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@@ -44,3 +44,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 2025.10.23/19.36.20_train_llm_lowdim_parking-v0/wandb/run-20251023_193621-91yi7sb5/run-91yi7sb5.wandb filter=lfs diff=lfs merge=lfs -text
 2025.10.23/01.22.15_train_llm_lowdim_push-back-v2/wandb/run-20251023_012216-7spq0q9f/run-7spq0q9f.wandb filter=lfs diff=lfs merge=lfs -text
 2025.10.22/23.44.28_train_llm_lowdim_box-close-v2/wandb/run-20251022_234429-f1waphwn/run-f1waphwn.wandb filter=lfs diff=lfs merge=lfs -text
+2025.10.31/12.00.23_train_llm_lowdim_blockpush_lowdim_seed/wandb/run-20251031_120024-wy9rh57a/run-wy9rh57a.wandb filter=lfs diff=lfs merge=lfs -text

2025.10.31/12.00.23_train_llm_lowdim_blockpush_lowdim_seed/.hydra/config.yaml

@@ -0,0 +1,117 @@
+name: train_llm_lowdim
+_target_: llmbc.workspace.train_llm_workspace.TrainLLMWorkspace
+obs_dim: ${task.obs_dim}
+action_dim: ${task.action_dim}
+horizon: 1
+n_obs_steps: 1
+n_action_steps: 1
+task_name: ${task.name}
+exp_name: train llm
+model_name: ${llm.name}
+use_quantization: ${llm.use_quantization}
+lora_config: ${llm.lora_config}
+dataset:
+  test_data_ratio: 0.01
+debug: false
+training:
+  seed: 42
+  per_device_train_batch_size: 128
+  per_device_eval_batch_size: 128
+  gradient_accumulation_steps: 1
+  optim: paged_adamw_32bit
+  num_train_epochs: 10
+  eval_strategy: steps
+  logging_steps: 1
+  warmup_steps: 10
+  logging_strategy: steps
+  learning_rate: 1.0e-05
+  fp16: false
+  bf16: true
+  tf32: true
+  group_by_length: true
+  report_to: wandb
+  save_steps: 10000
+  eval_steps: 10
+  use_joint_mlp_projector: ${llm.use_joint_mlp_projector}
+  joint_obs_action_mlp_lr: 1.0e-05
+trainer:
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  use_joint_mlp_projector: ${llm.use_joint_mlp_projector}
+  max_seq_length: ${llm.max_length}
+  dataset_text_field: text
+  packing: false
+logging:
+  project: llm_module_finetuning
+  resume: true
+  mode: online
+  name: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name}
+  tags:
+  - ${name}
+  - ${task_name}
+  - ${exp_name}
+  id: null
+  group: null
+multi_run:
+  run_dir: data/outputs/${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: blockpush_lowdim_seed
+  obs_dim: 16
+  action_dim: 2
+  keypoint_dim: 2
+  obs_eef_target: true
+  env_runner:
+    _target_: llmbc.env_runner.blockpushing_lowdim_runner.BlockPushingLowdimRunner
+    env_name: llf-blockpushing-BlockPushMultimodal-v0
+    instruction_type: b
+    feedback_type:
+    - hp
+    - hn
+    - fp
+    visual: false
+    n_train: 10
+    n_test: 50
+    n_envs: 10
+    max_steps: 350
+    n_obs_steps: ${n_obs_steps}
+    n_action_steps: ${n_action_steps}
+    discount: 0.99
+  dataset:
+    _target_: llmbc.dataset.blockpush_lowdim_dataset.BlockPushLowdimDataset
+    data_path: datasets/BlockPushMultimodal-v0-general.pt
+    data_path2: datasets/BlockPushMultimodal-v0.pt
+    horizon: ${horizon}
+    pad_before: ${eval:'${n_obs_steps}-1'}
+    pad_after: ${eval:'${n_action_steps}-1'}
+    obs_eef_target: ${task.obs_eef_target}
+    use_manual_normalizer: false
+    val_ratio: 0.02
+    dummy_normalizer: false
+  instructor:
+    _target_: llmbc.translator.instructor.blockpush_instructor.BlockPushMultimodal_v0_instructor.BlockPushMultimodalV0Instructor
+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: mlp-finetuned
+  finetune_mode: orig
+  checkpoint: data/outputs/2025.10.27/13.53.44_train_mlp_projector_blockpush_lowdim_seed/checkpoints/latest.ckpt
+  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}

