + n_envs: 10 + max_steps: 80 + 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.highway_lowdim_dataset.HighwayLowdimDataset + data_path: datasets/parking-v0.pt + data_path2: datasets/parking-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.highway_instructor.parking_v0_instructor.ParkingV0Instructor +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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700 + 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/2025.12.20/07.24.13_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/hydra.yaml 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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-3 + - training.seed=43 + job: + name: train + chdir: null + override_dirname: policy.loss_llm_weight=1.0e-3,training.seed=43 + id: ??? + num: ??? + config_name: llmdp_parking-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: /root/workspace/LLM-BC + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: 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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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/07.24.13_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: 2025.12.20-07.24.13_train_llm_diffusion_unet_lowdim_parking-v0 + project: parking-v0-training + resume: true + tags: + - train_llm_diffusion_unet_lowdim + - parking-v0 + - default +model_name: + value: HuggingFaceTB/SmolLM2-135M-Instruct +multi_run: + value: + run_dir: data/outputs/2025.12.20/07.24.13_train_llm_diffusion_unet_lowdim_parking-v0 + wandb_name_base: 2025.12.20-07.24.13_train_llm_diffusion_unet_lowdim_parking-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: 18 +optimizer: + value: + _target_: torch.optim.AdamW + betas: + - 0.95 + - 0.999 + eps: 1e-08 + lr: 0.0001 + weight_decay: 1e-06 +output_dir: + value: /root/workspace/LLM-BC/data/outputs/2025.12.20/07.24.13_train_llm_diffusion_unet_lowdim_parking-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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/07.24.13_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: 18 + task_id: parking-v0 + loss_dp_weight: 1 + loss_llm_weight: 0.001 + 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: 18 + 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: 18 + pred_action_steps_only: false + reweight_llm_loss: true +pred_action_steps_only: + value: false +task: + value: + action_dim: 2 + dataset: + _target_: llmbc.dataset.highway_lowdim_dataset.HighwayLowdimDataset + data_path: datasets/parking-v0.pt + data_path2: datasets/parking-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.highway_lowdim_runner.HighwayLowdimRunner + discount: 0.99 + env_name: llf-highway-parking-v0 + feedback_type: + - hp + - hn + - fp + instruction_type: b + max_steps: 80 + n_action_steps: 1 + n_envs: 10 + n_obs_steps: 1 + n_test: 50 + n_train: 10 + visual: false + instructor: + _target_: llmbc.translator.instructor.highway_instructor.parking_v0_instructor.ParkingV0Instructor + name: parking-v0 + obs_dim: 18 +task_name: + value: parking-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/2025.12.20/07.24.13_train_llm_diffusion_unet_lowdim_parking-v0/wandb/run-20251220_072425-dwqvyi2n/files/output.log b/2025.12.20/07.24.13_train_llm_diffusion_unet_lowdim_parking-v0/wandb/run-20251220_072425-dwqvyi2n/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..f79197b3af03a05a5cdbcad3c4a4d4388dfd07f4 --- /dev/null +++ b/2025.12.20/07.24.13_train_llm_diffusion_unet_lowdim_parking-v0/wandb/run-20251220_072425-dwqvyi2n/files/output.log @@ -0,0 +1,59 @@ +/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/stable_baselines3/common/save_util.py:166: UserWarning: Could not deserialize object lr_schedule. Consider using `custom_objects` argument to replace this object. +Exception: Can't get attribute 'FloatSchedule' on + warnings.warn( +Wrapping the env with a `Monitor` wrapper +Wrapping the env in a DummyVecEnv. +Eval HighwayLowdimRunner 1/6: 0%| | 0/80 [00:00 + main() + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/hydra/main.py", line 90, in decorated_main + _run_hydra( + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/hydra/_internal/utils.py", line 389, in _run_hydra + _run_app( + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/hydra/_internal/utils.py", line 452, in _run_app + run_and_report( + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/hydra/_internal/utils.py", line 213, in run_and_report + return func() + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/hydra/_internal/utils.py", line 453, in + lambda: hydra.run( + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/hydra/_internal/hydra.py", line 119, in run + ret = run_job( + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/hydra/core/utils.py", line 186, in run_job + ret.return_value = task_function(task_cfg) + File "/root/workspace/LLM-BC/./train.py", line 32, in main + workspace.run() + File "/root/workspace/LLM-BC/llmbc/workspace/train_llm_diffusion_unet_lowdim_workspace.py", line 201, in run + loss.backward() + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/torch/_tensor.py", line 522, in backward + torch.autograd.backward( + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/torch/autograd/__init__.py", line 266, in backward + Variable._execution_engine.run_backward( # Calls into the C++ engine to run the backward pass +KeyboardInterrupt +Traceback (most recent call last): + File "/root/workspace/LLM-BC/./train.py", line 35, in + main() + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/hydra/main.py", line 90, in decorated_main + _run_hydra( + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/hydra/_internal/utils.py", line 389, in _run_hydra + _run_app( + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/hydra/_internal/utils.py", line 452, in _run_app + run_and_report( + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/hydra/_internal/utils.py", line 213, in run_and_report + return func() + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/hydra/_internal/utils.py", line 453, in + lambda: hydra.run( + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/hydra/_internal/hydra.py", line 119, in run + ret = run_job( + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/hydra/core/utils.py", line 186, in run_job + ret.return_value = task_function(task_cfg) + File "/root/workspace/LLM-BC/./train.py", line 32, in main + workspace.run() + File "/root/workspace/LLM-BC/llmbc/workspace/train_llm_diffusion_unet_lowdim_workspace.py", line 201, in run + loss.backward() + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/torch/_tensor.py", line 522, in backward + torch.autograd.backward( + File "/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/torch/autograd/__init__.py", line 266, in backward + Variable._execution_engine.run_backward( # Calls into the C++ engine to run the backward pass +KeyboardInterrupt diff --git a/2025.12.20/07.24.13_train_llm_diffusion_unet_lowdim_parking-v0/wandb/run-20251220_072425-dwqvyi2n/files/requirements.txt b/2025.12.20/07.24.13_train_llm_diffusion_unet_lowdim_parking-v0/wandb/run-20251220_072425-dwqvyi2n/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..27dc0a45e9e927d4e7f77db7a0ac356897139a17 --- /dev/null +++ b/2025.12.20/07.24.13_train_llm_diffusion_unet_lowdim_parking-v0/wandb/run-20251220_072425-dwqvyi2n/files/requirements.txt @@ -0,0 +1,861 @@ +aiohappyeyeballs==2.6.1 +antlr4-python3-runtime==4.9.3 +asciitree==0.3.3 +async-timeout==5.0.1 +attrs==25.4.0 +certifi==2025.10.5 +charset-normalizer==3.4.4 +colorama==0.4.6 +dill==0.3.8 +docstring-parser==0.16 +eval_type_backport==0.2.2 +fasteners==0.20 +filelock==3.17.0 +frozenlist==1.8.0 +fsspec==2024.3.1 +gmpy2==2.2.1 +hf-xet==1.1.8 +idna==3.11 +llvmlite==0.39.1 +MarkupSafe==3.0.2 +mdurl==0.1.2 +mkl-service==2.4.0 +mpmath==1.3.0 +msgpack==1.1.1 +networkx==3.2.1 +packaging==25.0 +propcache==0.3.1 +psutil==7.0.0 +pycparser==2.23 +Pygments==2.19.1 +PyOpenGL==3.1.10 +PySocks==1.7.1 +tzdata==2025.2 +xxhash==3.5.0 +pytz==2025.2 +PyYAML==6.0.2 +regex==2025.9.1 +safetensors==0.5.3 +setuptools==80.9.0 +shtab==1.7.2 +six==1.17.0 +tqdm==4.67.1 +tensorflow==2.15.1 +uvloop==0.22.1 +wheel==0.45.1 +zipp==3.21.0 +requests-oauthlib==2.0.0 +Markdown==3.9 +google-auth-oauthlib==1.2.3 +tensorboard==2.15.2 +Jinja2==3.1.6 +markdown-it-py==2.2.0 +multiprocess==0.70.15 +numpy==1.23.5 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${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: parking-v0 + obs_dim: 18 + action_dim: 2 + env_runner: + _target_: llmbc.env_runner.highway_lowdim_runner.HighwayLowdimRunner + env_name: llf-highway-parking-v0 + n_train: 10 + n_test: 50 + n_envs: 10 + max_steps: 80 + 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.highway_lowdim_dataset.HighwayLowdimDataset + data_path: datasets/parking-v0.pt + data_path2: datasets/parking-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.highway_instructor.parking_v0_instructor.ParkingV0Instructor +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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700 + 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/2025.12.20/07.31.07_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/hydra.yaml b/2025.12.20/07.31.07_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..41102ff10e52657d81b59048b9f2c3fb0d8e0506 --- /dev/null +++ b/2025.12.20/07.31.07_train_llm_diffusion_unet_lowdim_parking-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_parking-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: /root/workspace/LLM-BC + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /root/workspace/LLM-BC/config/main_table + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /root/workspace/LLM-BC/data/outputs/2025.12.20/07.31.07_train_llm_diffusion_unet_lowdim_parking-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/2025.12.20/07.31.07_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/overrides.yaml b/2025.12.20/07.31.07_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/overrides.yaml new file mode 100644 index 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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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/07.31.07_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: 2025.12.20-07.31.07_train_llm_diffusion_unet_lowdim_parking-v0 + project: parking-v0-training + resume: true + tags: + - train_llm_diffusion_unet_lowdim + - parking-v0 + - default +model_name: + value: HuggingFaceTB/SmolLM2-135M-Instruct +multi_run: + value: + run_dir: data/outputs/2025.12.20/07.31.07_train_llm_diffusion_unet_lowdim_parking-v0 + wandb_name_base: 2025.12.20-07.31.07_train_llm_diffusion_unet_lowdim_parking-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: 18 +optimizer: + value: + _target_: torch.optim.AdamW + betas: + - 0.95 + - 0.999 + eps: 1e-08 + lr: 0.0001 + weight_decay: 1e-06 +output_dir: + value: /root/workspace/LLM-BC/data/outputs/2025.12.20/07.31.07_train_llm_diffusion_unet_lowdim_parking-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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/07.31.07_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: 18 + task_id: parking-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: 18 + 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: 18 + pred_action_steps_only: false + reweight_llm_loss: true +pred_action_steps_only: + value: false +task: + value: + action_dim: 2 + dataset: + _target_: llmbc.dataset.highway_lowdim_dataset.HighwayLowdimDataset + data_path: datasets/parking-v0.pt + data_path2: datasets/parking-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.highway_lowdim_runner.HighwayLowdimRunner + discount: 0.99 + env_name: llf-highway-parking-v0 + feedback_type: + - hp + - hn + - fp + instruction_type: b + max_steps: 80 + n_action_steps: 1 + n_envs: 10 + n_obs_steps: 1 + n_test: 50 + n_train: 10 + visual: false + instructor: + _target_: llmbc.translator.instructor.highway_instructor.parking_v0_instructor.ParkingV0Instructor + name: parking-v0 + obs_dim: 18 +task_name: + value: parking-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 + 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MainThread:51412 [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': 18, 'action_dim': 2, 'task_name': 'parking-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': 18, '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': 18, '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': 'parking-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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700', '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/2025.12.20/07.31.07_HuggingFaceTB/SmolLM2-135M-Instruct'}}}, 'obs_dim': 18, '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': 'parking-v0-training', 'resume': True, 'mode': 'online', 'name': '2025.12.20-07.31.07_train_llm_diffusion_unet_lowdim_parking-v0', 'tags': ['train_llm_diffusion_unet_lowdim', 'parking-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/2025.12.20/07.31.07_train_llm_diffusion_unet_lowdim_parking-v0', 'wandb_name_base': '2025.12.20-07.31.07_train_llm_diffusion_unet_lowdim_parking-v0'}, 'task': {'name': 'parking-v0', 'obs_dim': 18, 'action_dim': 2, 'env_runner': {'_target_': 'llmbc.env_runner.highway_lowdim_runner.HighwayLowdimRunner', 'env_name': 'llf-highway-parking-v0', 'n_train': 10, 'n_test': 50, 'n_envs': 10, 'max_steps': 