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@@ -97,3 +97,7 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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 2026.02.22/20.15.02_train_llmbc_lowdim_box-close-v2/logs.json.txt filter=lfs diff=lfs merge=lfs -text
 2026.02.22/20.15.02_train_llmbc_lowdim_box-close-v2/wandb/run-20260222_201522-lro35ktw/run-lro35ktw.wandb filter=lfs diff=lfs merge=lfs -text
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2026.02.13/04.57.00_train_mlp_projector_box-close-v2/.hydra/config.yaml

@@ -0,0 +1,138 @@
+name: train_mlp_projector
+_target_: llmbc.workspace.train_mlp_projector_workspace.TrainMlpProjectorWorkspace
+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
+llm_translator:
+  _target_: llmbc.translator.llm_translator.LLMTranslator
+  cfg: ${llm}
+  obs_dim: ${task.obs_dim}
+  action_dim: ${task.action_dim}
+  horizon: ${horizon}
+  n_obs_steps: ${n_obs_steps}
+  n_action_steps: ${n_action_steps}
+dataloader:
+  batch_size: 64
+  num_workers: 0
+  shuffle: true
+  pin_memory: false
+  persistent_workers: false
+val_dataloader:
+  batch_size: 64
+  num_workers: 0
+  shuffle: true
+  pin_memory: false
+  persistent_workers: false
+optimizer:
+  _target_: torch.optim.Adam
+  lr: 0.0001
+  betas:
+  - 0.95
+  - 0.999
+  eps: 1.0e-08
+  weight_decay: 1.0e-06
+training:
+  device: cuda
+  seed: 42
+  debug: false
+  resume: true
+  lr_scheduler: cosine
+  lr_warmup_steps: 10
+  num_epochs: 100
+  gradient_accumulate_every: 4
+  grad_norm_clip: 1
+  enable_normalizer: true
+  checkpoint_every: 1
+  val_every: 1
+  sample_every: 1
+  sample_max_batch: 128
+  max_train_steps: null
+  max_val_steps: null
+  tqdm_interval_sec: 1.0
+logging:
+  project: llm_module_training
+  resume: true
+  mode: online
+  name: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name}
+  tags:
+  - ${name}
+  - ${task_name}
+  - ${exp_name}
+  id: null
+  group: null
+checkpoint:
+  topk:
+    monitor_key: val_loss
+    mode: min
+    k: 5
+    format_str: epoch={epoch:04d}-val_loss={val_loss:.3f}.ckpt
+  save_last_ckpt: true
+  save_last_snapshot: false
+multi_run:
+  run_dir: data/outputs/${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: 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.pt
+    data_path2: datasets/box-close-v2.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: Qwen/Qwen2-0.5B-Instruct
+  model_name: Qwen2-0.5B-Instruct
+  config_target: llmbc.model.llm.qwen2_lowdim_model.LowdimQwen2Config
+  causal_lm_target: llmbc.model.llm.qwen2_lowdim_model.LowdimQwen2ForCausalLM
+  use_quantization: false
+  use_joint_mlp_projector: true
+  llm_mode: pretrained
+  finetune_mode: orig
+  checkpoint: ''
+  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.qwen2_prompter.Qwen2Prompter
+    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}

2026.02.13/04.57.00_train_mlp_projector_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_mlp_projector_box-close-v2_qwen2-0.5b-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: /work/u1131674/LLM-BC
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /work/u1131674/LLM-BC/config/llm_backbone
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /work/u1131674/LLM-BC/data/outputs/2026.02.13/04.57.00_train_mlp_projector_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

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+[2026-02-13 04:57:02,784][numexpr.utils][INFO] - Note: detected 112 virtual cores but NumExpr set to maximum of 64, check "NUMEXPR_MAX_THREADS" environment variable.
+[2026-02-13 04:57:02,784][numexpr.utils][INFO] - Note: NumExpr detected 112 cores but "NUMEXPR_MAX_THREADS" not set, so enforcing safe limit of 16.
+[2026-02-13 04:57:02,784][numexpr.utils][INFO] - NumExpr defaulting to 16 threads.
+[2026-02-13 04:57:08,643][datasets][INFO] - PyTorch version 2.2.2 available.
+[2026-02-13 04:57:08,644][datasets][INFO] - TensorFlow version 2.15.1 available.
+[2026-02-13 04:57:08,645][datasets][INFO] - JAX version 0.4.30 available.

