diff --git a/.gitattributes b/.gitattributes index cf21e3d00cc2d677745d3f3af6aa2afe5254fd4b..d2eb668a206f12768800bbfc08d49b467e93af15 100644 --- a/.gitattributes +++ b/.gitattributes @@ -42,3 +42,8 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text 2026.01.26/11.48.33_train_llm_lowdim_box-close-v2/wandb/run-20260126_114842-zut8rsd7/run-zut8rsd7.wandb filter=lfs diff=lfs merge=lfs -text 2026.01.26/11.49.03_train_llm_lowdim_box-close-v2/wandb/run-20260126_114912-eqoznxjg/run-eqoznxjg.wandb filter=lfs diff=lfs merge=lfs -text 2026.01.26/12.30.16_train_llm_lowdim_box-close-v2/wandb/run-20260126_123023-egujxdao/run-egujxdao.wandb filter=lfs diff=lfs merge=lfs -text +2026.01.27/11.52.50_train_llmbc_lowdim_box-close-v2/logs.json.txt filter=lfs diff=lfs merge=lfs -text +2026.01.27/11.52.50_train_llmbc_lowdim_box-close-v2/wandb/run-20260127_115307-raachjxu/run-raachjxu.wandb filter=lfs diff=lfs merge=lfs -text 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+horizon: 1 +n_obs_steps: 1 +n_action_steps: 1 +n_latency_steps: 0 +past_action_visible: false +llm_orig_expert_feedback: true +llm_do_sample: false +policy: + _target_: llmbc.policy.llmbc_lowdim_policy.LLMBCLowdimPolicy + model: + _target_: llmbc.model.policy.policy_mlp.PolicyMLP + input_size: ${eval:'${n_obs_steps}*${obs_dim}'} + hidden_size: + - 256 + - 256 + output_size: ${eval:'${n_action_steps}*${action_dim}'} + activation: relu + n_obs_steps: ${n_obs_steps} + n_action_steps: ${n_action_steps} + obs_dim: ${obs_dim} + action_dim: ${action_dim} + 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: ${task.obs_dim} + action_dim: ${task.action_dim} + horizon: ${horizon} + n_obs_steps: ${n_obs_steps} + n_action_steps: ${n_action_steps} + loss_bc_weight: 1.0 + loss_llm_weight: 0.001 + horizon: ${horizon} + n_obs_steps: ${n_obs_steps} + n_action_steps: ${n_action_steps} + normalize_llm_loss: true +dataloader: + batch_size: 16 + num_workers: 0 + shuffle: true + pin_memory: false + persistent_workers: false +val_dataloader: + batch_size: 16 + num_workers: 0 + shuffle: true + pin_memory: false + persistent_workers: false +optimizer: + _target_: torch.optim.AdamW + lr: 0.01 + betas: + - 0.95 + - 0.999 + eps: 1.0e-08 + weight_decay: 1.0e-06 +training: + device: cuda:0 + seed: 42 + debug: false + resume: false + lr_scheduler: cosine + lr_warmup_steps: 10 + num_epochs: 20001 + gradient_accumulate_every: 8 + grad_norm_clip: 0.5 + rollout_every: 100 + checkpoint_every: 100 + val_every: 1 + sample_every: 100 + sample_max_batch: 128 + max_train_steps: null + max_val_steps: null + tqdm_interval_sec: 1.0 +logging: + project: ${task.name}-training-split-ablation + 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: 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-o4-mini-split0.05.pt + data_path2: datasets/box-close-v2-o4-mini-split0.05.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: 0.1 + dummy_normalizer: true + instructor: + _target_: llmbc.translator.instructor.metaworld_instructor.box_close_v2_instructor.BoxCloseV2Instructor +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/2026.01.26/10.26.52_train_llm_lowdim_box-close-v2/HuggingFaceTB/SmolLM2-135M-Instruct-finetuned-box-close-v2/checkpoint-6000 + 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/2026.01.27/11.52.50_train_llmbc_lowdim_box-close-v2/.hydra/hydra.yaml b/2026.01.27/11.52.50_train_llmbc_lowdim_box-close-v2/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f0effce04c3ca6df6aab0e1983574886978430a9 --- /dev/null +++ b/2026.01.27/11.52.50_train_llmbc_lowdim_box-close-v2/.hydra/hydra.yaml @@ -0,0 +1,155 @@ +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: + - training.seed=42 + job: + name: train + chdir: null + override_dirname: training.seed=42 + id: ??? + num: ??? + config_name: llmbc_box-close-v2_o4-mini_split0.05.yaml + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.2.0 + version_base: '1.2' + cwd: 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11:52:58,492][datasets][INFO] - PyTorch version 2.2.2 available. +[2026-01-27 11:52:58,494][datasets][INFO] - TensorFlow version 2.15.1 available. +[2026-01-27 11:52:58,495][datasets][INFO] - JAX version 0.4.30 available. +[2026-01-27 11:52:58,756][datasets][INFO] - PyTorch version 2.2.2 available. +[2026-01-27 11:52:58,757][datasets][INFO] - TensorFlow version 2.15.1 available. +[2026-01-27 11:52:58,760][datasets][INFO] - JAX version 0.4.30 available. +[2026-01-27 11:53:06,547][absl][INFO] - MUJOCO_GL=osmesa, attempting to import specified OpenGL backend. +[2026-01-27 11:53:06,558][absl][INFO] - MuJoCo library version is: 2.3.7 +[2026-01-27 11:53:07,104][absl][INFO] - MUJOCO_GL=osmesa, attempting to import specified OpenGL backend. +[2026-01-27 11:53:07,115][absl][INFO] - MuJoCo library version is: 2.3.7 diff --git a/2026.01.27/11.52.50_train_llmbc_lowdim_box-close-v2/wandb/debug-internal.log b/2026.01.27/11.52.50_train_llmbc_lowdim_box-close-v2/wandb/debug-internal.log new file mode 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MetaworldLowdimRunner 1/6: 0%| | 0/30 [00:00