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@@ -152,3 +152,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 2026.02.20/17.05.08_train_llm_lowdim_box-close-v2/wandb/run-20260220_170516-l4ncmhv2/run-l4ncmhv2.wandb filter=lfs diff=lfs merge=lfs -text
 2026.02.21/01.18.21_train_llm_lowdim_box-close-v2/wandb/run-20260221_011825-nxw3u27p/run-nxw3u27p.wandb filter=lfs diff=lfs merge=lfs -text
 2026.02.22/22.54.19_train_llm_lowdim_box-close-v2/wandb/run-20260222_225424-i8xp75p7/run-i8xp75p7.wandb filter=lfs diff=lfs merge=lfs -text
+2026.02.23/09.27.18_train_llm_lowdim_box-close-v2/wandb/run-20260223_092723-tm5uhws4/run-tm5uhws4.wandb filter=lfs diff=lfs merge=lfs -text

2026.02.23/09.27.18_train_llm_lowdim_box-close-v2/.hydra/config.yaml

@@ -0,0 +1,115 @@
+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: 64
+  per_device_eval_batch_size: 64
+  gradient_accumulation_steps: 2
+  optim: paged_adamw_32bit
+  num_train_epochs: 10
+  eval_strategy: steps
+  logging_steps: 1
+  warmup_steps: 1000
+  logging_strategy: steps
+  learning_rate: 5.0e-05
+  fp16: false
+  bf16: true
+  tf32: true
+  group_by_length: true
+  report_to: wandb
+  save_steps: 5000
+  eval_steps: 10
+  use_joint_mlp_projector: ${llm.use_joint_mlp_projector}
+  joint_obs_action_mlp_lr: 1.0e-06
+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: box-close-v2
+  obs_dim: 9
+  action_dim: 4
+  env_runner:
+    _target_: llmbc.env_runner.metaworld_lowdim_runner.MetaworldLowdimRunner
+    env_name: llf-metaworld-box-close-v2
+    n_train: 10
+    n_test: 50
+    n_envs: 10
+    max_steps: 30
+    n_obs_steps: ${n_obs_steps}
+    n_action_steps: ${n_action_steps}
+    instruction_type: b
+    feedback_type:
+    - hp
+    - hn
+    - fp
+    visual: false
+    discount: 0.9
+  dataset:
+    _target_: llmbc.dataset.metaworld_lowdim_dataset.MetaworldLowdimDataset
+    data_path: datasets/box-close-v2-general-o4-mini.pt
+    data_path2: datasets/box-close-v2-o4-mini.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: 0.05
+    dummy_normalizer: true
+  instructor:
+    _target_: llmbc.translator.instructor.metaworld_instructor.box_close_v2_instructor.BoxCloseV2Instructor
+llm:
+  name: HuggingFaceTB/SmolLM2-360M-Instruct
+  model_name: SmolLM2-360M-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/2026.02.16/11.09.34_train_mlp_projector_box-close-v2/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}

2026.02.23/09.27.18_train_llm_lowdim_box-close-v2/.hydra/hydra.yaml

@@ -0,0 +1,154 @@
+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
+    chdir: null
+    override_dirname: ''
+    id: ???
+    num: ???
+    config_name: llmbc_llm_box-close-v2_o4-mini_smollm2-360m-instruct.yaml
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /tmp2/chyang/workspace/LLM-BC
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /tmp2/chyang/workspace/LLM-BC/config/llm_backbone
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /tmp2/chyang/workspace/LLM-BC/data/outputs/2026.02.23/09.27.18_train_llm_lowdim_box-close-v2
+    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

2026.02.23/09.27.18_train_llm_lowdim_box-close-v2/.hydra/overrides.yaml

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+[]

2026.02.23/09.27.18_train_llm_lowdim_box-close-v2/HuggingFaceTB/SmolLM2-360M-Instruct-finetuned-box-close-v2/checkpoint-5000/config.json