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2026.02.13/05.15.58_train_mlp_projector_box-close-v2/.hydra/config.yaml

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+name: train_mlp_projector
+_target_: llmbc.workspace.train_mlp_projector_workspace.TrainMlpProjectorWorkspace
+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
+llm_translator:
+  _target_: llmbc.translator.llm_translator.LLMTranslator
+  cfg: ${llm}
+  obs_dim: ${task.obs_dim}
+  action_dim: ${task.action_dim}
+  horizon: ${horizon}
+  n_obs_steps: ${n_obs_steps}
+  n_action_steps: ${n_action_steps}
+dataloader:
+  batch_size: 64
+  num_workers: 0
+  shuffle: true
+  pin_memory: false
+  persistent_workers: false
+val_dataloader:
+  batch_size: 64
+  num_workers: 0
+  shuffle: true
+  pin_memory: false
+  persistent_workers: false
+optimizer:
+  _target_: torch.optim.Adam
+  lr: 0.0001
+  betas:
+  - 0.95
+  - 0.999
+  eps: 1.0e-08
+  weight_decay: 1.0e-06
+training:
+  device: cuda
+  seed: 42
+  debug: false
+  resume: true
+  lr_scheduler: cosine
+  lr_warmup_steps: 10
+  num_epochs: 100
+  gradient_accumulate_every: 4
+  grad_norm_clip: 1
+  enable_normalizer: true
+  checkpoint_every: 1
+  val_every: 1
+  sample_every: 1
+  sample_max_batch: 128
+  max_train_steps: null
+  max_val_steps: null
+  tqdm_interval_sec: 1.0
+logging:
+  project: llm_module_training
+  resume: true
+  mode: online
+  name: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name}
+  tags:
+  - ${name}
+  - ${task_name}
+  - ${exp_name}
+  id: null
+  group: null
+checkpoint:
+  topk:
+    monitor_key: val_loss
+    mode: min
+    k: 5
+    format_str: epoch={epoch:04d}-val_loss={val_loss:.3f}.ckpt
+  save_last_ckpt: true
+  save_last_snapshot: false
+multi_run:
+  run_dir: data/outputs/${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: 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.pt
+    data_path2: datasets/box-close-v2.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: false
+  instructor:
+    _target_: llmbc.translator.instructor.metaworld_instructor.box_close_v2_instructor.BoxCloseV2Instructor
+llm:
+  name: Qwen/Qwen2-0.5B-Instruct
+  model_name: Qwen2-0.5B-Instruct
+  config_target: llmbc.model.llm.qwen2_lowdim_model.LowdimQwen2Config
+  causal_lm_target: llmbc.model.llm.qwen2_lowdim_model.LowdimQwen2ForCausalLM
+  use_quantization: false
+  use_joint_mlp_projector: true
+  llm_mode: pretrained
+  finetune_mode: orig
+  checkpoint: ''
+  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.qwen2_prompter.Qwen2Prompter
+    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}

2026.02.13/05.15.58_train_mlp_projector_box-close-v2/.hydra/hydra.yaml

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+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:
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+    - hydra.mode=RUN
+    task: []
+  job:
+    name: train
+    chdir: null
+    override_dirname: ''
+    id: ???
+    num: ???
+    config_name: llmdp_mlp_projector_box-close-v2_qwen2-0.5b-instruct.yaml
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+    env_copy: []
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+        item_sep: ','
+        exclude_keys: []
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+    version_base: '1.2'
+    cwd: /work/u1131674/LLM-BC
+    config_sources:
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+      schema: pkg
+      provider: hydra
+    - path: /work/u1131674/LLM-BC/config/llm_backbone
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /work/u1131674/LLM-BC/data/outputs/2026.02.13/05.15.58_train_mlp_projector_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

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