| run_name: molmoact2-task-2-demo-150-bootstrap |
| model: |
| model_name: molmoact2 |
| data_formatter: |
| prompt_templates: uber_model_v2 |
| message_format: qwen3 |
| system_prompt: demo_or_style_v2 |
| always_start_with_space: false |
| default_inference_len: 65 |
| select_answer: best |
| debug: false |
| image_last: false |
| format_message_list: null |
| p_one_message: 0.0 |
| eval_system_prompt_mapping: null |
| p_choice_content_in_mc: 1.0 |
| template_video_mc_questions: true |
| pointing_format: html-v2 |
| points_decimal_places: 1 |
| use_seperate_non_pointing_qa_style: false |
| timestamp_mode: 50-percent-seconds |
| output_timestamp_mode: seconds |
| seconds_decimal_places: 1 |
| p_multi_point_all_image: 0.5 |
| add_setup_tokens: true |
| add_control_tokens: true |
| use_seperate_count_without_pointing_style: false |
| sample_random_initial_point: true |
| llm: |
| d_model: 2560 |
| n_heads: 32 |
| n_kv_heads: 8 |
| head_dim: 128 |
| qkv_bias: false |
| clip_qkv: null |
| n_layers: 36 |
| mlp_ratio: 4 |
| mlp_hidden_size: 19456 |
| activation_type: swiglu |
| block_type: sequential |
| rope: true |
| rope_full_precision: true |
| rope_theta: 5000000.0 |
| rope_type: default |
| rope_factor: null |
| rope_high_freq_factor: null |
| rope_low_freq_factor: null |
| rope_original_max_position_embeddings: null |
| rope_attention_factor: null |
| rope_beta_fast: null |
| rope_beta_slow: null |
| rope_mscale: null |
| rope_mscale_all_dim: null |
| rope_truncate: null |
| attention_type: sdpa |
| full_attention_layers: null |
| sliding_attention_rope_scaling: false |
| float32_attention: true |
| attention_dropout: 0.0 |
| attention_layer_norm: true |
| attention_layer_norm_type: qwen3 |
| residual_dropout: 0.1 |
| response_residual_dropout: 0.0 |
| layer_norm_type: rms |
| layer_norm_with_affine: true |
| layer_norm_eps: 1.0e-06 |
| attention_layer_norm_with_affine: true |
| max_sequence_length: 16384 |
| max_position_embeddings: null |
| include_bias: false |
| bias_for_layer_norm: null |
| norm_after: false |
| moe_num_experts: 8 |
| moe_top_k: 2 |
| moe_mlp_impl: sparse |
| moe_log_expert_assignment: false |
| moe_shared_expert: false |
| moe_lbl_in_fp32: false |
| moe_interleave: false |
| moe_loss_weight: 0.1 |
| moe_zloss_weight: null |
| moe_dropless: true |
| moe_capacity_factor: 1.25 |
| embedding_dropout: 0.0 |
| scale_logits: false |
| vocab_size: 151669 |
| additional_vocab_size: 128 |
| weight_tying: false |
| embedding_size: 155648 |
| use_position_ids: true |
| tokenizer: |
| identifier: Qwen/Qwen3-4B |
| tokenizer_dir: null |
| new_tokens_for_both_input_and_output: |
| - <setup_start> |
| - <setup_end> |
| - <control_start> |
| - <control_end> |
| - <state_start> |
| - <state_end> |
| - <state_0> |
| - <state_1> |
| - <state_2> |
| - <state_3> |
| - <state_4> |
| - <state_5> |
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| - <state_7> |
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| - <action_output> |
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| - <action_end> |
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| - <action_1970> |
| - <action_1971> |
| - <action_1972> |
| - <action_1973> |
| - <action_1974> |
| - <action_1975> |
| - <action_1976> |
| - <action_1977> |
| - <action_1978> |
| - <action_1979> |
| - <action_1980> |
| - <action_1981> |
| - <action_1982> |
| - <action_1983> |
| - <action_1984> |
| - <action_1985> |
| - <action_1986> |
| - <action_1987> |
| - <action_1988> |