80, '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.highway_lowdim_dataset.HighwayLowdimDataset', 'data_path': 'datasets/parking-v0.pt', 'data_path2': 'datasets/parking-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.highway_instructor.parking_v0_instructor.ParkingV0Instructor'}}, '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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700', '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}, 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b/2025.12.20/07.31.07_train_llm_diffusion_unet_lowdim_parking-v0/wandb/run-20251220_073118-czbe67ue/run-czbe67ue.wandb new file mode 100644 index 0000000000000000000000000000000000000000..f9323a02ecb51bd52cf35a748136550e82f82036 --- /dev/null +++ b/2025.12.20/07.31.07_train_llm_diffusion_unet_lowdim_parking-v0/wandb/run-20251220_073118-czbe67ue/run-czbe67ue.wandb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3576ca8e8f642ec0ec2c6957d03b2553964033b4c04103d9d31eab2f9b68a6b +size 599048446 diff --git a/2025.12.20/07.31.07_train_llm_diffusion_unet_lowdim_parking-v0/wandb/wandb-resume.json b/2025.12.20/07.31.07_train_llm_diffusion_unet_lowdim_parking-v0/wandb/wandb-resume.json new file mode 100644 index 0000000000000000000000000000000000000000..3e1a479d0d95928ccaa3426da365fca1467795a4 --- /dev/null +++ b/2025.12.20/07.31.07_train_llm_diffusion_unet_lowdim_parking-v0/wandb/wandb-resume.json @@ -0,0 +1 @@ +{"run_id": "czbe67ue"} \ No newline at end of file diff --git a/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/config.yaml b/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99439703092d2a071cbdc3c2d6fac256ef8e29d6 --- /dev/null +++ b/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-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: parking-v0 + obs_dim: 18 + action_dim: 2 + env_runner: + _target_: llmbc.env_runner.highway_lowdim_runner.HighwayLowdimRunner + env_name: llf-highway-parking-v0 + n_train: 10 + n_test: 50 + n_envs: 10 + max_steps: 80 + 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.highway_lowdim_dataset.HighwayLowdimDataset + data_path: datasets/parking-v0.pt + data_path2: datasets/parking-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.highway_instructor.parking_v0_instructor.ParkingV0Instructor +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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700 + 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/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/hydra.yaml b/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d15708ab374ed9b67fc6ddd2b62122161d724eb0 --- /dev/null +++ b/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-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_parking-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: /root/workspace/LLM-BC + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /root/workspace/LLM-BC/config/main_table + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /root/workspace/LLM-BC/data/outputs/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-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/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/overrides.yaml b/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa36688f8bf60ec2902c5105e69ecaaedd625411 --- /dev/null +++ b/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/overrides.yaml @@ -0,0 +1,2 @@ +- policy.loss_llm_weight=1.0e-4 +- training.seed=44 diff --git 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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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/07.31.26_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: 2025.12.20-07.31.26_train_llm_diffusion_unet_lowdim_parking-v0 + project: parking-v0-training + resume: true + tags: + - train_llm_diffusion_unet_lowdim + - parking-v0 + - default +model_name: + value: HuggingFaceTB/SmolLM2-135M-Instruct +multi_run: + value: + run_dir: data/outputs/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-v0 + wandb_name_base: 2025.12.20-07.31.26_train_llm_diffusion_unet_lowdim_parking-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: 18 +optimizer: + value: + _target_: torch.optim.AdamW + betas: + - 0.95 + - 0.999 + eps: 1e-08 + lr: 0.0001 + weight_decay: 1e-06 +output_dir: + value: /root/workspace/LLM-BC/data/outputs/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/07.31.26_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: 18 + task_id: parking-v0 + loss_dp_weight: 1 + loss_llm_weight: 0.0001 + model: + _target_: llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D + 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pad_before: 0 + use_manual_normalizer: false + val_ratio: 0.02 + env_runner: + _target_: llmbc.env_runner.highway_lowdim_runner.HighwayLowdimRunner + discount: 0.99 + env_name: llf-highway-parking-v0 + feedback_type: + - hp + - hn + - fp + instruction_type: b + max_steps: 80 + n_action_steps: 1 + n_envs: 10 + n_obs_steps: 1 + n_test: 50 + n_train: 10 + visual: false + instructor: + _target_: llmbc.translator.instructor.highway_instructor.parking_v0_instructor.ParkingV0Instructor + name: parking-v0 + obs_dim: 18 +task_name: + value: parking-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 + 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'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': 'parking-v0-training', 'resume': True, 'mode': 'online', 'name': '2025.12.20-07.31.26_train_llm_diffusion_unet_lowdim_parking-v0', 'tags': ['train_llm_diffusion_unet_lowdim', 'parking-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/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-v0', 'wandb_name_base': '2025.12.20-07.31.26_train_llm_diffusion_unet_lowdim_parking-v0'}, 'task': {'name': 'parking-v0', 'obs_dim': 18, 'action_dim': 2, 'env_runner': {'_target_': 'llmbc.env_runner.highway_lowdim_runner.HighwayLowdimRunner', 'env_name': 'llf-highway-parking-v0', 'n_train': 10, 'n_test': 50, 'n_envs': 10, 'max_steps': 80, '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.highway_lowdim_dataset.HighwayLowdimDataset', 'data_path': 'datasets/parking-v0.pt', 'data_path2': 'datasets/parking-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.highway_instructor.parking_v0_instructor.ParkingV0Instructor'}}, '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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700', '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': 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b/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-v0/wandb/run-20251220_073138-pgfbe1bv/run-pgfbe1bv.wandb new file mode 100644 index 0000000000000000000000000000000000000000..6371413c68abb9861c2e1c98dfbac54009e75ed4 --- /dev/null +++ b/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-v0/wandb/run-20251220_073138-pgfbe1bv/run-pgfbe1bv.wandb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4dbe552a71a2f9d8a3f1c548fa5ec09e56edb58abefd1e9fed5e8383b34d91e5 +size 598996237 diff --git a/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-v0/wandb/wandb-resume.json b/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-v0/wandb/wandb-resume.json new file mode 100644 index 0000000000000000000000000000000000000000..b24f6450a4e820514be2f07b5d6c7cb58f54b0d1 --- /dev/null +++ b/2025.12.20/07.31.26_train_llm_diffusion_unet_lowdim_parking-v0/wandb/wandb-resume.json @@ -0,0 +1 @@ +{"run_id": "pgfbe1bv"} \ No newline at end of file diff --git a/2025.12.20/07.32.01_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/config.yaml b/2025.12.20/07.32.01_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0819575f30436a4236b8b2812a9236e5f973017b --- /dev/null +++ b/2025.12.20/07.32.01_train_llm_diffusion_unet_lowdim_parking-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: parking-v0 + obs_dim: 18 + action_dim: 2 + env_runner: + _target_: llmbc.env_runner.highway_lowdim_runner.HighwayLowdimRunner + env_name: llf-highway-parking-v0 + n_train: 10 + n_test: 50 + n_envs: 10 + max_steps: 80 + 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.highway_lowdim_dataset.HighwayLowdimDataset + data_path: datasets/parking-v0.pt + data_path2: datasets/parking-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.highway_instructor.parking_v0_instructor.ParkingV0Instructor +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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700 + 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/2025.12.20/07.32.01_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/hydra.yaml b/2025.12.20/07.32.01_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c1d4a6793be12a9d5c8df339f3249fc1916c404e --- /dev/null +++ b/2025.12.20/07.32.01_train_llm_diffusion_unet_lowdim_parking-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_parking-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: /root/workspace/LLM-BC + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /root/workspace/LLM-BC/config/main_table + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /root/workspace/LLM-BC/data/outputs/2025.12.20/07.32.01_train_llm_diffusion_unet_lowdim_parking-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/2025.12.20/07.32.01_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/overrides.yaml b/2025.12.20/07.32.01_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..24dfb526d907bcd6391a69e94888fc61fa531221 --- /dev/null +++ b/2025.12.20/07.32.01_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/overrides.yaml @@ -0,0 +1,2 @@ +- policy.loss_llm_weight=1.0e-4 +- training.seed=45 diff --git 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llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM + checkpoint: data/outputs/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/07.32.01_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: 2025.12.20-07.32.01_train_llm_diffusion_unet_lowdim_parking-v0 + project: parking-v0-training + resume: true + tags: + - train_llm_diffusion_unet_lowdim + - parking-v0 + - default +model_name: + value: HuggingFaceTB/SmolLM2-135M-Instruct +multi_run: + value: + run_dir: data/outputs/2025.12.20/07.32.01_train_llm_diffusion_unet_lowdim_parking-v0 + wandb_name_base: 2025.12.20-07.32.01_train_llm_diffusion_unet_lowdim_parking-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: 18 +optimizer: + value: + _target_: torch.optim.AdamW + betas: + - 0.95 + - 0.999 + eps: 1e-08 + lr: 0.0001 + weight_decay: 1e-06 +output_dir: + value: /root/workspace/LLM-BC/data/outputs/2025.12.20/07.32.01_train_llm_diffusion_unet_lowdim_parking-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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/07.32.01_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: 18 + task_id: parking-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: 18 + 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: 18 + pred_action_steps_only: false + reweight_llm_loss: true +pred_action_steps_only: + value: false +task: + value: + action_dim: 2 + dataset: + _target_: llmbc.dataset.highway_lowdim_dataset.HighwayLowdimDataset + data_path: datasets/parking-v0.pt + data_path2: datasets/parking-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.highway_lowdim_runner.HighwayLowdimRunner + discount: 0.99 + env_name: llf-highway-parking-v0 + feedback_type: + - hp + - hn + - fp + instruction_type: b + max_steps: 80 + n_action_steps: 1 + n_envs: 10 + n_obs_steps: 1 + n_test: 50 + n_train: 10 + visual: false + instructor: + _target_: llmbc.translator.instructor.highway_instructor.parking_v0_instructor.ParkingV0Instructor + name: parking-v0 + obs_dim: 18 +task_name: + value: parking-v0 +training: + value: + checkpoint_every: 5 + debug: false + device: cuda:0 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'max_train_steps': None, 'max_val_steps': None, 'tqdm_interval_sec': 1.0}, 'logging': {'project': 'parking-v0-training', 'resume': True, 'mode': 'online', 'name': '2025.12.20-07.32.01_train_llm_diffusion_unet_lowdim_parking-v0', 'tags': ['train_llm_diffusion_unet_lowdim', 'parking-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/2025.12.20/07.32.01_train_llm_diffusion_unet_lowdim_parking-v0', 'wandb_name_base': '2025.12.20-07.32.01_train_llm_diffusion_unet_lowdim_parking-v0'}, 'task': {'name': 'parking-v0', 'obs_dim': 18, 'action_dim': 2, 'env_runner': {'_target_': 'llmbc.env_runner.highway_lowdim_runner.HighwayLowdimRunner', 'env_name': 'llf-highway-parking-v0', 'n_train': 10, 'n_test': 50, 'n_envs': 10, 'max_steps': 80, '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.highway_lowdim_dataset.HighwayLowdimDataset', 'data_path': 'datasets/parking-v0.pt', 'data_path2': 'datasets/parking-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.highway_instructor.parking_v0_instructor.ParkingV0Instructor'}}, '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': 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${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: 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: 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: parking-v0 + obs_dim: 18 + action_dim: 2 + env_runner: + _target_: llmbc.env_runner.highway_lowdim_runner.HighwayLowdimRunner + env_name: llf-highway-parking-v0 + n_train: 10 + n_test: 50 + n_envs: 10 + max_steps: 80 + 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.highway_lowdim_dataset.HighwayLowdimDataset + data_path: datasets/parking-v0.pt + data_path2: datasets/parking-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.highway_instructor.parking_v0_instructor.ParkingV0Instructor +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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700 + 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/2025.12.20/07.32.13_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/hydra.yaml b/2025.12.20/07.32.13_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..691e83b951e4bce5e76708e86f17820e9e542614 --- /dev/null +++ b/2025.12.20/07.32.13_train_llm_diffusion_unet_lowdim_parking-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=46 + job: + name: train + chdir: null + override_dirname: policy.loss_llm_weight=1.0e-4,training.seed=46 + id: ??? + num: ??? + config_name: llmdp_parking-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: /root/workspace/LLM-BC + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /root/workspace/LLM-BC/config/main_table + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /root/workspace/LLM-BC/data/outputs/2025.12.20/07.32.13_train_llm_diffusion_unet_lowdim_parking-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/2025.12.20/07.32.13_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/overrides.yaml b/2025.12.20/07.32.13_train_llm_diffusion_unet_lowdim_parking-v0/.hydra/overrides.yaml new file mode 100644 index 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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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/07.32.13_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: 2025.12.20-07.32.13_train_llm_diffusion_unet_lowdim_parking-v0 + project: parking-v0-training + resume: true + tags: + - train_llm_diffusion_unet_lowdim + - parking-v0 + - default +model_name: + value: HuggingFaceTB/SmolLM2-135M-Instruct +multi_run: + value: + run_dir: data/outputs/2025.12.20/07.32.13_train_llm_diffusion_unet_lowdim_parking-v0 + wandb_name_base: 2025.12.20-07.32.13_train_llm_diffusion_unet_lowdim_parking-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: 18 +optimizer: + value: + _target_: torch.optim.AdamW + betas: + - 0.95 + - 0.999 + eps: 1e-08 + lr: 0.0001 + weight_decay: 1e-06 +output_dir: + value: /root/workspace/LLM-BC/data/outputs/2025.12.20/07.32.13_train_llm_diffusion_unet_lowdim_parking-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/2025.11.03/22.51.21_train_llm_lowdim_parking-v0/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-parking-v0/checkpoint-5700 + config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig + finetune_mode: orig + hydra: + job: + override_dirname: HuggingFaceTB/SmolLM2-135M-Instruct + run: + dir: data/outputs/2025.12.20/07.32.13_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: 18 + task_id: parking-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: 18 + 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: 18 + pred_action_steps_only: false + reweight_llm_loss: true +pred_action_steps_only: + value: false +task: + value: + action_dim: 2 + dataset: + _target_: llmbc.dataset.highway_lowdim_dataset.HighwayLowdimDataset + data_path: datasets/parking-v0.pt + data_path2: datasets/parking-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.highway_lowdim_runner.HighwayLowdimRunner + discount: 0.99 + env_name: llf-highway-parking-v0 + feedback_type: + - hp + - hn + - fp + instruction_type: b + max_steps: 80 + n_action_steps: 1 + n_envs: 10 + n_obs_steps: 1 + n_test: 50 + n_train: 10 + visual: false + instructor: + _target_: llmbc.translator.instructor.highway_instructor.parking_v0_instructor.ParkingV0Instructor + name: parking-v0 + obs_dim: 18 +task_name: + value: parking-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/2025.12.20/07.32.13_train_llm_diffusion_unet_lowdim_parking-v0/wandb/run-20251220_073225-wvteizn9/files/output.log b/2025.12.20/07.32.13_train_llm_diffusion_unet_lowdim_parking-v0/wandb/run-20251220_073225-wvteizn9/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..448d06d2d2ba2d71b200279007a034f123ad0bde --- /dev/null +++ b/2025.12.20/07.32.13_train_llm_diffusion_unet_lowdim_parking-v0/wandb/run-20251220_073225-wvteizn9/files/output.log @@ -0,0 +1,8 @@ +/root/miniconda3/envs/llm-bc/lib/python3.9/site-packages/stable_baselines3/common/save_util.py:166: UserWarning: Could not deserialize object lr_schedule. Consider using `custom_objects` argument to replace this object. +Exception: Can't get attribute 'FloatSchedule' on + warnings.warn( +Wrapping the env with a `Monitor` wrapper +Wrapping the env in a DummyVecEnv. +Eval HighwayLowdimRunner 1/6: 0%| | 0/80 [00:00