2025.10.31/12.00.23_train_llm_lowdim_blockpush_lowdim_seed/.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: []
+  job:
+    name: train_llm_workspace
+    chdir: null
+    override_dirname: ''
+    id: ???
+    num: ???
+    config_name: train_llm_workspace
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /home/chyang/workspace/LLM-BC
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/chyang/workspace/LLM-BC/llmbc/config
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /home/chyang/workspace/LLM-BC/data/outputs/2025.10.31/12.00.23_train_llm_lowdim_blockpush_lowdim_seed
+    choices:
+      llm: smollm2-135m-instruct
+      task: BlockPushMultimodal-v0
+      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

2025.10.31/12.00.23_train_llm_lowdim_blockpush_lowdim_seed/.hydra/overrides.yaml

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2025.10.31/12.00.23_train_llm_lowdim_blockpush_lowdim_seed/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-blockpush_lowdim_seed/checkpoint-10000/config.json

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+{
+  "_name_or_path": "HuggingFaceTB/SmolLM2-135M-Instruct",
+  "action_dim": 2,
+  "architectures": [
+    "LowdimLlamaForCausalLM"
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+  "attention_dropout": 0.0,
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+  "hidden_act": "silu",
+  "hidden_size": 576,
+  "initializer_range": 0.041666666666666664,
+  "intermediate_size": 1536,
+  "is_llama_config": true,
+  "max_position_embeddings": 8192,
+  "mlp_bias": false,
+  "model_type": "llama_lowdim",
+  "num_attention_heads": 9,
+  "num_hidden_layers": 30,
+  "num_key_value_heads": 3,
+  "obs_dim": 16,
+  "pad_token_id": 2,
+  "pretraining_tp": 1,
+  "rms_norm_eps": 1e-05,
+  "rope_interleaved": false,
+  "rope_scaling": null,
+  "rope_theta": 100000,
+  "tie_word_embeddings": true,
+  "torch_dtype": "float32",
+  "transformers.js_config": {
+    "kv_cache_dtype": {
+      "fp16": "float16",
+      "q4f16": "float16"
+    }
+  },
+  "transformers_version": "4.47.1",
+  "use_cache": false,
+  "use_joint_mlp_projector": true,
+  "vocab_size": 49152
+}

2025.10.31/12.00.23_train_llm_lowdim_blockpush_lowdim_seed/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-blockpush_lowdim_seed/checkpoint-10000/generation_config.json

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+  "pad_token_id": 2,
+  "transformers_version": "4.47.1"
+}

2025.10.31/12.00.23_train_llm_lowdim_blockpush_lowdim_seed/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-blockpush_lowdim_seed/checkpoint-10000/mlp_projector.bin

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+  "chat_template": "{% for message in messages %}{% if loop.first and messages[0]['role'] != 'system' %}{{ '<|im_start|>system\nYou are a helpful AI assistant named SmolLM, trained by Hugging Face<|im_end|>\n' }}{% endif %}{{'<|im_start|>' + message['role'] + '\n' + message['content'] + '<|im_end|>' + '\n'}}{% endfor %}{% if add_generation_prompt %}{{ '<|im_start|>assistant\n' }}{% endif %}",
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+}

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+  "_name_or_path": "HuggingFaceTB/SmolLM2-135M-Instruct",
+  "action_dim": 2,
+  "architectures": [
+    "LowdimLlamaForCausalLM"
+  ],
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+  "num_key_value_heads": 3,
+  "obs_dim": 16,
+  "pad_token_id": 2,
+  "pretraining_tp": 1,
+  "rms_norm_eps": 1e-05,
+  "rope_interleaved": false,
+  "rope_scaling": null,
+  "rope_theta": 100000,
+  "tie_word_embeddings": true,
+  "torch_dtype": "float32",
+  "transformers.js_config": {
+    "kv_cache_dtype": {
+      "fp16": "float16",
+      "q4f16": "float16"
+    }
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+  "transformers_version": "4.47.1",
+  "use_cache": false,
+  "use_joint_mlp_projector": true,
+  "vocab_size": 49152
+}

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