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+{
+  "_name_or_path": "HuggingFaceTB/SmolLM2-360M-Instruct",
+  "action_dim": 4,
+  "architectures": [
+    "LowdimLlamaForCausalLM"
+  ],
+  "attention_bias": false,
+  "attention_dropout": 0.0,
+  "bos_token_id": 1,
+  "eos_token_id": 2,
+  "head_dim": 64,
+  "hidden_act": "silu",
+  "hidden_size": 960,
+  "initializer_range": 0.02,
+  "intermediate_size": 2560,
+  "is_llama_config": true,
+  "max_position_embeddings": 8192,
+  "mlp_bias": false,
+  "model_type": "llama_lowdim",
+  "num_attention_heads": 15,
+  "num_hidden_layers": 32,
+  "num_key_value_heads": 5,
+  "obs_dim": 9,
+  "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
+}

2026.02.23/09.27.18_train_llm_lowdim_box-close-v2/HuggingFaceTB/SmolLM2-360M-Instruct-finetuned-box-close-v2/checkpoint-5000/generation_config.json

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+  "bos_token_id": 1,
+  "eos_token_id": 2,
+  "pad_token_id": 2,
+  "transformers_version": "4.47.1"
+}

2026.02.23/09.27.18_train_llm_lowdim_box-close-v2/HuggingFaceTB/SmolLM2-360M-Instruct-finetuned-box-close-v2/checkpoint-5000/mlp_projector.bin

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+{
+  "additional_special_tokens": [
+    "<|im_start|>",
+    "<|im_end|>"
+  ],
+  "bos_token": {
+    "content": "<|im_start|>",
+    "lstrip": false,
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+    "rstrip": false,
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+  }
+}

2026.02.23/09.27.18_train_llm_lowdim_box-close-v2/HuggingFaceTB/SmolLM2-360M-Instruct-finetuned-box-close-v2/checkpoint-5000/tokenizer_config.json

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+    }
+  },
+  "additional_special_tokens": [
+    "<|im_start|>",
+    "<|im_end|>"
+  ],
+  "bos_token": "<|im_start|>",
+  "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 %}",
+  "clean_up_tokenization_spaces": false,
+  "eos_token": "<|im_end|>",
+  "extra_special_tokens": {},
+  "model_max_length": 8192,
+  "pad_token": "<|im_end|>",
+  "tokenizer_class": "GPT2Tokenizer",
+  "unk_token": "<|endoftext|>",
+  "vocab_size": 49152
+}

2026.02.23/09.27.18_train_llm_lowdim_box-close-v2/HuggingFaceTB/SmolLM2-360M-Instruct-finetuned-box-close-v2/checkpoint-5000/training_args.bin

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+{
+  "_name_or_path": "HuggingFaceTB/SmolLM2-360M-Instruct",
+  "action_dim": 4,
+  "architectures": [
+    "LowdimLlamaForCausalLM"
+  ],
+  "attention_bias": false,
+  "attention_dropout": 0.0,
+  "bos_token_id": 1,
+  "eos_token_id": 2,
+  "head_dim": 64,
+  "hidden_act": "silu",
+  "hidden_size": 960,
+  "initializer_range": 0.02,
+  "intermediate_size": 2560,
+  "is_llama_config": true,
+  "max_position_embeddings": 8192,
+  "mlp_bias": false,
+  "model_type": "llama_lowdim",
+  "num_attention_heads": 15,
+  "num_hidden_layers": 32,
+  "num_key_value_heads": 5,
+  "obs_dim": 9,
+  "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
+}

2026.02.23/09.27.18_train_llm_lowdim_box-close-v2/HuggingFaceTB/SmolLM2-360M-Instruct-finetuned-box-close-v2/checkpoint-5890/generation_config.json

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+  "_from_model_config": true,
+  "bos_token_id": 1,
+  "eos_token_id": 2,
+  "pad_token_id": 2,
+  "transformers_version": "4.47.1"
+}

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2026.02.23/09.27.18_train_llm_lowdim_box-close-v2/wandb/run-20260223_092723-tm5uhws4/files/config.yaml

