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true - true - true - true names: - robocasa_state_0 - robocasa_state_1 - robocasa_state_2 - robocasa_state_3 - robocasa_state_4 - robocasa_state_5 - robocasa_state_6 - robocasa_state_7 - robocasa_state_8 - robocasa_state_9 - robocasa_state_10 - robocasa_state_11 - robocasa_state_12 - robocasa_state_13 - robocasa_state_14 - robocasa_state_15 count: - 17758044.0 repo_ids: - task_2_demo_150 norm_mode: mean_std parallelism: data_parallel_replicate_degree: 1 enable_compiled_autograd: false data_parallel_shard_degree: -1 fsdp_reshard_after_forward: default context_parallel_config: degree: 1 attention_type: ulysses load_balancer: ulysses head_stride: 1 tensor_parallel_config: degree: 1 enable_async: false data_parallel_config: name: fsdp param_dtype: null reduce_dtype: float32 num_replicas: null shard_degree: null wrapping_strategy: full prefetch_factor: 0 context_parallel_rotate_method: allgather seed: 6198 epoch: null dry_run: false ft_llm: false ft_vit: false ft_connector: false ft_action_expert: true ft_embedding: lm_head optimizer: name: adamw learning_rate: 0.0001 weight_decay: 0.01 betas: - 0.9 - 0.95 eps: 1.0e-05 connector_learning_rate: 5.0e-06 vit_learning_rate: 5.0e-06 llm_learning_rate: 1.0e-05 frame_selector_learning_rate: 0.0001 temporal_token_scorer_learning_rate: 0.0001 action_expert_learning_rate: 0.0001 connector_weight_decay: 0.0 vit_weight_decay: 0.0 llm_weight_decay: 0.0 frame_selector_weight_decay: 0.01 temporal_token_scorer_weight_decay: 0.01 action_expert_weight_decay: 0.0 connector_betas: - 0.9 - 0.95 vit_betas: - 0.9 - 0.95 llm_betas: - 0.9 - 0.95 frame_selector_betas: - 0.9 - 0.95 temporal_token_scorer_betas: - 0.9 - 0.95 action_expert_betas: - 0.9 - 0.95 connector_eps: 1.0e-06 vit_eps: 1.0e-06 llm_eps: 1.0e-06 frame_selector_eps: 1.0e-06 temporal_token_scorer_eps: 1.0e-06 action_expert_eps: 1.0e-06 metrics_log_interval: -1 scheduler: name: multimodal units: steps t_warmup: 100 t_max: null alpha_f: 0.1 connector_t_warmup: 200 vit_t_warmup: 200 llm_t_warmup: 200 frame_selector_t_warmup: 200 temporal_token_scorer_t_warmup: 200 action_expert_t_warmup: 200 grad_clip_warmup_steps: null grad_clip_warmup_factor: null warmup_min_lr: 0.0 data: dataset: null mixture: null root_size_mixture: null kwargs_mixture: - rate: 1.0 datasets: - dataset_name: lerobot:task_2_demo_150 sampling_rate: null root_size_factor: null message_weight: null override_p_high_res: null name: lerobot:robocasa_padding split: train seed: 50189 pad: to_max sequence_length: 1024 max_text_seq_len: null crop_mode: null shuffle: true start_index: 0 packing: null enable_variable_sized_token_pooling: true num_workers: 8 drop_last: true pin_memory: false prefetch_factor: 4 persistent_workers: false timeout: 0 skip_overlong_examples: true skip_missing_vlm_examples: false vlm_data: null vlm_loader_rate: null action_data: null action_loader_rate: null action_batch_interval: 1 restore_dataloader: true fast_forward_batches: null evaluators: [] eval_interval: 2000 inf_evaluators: [] inf_eval_interval: 2000 save_inloop_predictions: true eval_on_last_step: true eval_on_load: false eval_on: [] save_folder: /work/hdd/bfbo/xzhang42/molmoact2-fixed reset_parameters: false checkpointer_config: save_thread_count: null load_thread_count: null pre_download: false work_dir: null throttle_uploads: false canceled_check_interval: 50 save_interval: 1000 save_at: null save_final_optim: true save_num_checkpoints_to_keep: -1 save_final_unsharded_checkpoint: false save_merged_lora_checkpoint: true save_interval_ephemeral: null save_overwrite: true load_path: null checkpoint_load_strategy: auto reset_optimizer_state: false reset_trainer_state: false initial_model_checkpoint: /work/nvme/bfbo/xzhang42/vla-adaptation/checkpoints/molmoact2/droid allow_resume: true max_duration: 4001 global_train_batch_size: 64 device_train_microbatch_size: 2 max_grad_norm: 1.0 multi_component_grad_norm: true batch_divisor: global_batch max_grad_norm_ratio: null precision: amp_bf16 wandb: project: finetune-molmoact2 entity: '' group: null name: molmoact2-task2-demo150-fixed tags: - watching log_artifacts: false rank_zero_only: true log_interval: 20 allow_resume: true finish_on_sigterm: true beaker_log_interval: 50 speed_monitor: window_size: 20 gpu_flops_available: null console_log_interval: 20 enable_timing_logs: false gen1_gc_interval: 1 compile: mode: default fullgraph: false dynamic: false backend: inductor activation_checkpointing: true fsdp: fsdp2: true precision: pure use_orig_params: true wrapping_strategy: null sharding_strategy: FULL_SHARD hybrid_sharding_num_model_replicas: null softmax_auxiliary_loss: true softmax_auxiliary_loss_scale: 0.0001 response_logits_only: true saliency_score_loss_wt: null frame_score_loss_wt: null frame_score_loss_type: mse frame_score_loss_target: 0.7 time_limit: null extra_steps_after_cancel: 0 python_profiling: false torch_profiling: false stop_at: 4001 stop_after: null fused_loss: false compile_loss: true runtime_data: args: experiments/launch_scripts/train_lerobot.py /work/nvme/bfbo/xzhang42/vla-adaptation/checkpoints/molmoact2/droid robocasa_padding --frame_loading_backend av --ft_vlm false --ft_action_expert true --norm_mode mean_std --seq_len 1024 --global_batch_size 64 --device_batch_size 2 --num_workers 8 run_name=molmoact2-task2-demo150-fixed save_folder=/work/hdd/bfbo/xzhang42/molmoact2-fixed max_duration=4001 stop_at=4001 save_interval=1000 save_num_checkpoints_to_keep=-1 hostname: gh051.hsn.cm.delta.internal.ncsa.edu date: 08/15/2026, 01:11 world_size: 1 resuming_from: null beaker_experiment_id: null beaker_experiment_url: null wandb_id: kl2yqnzm wandb_url: https://wandb.ai/polinaz-georgia-institute-of-technology/finetune-molmoact2/runs/kl2yqnzm distributed_eval: true