| - <action_1989> |
| - <action_1990> |
| - <action_1991> |
| - <action_1992> |
| - <action_1993> |
| - <action_1994> |
| - <action_1995> |
| - <action_1996> |
| - <action_1997> |
| - <action_1998> |
| - <action_1999> |
| - <action_2000> |
| - <action_2001> |
| - <action_2002> |
| - <action_2003> |
| - <action_2004> |
| - <action_2005> |
| - <action_2006> |
| - <action_2007> |
| - <action_2008> |
| - <action_2009> |
| - <action_2010> |
| - <action_2011> |
| - <action_2012> |
| - <action_2013> |
| - <action_2014> |
| - <action_2015> |
| - <action_2016> |
| - <action_2017> |
| - <action_2018> |
| - <action_2019> |
| - <action_2020> |
| - <action_2021> |
| - <action_2022> |
| - <action_2023> |
| - <action_2024> |
| - <action_2025> |
| - <action_2026> |
| - <action_2027> |
| - <action_2028> |
| - <action_2029> |
| - <action_2030> |
| - <action_2031> |
| - <action_2032> |
| - <action_2033> |
| - <action_2034> |
| - <action_2035> |
| - <action_2036> |
| - <action_2037> |
| - <action_2038> |
| - <action_2039> |
| - <action_2040> |
| - <action_2041> |
| - <action_2042> |
| - <action_2043> |
| - <action_2044> |
| - <action_2045> |
| - <action_2046> |
| - <action_2047> |
| - <depth_output> |
| - <depth_start> |
| - <depth_end> |
| - <depth_0> |
| - <depth_1> |
| - <depth_2> |
| - <depth_3> |
| - <depth_4> |
| - <depth_5> |
| - <depth_6> |
| - <depth_7> |
| - <depth_8> |
| - <depth_9> |
| - <depth_10> |
| - <depth_11> |
| - <depth_12> |
| - <depth_13> |
| - <depth_14> |
| - <depth_15> |
| - <depth_16> |
| - <depth_17> |
| - <depth_18> |
| - <depth_19> |
| - <depth_20> |
| - <depth_21> |
| - <depth_22> |
| - <depth_23> |
| - <depth_24> |
| - <depth_25> |
| - <depth_26> |
| - <depth_27> |
| - <depth_28> |
| - <depth_29> |
| - <depth_30> |
| - <depth_31> |
| - <depth_32> |
| - <depth_33> |
| - <depth_34> |
| - <depth_35> |
| - <depth_36> |
| - <depth_37> |
| - <depth_38> |
| - <depth_39> |
| - <depth_40> |
| - <depth_41> |
| - <depth_42> |
| - <depth_43> |
| - <depth_44> |
| - <depth_45> |
| - <depth_46> |
| - <depth_47> |
| - <depth_48> |
| - <depth_49> |
| - <depth_50> |
| - <depth_51> |
| - <depth_52> |
| - <depth_53> |
| - <depth_54> |
| - <depth_55> |
| - <depth_56> |
| - <depth_57> |
| - <depth_58> |
| - <depth_59> |
| - <depth_60> |
| - <depth_61> |
| - <depth_62> |
| - <depth_63> |
| - <depth_64> |
| - <depth_65> |
| - <depth_66> |
| - <depth_67> |
| - <depth_68> |
| - <depth_69> |
| - <depth_70> |
| - <depth_71> |
| - <depth_72> |
| - <depth_73> |
| - <depth_74> |
| - <depth_75> |
| - <depth_76> |
| - <depth_77> |
| - <depth_78> |
| - <depth_79> |
| - <depth_80> |
| - <depth_81> |
| - <depth_82> |
| - <depth_83> |
| - <depth_84> |
| - <depth_85> |
| - <depth_86> |
| - <depth_87> |
| - <depth_88> |
| - <depth_89> |
| - <depth_90> |
| - <depth_91> |
| - <depth_92> |
| - <depth_93> |
| - <depth_94> |
| - <depth_95> |
| - <depth_96> |
| - <depth_97> |
| - <depth_98> |
| - <depth_99> |
| - <depth_100> |
| - <depth_101> |
| - <depth_102> |
| - <depth_103> |
| - <depth_104> |
| - <depth_105> |
| - <depth_106> |
| - <depth_107> |
| - <depth_108> |
| - <depth_109> |
| - <depth_110> |
| - <depth_111> |
| - <depth_112> |
| - <depth_113> |
| - <depth_114> |
| - <depth_115> |
| - <depth_116> |
| - <depth_117> |
| - <depth_118> |
| - <depth_119> |
| - <depth_120> |
| - <depth_121> |
| - <depth_122> |
| - <depth_123> |
| - <depth_124> |
| - <depth_125> |
| - <depth_126> |
| - <depth_127> |
| init_path: null |
| init_incremental: null |
