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2025.05.08/16.19.58_train_bc_lowdim_sweep-v2/.hydra/config.yaml

@@ -0,0 +1,118 @@
+name: train_bc_lowdim
+_target_: llmbc.workspace.train_bc_lowdim_workspace.TrainBCLowdimWorkspace
+obs_dim: ${task.obs_dim}
+action_dim: ${task.action_dim}
+task_name: ${task.name}
+exp_name: default
+horizon: 1
+n_obs_steps: 1
+n_action_steps: 1
+n_latency_steps: 0
+past_action_visible: false
+policy:
+  _target_: llmbc.policy.bc_lowdim_policy.BCLowdimPolicy
+  model:
+    _target_: llmbc.model.policy.policy_mlp.PolicyMLP
+    input_size: ${eval:'${n_obs_steps}*${obs_dim}'}
+    hidden_size:
+    - 128
+    - 128
+    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}
+  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.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: 1001
+  gradient_accumulate_every: 1
+  grad_norm_clip: 0.5
+  rollout_every: 5
+  num_rollouts: 32
+  checkpoint_every: 5
+  val_every: 1
+  sample_every: 5
+  sample_max_batch: 128
+  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}
+  - ${exp_name}
+  id: null
+  group: null
+checkpoint:
+  topk:
+    monitor_key: test_mean_score
+    mode: max
+    k: 5
+    format_str: epoch={epoch:04d}-test_mean_score={test_mean_score:.3f}.ckpt
+  save_last_ckpt: true
+  save_last_snapshot: false
+multi_run:
+  run_dir: data/outputs/${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: sweep-v2
+  obs_dim: 9
+  action_dim: 4
+  env_runner:
+    _target_: llmbc.env_runner.metaworld_lowdim_runner.MetaworldLowdimRunner
+    env_name: llf-metaworld-sweep-v2
+    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
+  dataset:
+    _target_: llmbc.dataset.metaworld_lowdim_dataset.MetaworldLowdimDataset
+    data_path: datasets/sweep-v2.pt
+    data_path2: datasets/sweep-v2-general.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: 0.2
+    dummy_normalizer: true
+  instructor:
+    _target_: llmbc.translator.instructor.metaworld_instructor.sweep_v2_instructor.SweepV2Instructor

2025.05.08/16.19.58_train_bc_lowdim_sweep-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: []
+  job:
+    name: train_bc_lowdim_workspace
+    chdir: null
+    override_dirname: ''
+    id: ???
+    num: ???
+    config_name: train_bc_lowdim_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/2025.05.08/16.19.58_train_bc_lowdim_sweep-v2
+    choices:
+      task: sweep-v2
+      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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2025.05.08/16.19.58_train_bc_lowdim_sweep-v2/wandb/run-20250508_162007-ntkvh313/files/config.yaml

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+    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: metaworld
+  obs_dim: 9
+  action_dim: 4
+  dataset:
+    _target_: llmbc.dataset.metaworld_lowdim_dataset.MetaworldLowdimDataset
+    data_path: datasets/metaworld-general.pt
+    data_path2: datasets/metaworld.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: 0.2
+    dummy_normalizer: true
+llm:
+  name: meta-llama/Llama-3.2-1B-Instruct
+  model_name: Llama-3.2-1B-Instruct
+  use_quantization: false
+  load_from_checkpoint: false
+  adaptor_path: /home/chyang/workspace/LLM-BC/data/outputs/2025.03.14/13.31.49_train_llm_lowdim_sweep-v2/meta-llama/Llama-3.2-1B-Instruct-finetuned-sweep-v2/checkpoint-7100
+  use_orig_model: false
+  use_joint_mlp_projector: true
+  load_from_mlp_projector_checkpoint: false
+  mlp_projector_checkpoint_path: /home/chyang/workspace/LLM-BC/data/outputs/2025.03.14/13.31.49_train_llm_lowdim_sweep-v2/meta-llama/Llama-3.2-1B-Instruct-finetuned-sweep-v2/checkpoint-7100/mlp_projector.bin
+  max_length: 100
+  config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig
+  causal_lm_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM
+  lora_config:
+    r: 16
+    lora_alpha: 32
+    lora_dropout: 0.05
+    bias: none
+    task_type: CAUSAL_LM
+  prompter:
+    _target_: llmbc.translator.prompter.llama_prompter.LlamaPrompter
+    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}