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+        config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig
+        finetune_mode: orig
+        hydra:
+            job:
+                override_dirname: HuggingFaceTB/SmolLM2-360M-Instruct
+            run:
+                dir: data/outputs/2026.02.23/09.27.18_HuggingFaceTB/SmolLM2-360M-Instruct
+        llm_mode: mlp-finetuned
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'max_length': 20, 'min_length': 0, 'do_sample': False, 'early_stopping': False, 'num_beams': 1, 'num_beam_groups': 1, 'diversity_penalty': 0.0, 'temperature': 1.0, 'top_k': 50, 'top_p': 1.0, 'typical_p': 1.0, 'repetition_penalty': 1.0, 'length_penalty': 1.0, 'no_repeat_ngram_size': 0, 'encoder_no_repeat_ngram_size': 0, 'bad_words_ids': None, 'num_return_sequences': 1, 'output_scores': False, 'return_dict_in_generate': False, 'forced_bos_token_id': None, 'forced_eos_token_id': None, 'remove_invalid_values': False, 'exponential_decay_length_penalty': None, 'suppress_tokens': None, 'begin_suppress_tokens': None, 'architectures': ['LlamaForCausalLM'], 'finetuning_task': None, 'id2label': {0: 'LABEL_0', 1: 'LABEL_1'}, 'label2id': {'LABEL_0': 0, 'LABEL_1': 1}, 'tokenizer_class': None, 'prefix': None, 'bos_token_id': 1, 'pad_token_id': 2, 'eos_token_id': 2, 'sep_token_id': None, 'decoder_start_token_id': None, 'task_specific_params': None, 'problem_type': None, '_name_or_path': 'HuggingFaceTB/SmolLM2-360M-Instruct', '_attn_implementation_autoset': True, 'transformers_version': '4.47.1', 'is_llama_config': True, 'model_type': 'llama_lowdim', 'rope_interleaved': False, 'transformers.js_config': {'kv_cache_dtype': {'q4f16': 'float16', 'fp16': 'float16'}}, 'output_dir': '/tmp2/chyang/workspace/LLM-BC/data/outputs/2026.02.23/09.27.18_train_llm_lowdim_box-close-v2/HuggingFaceTB/SmolLM2-360M-Instruct-finetuned-box-close-v2', 'overwrite_output_dir': False, 'do_train': False, 'do_eval': True, 'do_predict': False, 'eval_strategy': 'steps', 'prediction_loss_only': False, 'per_device_train_batch_size': 64, 'per_device_eval_batch_size': 64, 'per_gpu_train_batch_size': None, 'per_gpu_eval_batch_size': None, 'gradient_accumulation_steps': 2, 'eval_accumulation_steps': None, 'eval_delay': 0, 'torch_empty_cache_steps': None, 'learning_rate': 5e-05, 'weight_decay': 0.0, 'adam_beta1': 0.9, 'adam_beta2': 0.999, 'adam_epsilon': 1e-08, 'max_grad_norm': 1.0, 'num_train_epochs': 10, 'max_steps': -1, 'lr_scheduler_type': 'linear', 'lr_scheduler_kwargs': {}, 'warmup_ratio': 0.0, 'warmup_steps': 1000, 'log_level': 'passive', 'log_level_replica': 'warning', 'log_on_each_node': True, 'logging_dir': '/tmp2/chyang/workspace/LLM-BC/data/outputs/2026.02.23/09.27.18_train_llm_lowdim_box-close-v2/HuggingFaceTB/SmolLM2-360M-Instruct-finetuned-box-close-v2/runs/Feb23_09-27-52_A6000-2', 'logging_strategy': 'steps', 'logging_first_step': False, 'logging_steps': 1, 'logging_nan_inf_filter': True, 'save_strategy': 'steps', 'save_steps': 5000, 'save_total_limit': None, 'save_safetensors': True, 'save_on_each_node': False, 'save_only_model': False, 'restore_callback_states_from_checkpoint': False, 'no_cuda': False, 'use_cpu': False, 'use_mps_device': False, 'seed': 42, 'data_seed': None, 