| new_embedding_init_range: 0.02 |
| initializer_range: 0.02 |
| normalize_input_embeds: false |
| activation_checkpoint: whole_layer |
| compile: blocks |
| fix_pad_tokenizer: true |
| init_std: 0.02 |
| init_fn: normal |
| init_cutoff_factor: null |
| vision_backbone: |
| vit: |
| image_model_type: siglip |
| image_default_input_size: |
| - 378 |
| - 378 |
| image_patch_size: 14 |
| image_pos_patch_size: 14 |
| image_emb_dim: 1152 |
| image_num_heads: 16 |
| image_num_key_value_heads: 16 |
| image_num_layers: 27 |
| image_head_dim: 72 |
| image_mlp_dim: 4304 |
| image_mlp_activations: gelu_pytorch_tanh |
| image_dropout_rate: 0.0 |
| image_num_pos: 729 |
| image_norm_eps: 1.0e-06 |
| attention_dropout: 0.0 |
| residual_dropout: 0.0 |
| initializer_range: 0.02 |
| float32_attention: true |
| attention_type: sdpa |
| sdpa_backend: all |
| activation_checkpointing: true |
| init_path: null |
| resize_mode: siglip |
| pad_value: 0.0 |
| normalize: siglip |
| image_pooling_2d: attention_meanq |
| pooling_attention_mask: true |
| image_projector: mlp |
| image_padding_embed: null |
| vit_layers: |
| - -3 |
| - -9 |
| skip_unused_layers: true |
| use_deepstack: false |
| share_connector: false |
| image_feature_dropout: 0.0 |
| connector_activation_checkpointing: true |
| compile_vit: blocks |
| pool_size_embeds: null |
| compile_connector: dynamic |
| normalize_on_gpu: true |
| use_image_augmentation: full |
| mm_preprocessor: |
| max_answer_len: null |
| last_message_loss_only: false |
| max_text_tokens: null |
| loss_token_weighting: root_subsegments_root_tokens |
| max_frames: 8 |
| frame_sample_mode: uniform_last_frame |
| candidate_sampling_fps: |
| - 0.25 |
| - 0.5 |
| - 1.0 |
| - 2.0 |
| - 4.0 |
| - 6.0 |
| - 8.0 |
| - 16.0 |
| cache_videos: true |
| loading_method: av |
| max_fps: |
| - 2.0 |
| time_sampling: true |
| time_mode: per-frame-compact |
| subtitle_mode: frame_1 |
| max_crops: 1 |
| overlap_margins: |
| - 4.0 |
| - 4.0 |
| use_col_tokens: false |
| periodic_high_res_frame: null |
| high_low_train_mode: local_rnd |
| high_res_frame_sample_options: null |
| periodic_sample_rate_training: |
| 4: |
| - 0.9 |
| - 0.03 |
| - 0.03 |
| - 0.04 |
| 3: |
| - 0.6 |
| - 0.2 |
| - 0.2 |
| skip_low_res_in_high_low: false |
| pooling_w: 3 |
| pooling_h: 3 |
| high_res_pooling_w: null |
| high_res_pooling_h: null |
| query_based_resolution_selection: false |
| max_queries_for_resolution_selection: 8 |
| use_frame_special_tokens: true |
| frame_sel_clip_identifier: google/siglip2-so400m-patch14-384 |
| image_padding_mask: false |
| max_subtitle_tokens: null |
| image: |
| crop_mode: resize |
| use_col_tokens: true |
| max_crops: 8 |
| high_res_max_crops: 24 |
| p_high_res: 0.0 |
| pooling_w: 2 |
| pooling_h: 2 |
| overlap_margins: |
| - 4 |
| - 4 |
| max_images: 5 |
| max_multi_image_crops: 8 |
| multi_image_pooling_w: 2 |
| multi_image_pooling_h: 2 |
| use_single_crop_col_tokens: false |
| use_single_crop_start_token: true |
| topk: null |
| prune_from_frame: 0 |
| bi_directional_attn: null |
| shared_low_high_embedding: true |
| debug: null |
| cp_enabled: false |
| apply_cp_to_vision_backbone: false |
| lora_enable: false |
| lora_rank: 64 |
| lora_alpha: 16 |
| lora_dropout: 0.05 |
| lora_bias: none |
| max_action_dim: 12 |
| action_horizon: 15 |
| n_action_steps: null |
| n_obs_steps: 1 |
| action_expert: |
| max_horizon: 15 |
| max_action_dim: 12 |
| hidden_size: 768 |
| num_layers: 36 |
| num_heads: 8 |
| mlp_ratio: 4.0 |
| ffn_multiple_of: 256 |