2025.05.10/11.27.54_train_mlp_projector_metaworld/.hydra/hydra.yaml

@@ -0,0 +1,158 @@
+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:
+    - llm.load_from_checkpoint=False
+    - llm.load_from_mlp_projector_checkpoint=False
+  job:
+    name: train_mlp_projector_workspace
+    chdir: null
+    override_dirname: llm.load_from_checkpoint=False,llm.load_from_mlp_projector_checkpoint=False
+    id: ???
+    num: ???
+    config_name: train_mlp_projector_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/2025.05.10/11.27.54_train_mlp_projector_metaworld
+    choices:
+      llm: llama-3.2-1b-instruct
+      task: metaworld
+      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

2025.05.10/11.27.54_train_mlp_projector_metaworld/.hydra/overrides.yaml

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+- llm.load_from_mlp_projector_checkpoint=False

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+    value: default
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+        adaptor_path: /home/chyang/workspace/LLM-BC/data/outputs/2025.03.14/13.31.49_train_llm_lowdim_sweep-v2/meta-llama/Llama-3.2-1B-Instruct-finetuned-sweep-v2/checkpoint-7100
+        causal_lm_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM
+        config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig
+        hydra:
+            job:
+                override_dirname: meta-llama/Llama-3.2-1B-Instruct
+            run:
+                dir: data/outputs/2025.05.10/11.27.54_meta-llama/Llama-3.2-1B-Instruct
+        load_from_checkpoint: false
+        load_from_mlp_projector_checkpoint: false
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+            bias: none
+            lora_alpha: 32
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+            task_type: CAUSAL_LM
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+        model_name: Llama-3.2-1B-Instruct
+        name: meta-llama/Llama-3.2-1B-Instruct
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+            _target_: llmbc.translator.prompter.llama_prompter.LlamaPrompter
+            use_joint_mlp_projector: true
+        use_joint_mlp_projector: true
+        use_orig_model: false
+        use_quantization: false
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+    value:
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+        action_dim: 4
+        cfg:
+            adaptor_path: /home/chyang/workspace/LLM-BC/data/outputs/2025.03.14/13.31.49_train_llm_lowdim_sweep-v2/meta-llama/Llama-3.2-1B-Instruct-finetuned-sweep-v2/checkpoint-7100
+            causal_lm_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaForCausalLM
+            config_target: llmbc.model.llm.llama_lowdim_model.LowdimLlamaConfig
+            hydra:
+                job:
+                    override_dirname: meta-llama/Llama-3.2-1B-Instruct
+                run:
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+            load_from_checkpoint: false
+            load_from_mlp_projector_checkpoint: false
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+            model_name: Llama-3.2-1B-Instruct
+            name: meta-llama/Llama-3.2-1B-Instruct
+            prompter:
+                _target_: llmbc.translator.prompter.llama_prompter.LlamaPrompter
+                use_joint_mlp_projector: true
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+        wandb_name_base: 2025.05.10-11.27.57_train_mlp_projector_metaworld
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+past_action_visible:
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+        dataset:
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+            data_path: datasets/metaworld-general.pt
+            data_path2: datasets/metaworld.pt
+            dummy_normalizer: true
+            horizon: 1
+            obs_eef_target: true
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+            val_ratio: 0.2
+        name: metaworld
+        obs_dim: 9
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+training:
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+        debug: false
+        device: cuda
+        enable_normalizer: true
+        grad_norm_clip: 1
+        gradient_accumulate_every: 64
+        lr_scheduler: cosine
+        lr_warmup_steps: 10
+        max_train_steps: null
+        max_val_steps: null
+        num_epochs: 20
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+        sample_every: 1
+        sample_max_batch: 128
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