'jit_mode_eval': False, 'use_ipex': False, 'bf16': True, 'fp16': False, 'fp16_opt_level': 'O1', 'half_precision_backend': 'auto', 'bf16_full_eval': False, 'fp16_full_eval': False, 'tf32': True, 'local_rank': 0, 'ddp_backend': None, 'tpu_num_cores': None, 'tpu_metrics_debug': False, 'debug': [], 'dataloader_drop_last': False, 'eval_steps': 10, 'dataloader_num_workers': 0, 'dataloader_prefetch_factor': None, 'past_index': -1, 'run_name': '/tmp2/chyang/workspace/LLM-BC/data/outputs/2026.02.23/09.27.18_train_llm_lowdim_box-close-v2/HuggingFaceTB/SmolLM2-360M-Instruct-finetuned-box-close-v2', 'disable_tqdm': False, 'remove_unused_columns': True, 'label_names': None, 'load_best_model_at_end': False, 'metric_for_best_model': None, 'greater_is_better': None, 'ignore_data_skip': False, 'fsdp': [], 'fsdp_min_num_params': 0, 'fsdp_config': {'min_num_params': 0, 'xla': False, 'xla_fsdp_v2': False, 'xla_fsdp_grad_ckpt': False}, 'fsdp_transformer_layer_cls_to_wrap': None, 'accelerator_config': {'split_batches': False, 'dispatch_batches': None, 'even_batches': True, 'use_seedable_sampler': True, 'non_blocking': False, 'gradient_accumulation_kwargs': None}, 'deepspeed': None, 'label_smoothing_factor': 0.0, 'optim': 'paged_adamw_32bit', 'optim_args': None, 'adafactor': False, 'group_by_length': True, 'length_column_name': 'length', 'report_to': ['wandb'], 'ddp_find_unused_parameters': None, 'ddp_bucket_cap_mb': None, 'ddp_broadcast_buffers': None, 'dataloader_pin_memory': True, 'dataloader_persistent_workers': False, 'skip_memory_metrics': True, 'use_legacy_prediction_loop': False, 'push_to_hub': False, 'resume_from_checkpoint': None, 'hub_model_id': None, 'hub_strategy': 'every_save', 'hub_token': '<HUB_TOKEN>', 'hub_private_repo': None, 'hub_always_push': False, 'gradient_checkpointing': False, 'gradient_checkpointing_kwargs': None, 'include_inputs_for_metrics': False, 'include_for_metrics': [], 'eval_do_concat_batches': True, 'fp16_backend': 'auto', 'evaluation_strategy': None, 'push_to_hub_model_id': None, 'push_to_hub_organization': None, 'push_to_hub_token': '<PUSH_TO_HUB_TOKEN>', 'mp_parameters': '', 'auto_find_batch_size': False, 'full_determinism': False, 'torchdynamo': None, 'ray_scope': 'last', 'ddp_timeout': 1800, 'torch_compile': False, 'torch_compile_backend': None, 'torch_compile_mode': None, 'dispatch_batches': None, 'split_batches': None, 'include_tokens_per_second': False, 'include_num_input_tokens_seen': False, 'neftune_noise_alpha': None, 'optim_target_modules': None, 'batch_eval_metrics': False, 'eval_on_start': False, 'use_liger_kernel': False, 'eval_use_gather_object': False, 'average_tokens_across_devices': False, 'dataset_text_field': 'text', 'packing': False, 'max_seq_length': 100, 'dataset_num_proc': None, 'dataset_batch_size': 1000, 'model_init_kwargs': None, 'dataset_kwargs': {}, 'eval_packing': None, 'num_of_sequences': 1024, 'chars_per_token': '<CHARS_PER_TOKEN>', 'use_liger': False, 'joint_obs_action_mlp_lr': 1e-06, 'obs_mlp_lr': None, 'action_mlp_lr': None}
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2026.02.23/09.27.18_train_llm_lowdim_box-close-v2/wandb/run-20260223_092723-tm5uhws4/run-tm5uhws4.wandb

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