| timestep_embed_dim: 256 |
| dropout: 0.0 |
| attn_dropout: 0.0 |
| context_layer_norm: true |
| qk_norm: true |
| qk_norm_eps: 1.0e-06 |
| rope: true |
| rope_on_cross_attention: false |
| causal_attn: false |
| compile: blocks |
| add_action_expert: true |
| action_expert_detach_vlm: false |
| action_expert_depth_gate: false |
| action_expert_depth_gate_per_layer: false |
| action_expert_depth_gate_init_bias: -4.0 |
| action_format: continuous |
| state_format: discrete |
| flow_matching_num_steps: 10 |
| flow_matching_cutoff: 1.0 |
| flow_matching_time_offset: 0.001 |
| flow_matching_time_scale: 0.999 |
| flow_matching_beta_alpha: 1.0 |
| flow_matching_beta_beta: 1.5 |
| num_flow_timesteps: 1 |
| mask_action_chunk_padding: true |
| mask_action_dim_padding: true |
| enable_depth_reasoning: false |
| num_depth_codes: 100 |
| depth_code_input_noise_rate: 0.0 |
| robot_processor: |
| metadata_by_tag: |
| robocasa_padding: |
| action_key: action |
| state_keys: |
| - observation.state |
| camera_keys: |
| - observation.images.robot0_eye_in_hand |
| - observation.images.robot0_agentview_left |
| - observation.images.robot0_agentview_right |
| normalize_gripper: false |
| action_dim: 12 |
| action_horizon: 15 |
| n_action_steps: 15 |
| setup_type: single panda omron robot in robocasa |
| control_mode: robocasa panda-omron action |
| action_stats: |
| min: |
| - -2.781099557876587 |
| - -1.6407934427261353 |
| - -2.7493984699249268 |
| - -2.9508564472198486 |
| - -2.7826988697052 |
| - 0.17983438074588776 |
| - -2.901715040206909 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| max: |
| - 2.7449073791503906 |
| - 1.6668277978897095 |
| - 2.7546653747558594 |
| - -0.1936211884021759 |
| - 2.7786083221435547 |
| - 4.402013778686523 |
| - 2.90183162689209 |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| mean: |
| - 0.010418229819396566 |
| - 0.28233935319840636 |
| - -0.015346633420959944 |
| - -2.0060878874674715 |
| - -0.029448930257783886 |
| - 2.350942437431684 |
| - 0.09820869537671756 |
| - 0.4390250813949694 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| std: |
| - 0.3170372143097277 |
| - 0.4863630998896905 |
| - 0.27477375809610444 |
| - 0.48806966037647037 |
| - 0.528105567983804 |
| - 0.4517944470893175 |
| - 0.7430287051319469 |
| - 0.44171628153080567 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| q01: |
| - -0.2879620949867506 |
| - -0.5702219304684566 |
| - -0.31101638810433413 |
| - -2.5622234922052725 |
| - -0.5101021838814974 |
| - 1.7376836093987995 |
| - -0.5227783063045004 |
| - 8.3274762776141e-05 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| q99: |
| - 0.32190872731317344 |
| - 0.7405054873177153 |
| - 0.2737893247287367 |
| - -1.5075067942029405 |
| - 0.4329542718063284 |
| - 2.804162424656418 |
| - 0.7128911284154664 |
| - 0.8917437724235555 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| q10: |
| - -0.2014563967491066 |
| - -0.1953558605308627 |
| - -0.20948523622127932 |
| - -2.402722104277799 |
| - -0.3766226599271436 |
| - 1.9723782378158212 |
| - -0.35517365133256956 |
| - 0.006328163222238114 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| q90: |
| - 0.226670788411882 |
| - 0.6598602025239771 |
| - 0.17603345191458397 |
| - -1.6119685483207011 |
| - 0.3092560943750579 |
| - 2.7008573894589345 |
| - 0.5521874183259908 |
| - 0.8737818408325101 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| mask: |
| - true |
| - true |
| - true |
| - true |
| - true |
| - true |
| - true |
| - false |
| - true |
| - true |
| - true |
| - true |
| names: |
| - robocasa_action_0 |
| - robocasa_action_1 |
| - robocasa_action_2 |
| - robocasa_action_3 |
| - robocasa_action_4 |
| - robocasa_action_5 |
| - robocasa_action_6 |
| - robocasa_action_7 |
| - robocasa_action_8 |
| - robocasa_action_9 |
| - robocasa_action_10 |
| - robocasa_action_11 |
| count: |
| - 17758044.0 |
| state_stats: |
| min: |
| - -2.6536705493927 |
| - -1.6156227588653564 |
| - -2.6781487464904785 |
| - -2.9409868717193604 |
| - -2.6705946922302246 |
| - 0.24893812835216522 |
| - -2.757359266281128 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| max: |
| - 2.6687583923339844 |
| - 1.5840554237365723 |
| - 2.666306734085083 |
| - -0.29779934883117676 |
| - 2.6624162197113037 |
| - 4.272191524505615 |
| - 2.755643367767334 |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| mean: |
| - 0.011081824850861873 |
| - 0.27280296447760194 |
| - -0.01550719225628586 |
| - -2.01647228106023 |
| - -0.029620826332964655 |
| - 2.3483866081585507 |
| - 0.09636965416886735 |
| - 0.3927326432557614 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| std: |
| - 0.31291266868924655 |
| - 0.4934370267472678 |
| - 0.2728791258795487 |
| - 0.48437020229024425 |
| - 0.521435680610052 |
| - 0.44821751701382595 |
| - 0.7352730961005634 |
| - 0.4070640216658998 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| q01: |
| - -0.2793009809782748 |
| - -0.5873924424866738 |
| - -0.3058546817065916 |
| - -2.5639055042030354 |
| - -0.491431808753978 |
| - 1.7381500993283228 |
| - -0.5086147192989775 |
| - 1.6414552399718753e-05 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| q99: |
| - 0.3148177895778054 |
| - 0.7235689468221655 |
| - 0.2683897323238184 |
| - -1.530780071911146 |
| - 0.415067150345451 |
| - 2.7863710743039887 |
| - 0.6952765173061115 |
| - 0.7968550629755542 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| q10: |
| - -0.1994457930505723 |
| - -0.2381088441987148 |
| - -0.2103897594636481 |
| - -2.421918892949847 |
| - -0.3725951094142233 |
| - 1.961410109454104 |
| - -0.35782982482940473 |
| - 0.005005809072924616 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| q90: |
| - 0.22605189533019984 |
| - 0.6543162155730768 |
| - 0.17689204963635444 |
| - -1.6243810394635305 |
| - 0.30497772553178637 |
| - 2.696376125344824 |
| - 0.5494813775877777 |
| - 0.7734412581580631 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| mask: |
| - true |
| - true |
| - true |
| - true |
| - true |
| - true |
| - true |
| - false |
| - true |
| - true |
| - true |
| - true |
| - 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-bootstrapping |
| 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: 6000 |
| 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-task-2-demo-150-bootstrap |
| 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: 6000 |
| 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-task-2-demo-150-bootstrap save_folder=/work/hdd/bfbo/xzhang42/molmoact2-bootstrapping |
| max_duration=6000 stop_at=6000 save_interval=1000 save_num_checkpoints_to_keep=-1 |
| hostname: gh068.hsn.cm.delta.internal.ncsa.edu |
| date: 08/11/2026, 23:20 |
| world_size: 2 |
| resuming_from: null |
| beaker_experiment_id: null |
| beaker_experiment_url: null |
| wandb_id: i90c61md |
| wandb_url: https://wandb.ai/polinaz-georgia-institute-of-technology/finetune-molmoact2/runs/i90c61md |
| distributed_eval: true |
|
|
