upload model directory

.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+wandb/wandb/offline-run-20260122_174428-iq846y1f/run-iq846y1f.wandb filter=lfs diff=lfs merge=lfs -text

checkpoints/steps_20000_pytorch_model.pt

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+size 9803390475

checkpoints/steps_25000_pytorch_model.pt

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+size 9803390475

checkpoints/steps_30000_pytorch_model.pt

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+oid sha256:721aad93db78a863b109ede9b7de1d03e2f7977ce9478c8e3e3e771c987d19de
+size 9803390475

config.yaml

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+datasets:
+  vla_data:
+    data_mix: robotwin
+    data_root_dir: /inspire/ssd/project/embodied-basic-model/zhangjianing-253108140206/DATASET/robotwin_lerobot
+    dataset_py: lerobot_datasets
+    image_size:
+    - 448
+    - 448
+    per_device_batch_size: 8
+    video_backend: torchvision_av
+framework:
+  action_model:
+    action_dim: 14
+    action_hidden_dim: 2560
+    action_model_type: DiT-B
+    future_action_window_size: 15
+    past_action_window_size: 0
+  name: QwenOFT
+  qwenvl:
+    base_vlm: /inspire/qb-ilm/project/embodied-basic-model/zhangjianing-253108140206/model/cubev0-200000-Qwen3-VL
+output_dir: /inspire/qb-ilm/project/embodied-basic-model/zhangjianing-253108140206/checkpoints/cubev0-robotwin-finetune-oft/cubev0_robotwin_200000_groot
+run_id: cubev0_robotwin_200000_groot
+run_root_dir: /inspire/qb-ilm/project/embodied-basic-model/zhangjianing-253108140206/checkpoints/cubev0-robotwin-finetune-oft
+seed: 42
+trainer:
+  eval_interval: 1000
+  freeze_modules: true
+  gradient_accumulation_steps: 1
+  gradient_clipping: 1.0
+  is_resume: false
+  learning_rate:
+    action_model: 0.0001
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-05
+  logging_frequency: 50
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 30000
+  num_warmup_steps: 100
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  save_interval: 5000
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07
+wandb_entity: zaleni-tongji-university
+wandb_project: cubev0-robotwin-finetune

dataset_statistics.json

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final_model/pytorch_model.pt

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+size 9803381515

run_robotwin_train.sh

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+
+
+# export NCCL_SOCKET_IFNAME=bond0
+# export NCCL_IB_HCA=mlx5_2,mlx5_3
+
+# used for check save when communication
+export NCCL_BLOCKING_WAIT=1
+export NCCL_ASYNC_ERROR_HANDLING=1
+# export NCCL_TIMEOUT=1000  # timeout set to 1 hour (unit: seconds)
+# export NCCL_SOCKET_TIMEOUT_MS=360000
+# export NCCL_P2P_DISABLE=1
+# export NCCL_DEBUG=INFO
+# export NCCL_DEBUG_SUBSYS=ALL
+# export TORCH_DISTRIBUTED_DEBUG=DETAIL
+# export CUDA_VISIBLE_DEVICES=1,2,3,5
+###########################################################################################
+# === Please modify the following paths according to your environment ===
+Framework_name=QwenOFT
+freeze_module_list=''
+base_vlm=/inspire/qb-ilm/project/embodied-basic-model/zhangjianing-253108140206/model/cubev0-200000-Qwen3-VL
+config_yaml=./examples/Robotwin/train_files/starvla_cotrain_robotwin.yaml
+robotwin_data_root=/inspire/ssd/project/embodied-basic-model/zhangjianing-253108140206/DATASET/robotwin_lerobot
+run_root_dir=/inspire/qb-ilm/project/embodied-basic-model/zhangjianing-253108140206/checkpoints/cubev0-robotwin-finetune-oft
+data_mix=robotwin
+run_id=cubev0_${data_mix}_200000_groot
+# === End of environment variable configuration ===
+###########################################################################################
+
+#batchsize=24
+export WANDB_MODE=offline
+export WANDB_DIR=/inspire/ssd/project/embodied-basic-model/zhangjianing-253108140206/CUBEv0/wandb
+
+output_dir=${run_root_dir}/${run_id}
+mkdir -p ${output_dir}
+# mv this script to the output dir
+cp $0 ${output_dir}/
+#这里的数据没有put_object_dustbin和scan objects 改了mixtures
+#bash examples/Robotwin/train_files/run_robotwin_train.sh
+accelerate launch \
+  --config_file starVLA/config/deepseeds/deepspeed_zero2.yaml \
+  --num_processes 4 \
+  starVLA/training/train_starvla.py \
+  --config_yaml ${config_yaml} \
+  --framework.name ${Framework_name} \
+  --framework.qwenvl.base_vlm ${base_vlm} \
+  --datasets.vla_data.per_device_batch_size 8 \
+  --datasets.vla_data.data_mix ${data_mix} \
+  --datasets.vla_data.data_root_dir ${robotwin_data_root}\
+  --trainer.freeze_modules ${freeze_module_list} \
+  --trainer.max_train_steps 30000 \
+  --trainer.save_interval 5000 \
+  --trainer.logging_frequency 50 \
+  --trainer.eval_interval 1000 \
+  --run_root_dir ${run_root_dir} \
+  --run_id ${run_id} \
+  --wandb_project cubev0-robotwin-finetune \
+  --wandb_entity zaleni-tongji-university \
+  # --is_debug True
+
+
+
+##### Multi-Server Multi-GPU training script #####
+  # accelerate launch \
+  #   --config_file starVLA/config/deepseeds/deepspeed_zero2.yaml \
+  #   --main_process_ip $MASTER_ADDR \
+  #   --main_process_port $MASTER_PORT \
+  #   --machine_rank $SLURM_PROCID \
+  #   --num_machines $SLURM_NNODES \
+  #   --num_processes=${TOTAL_GPUS} \
+  #   starVLA/training/train_starvla.py \
+  #   --config_yaml ${config_yaml} \
+  #   --framework.name ${Framework_name} \
+  #   --framework.qwenvl.base_vlm ${base_vlm} \
+  #   --run_root_dir ${run_root_dir} \
+  #   --run_id ${run_id} \
+  #   --wandb_project your_project \
+  #   --wandb_entity your_name
+##### Multi-Server Multi-GPU training script #####

summary.jsonl

@@ -0,0 +1,6 @@
+{"steps": 5000}
+{"steps": 10000}
+{"steps": 15000}
+{"steps": 20000}
+{"steps": 25000}
+{"steps": 30000}

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wandb/wandb/offline-run-20260122_174219-5qd5oju4/files/requirements.txt

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+starVLA==1.0.1
+nvidia-nvtx-cu12==12.8.55
+nvidia-cusparse-cu12==12.5.7.53
+mpmath==1.3.0
+fvcore==0.1.5.post20221221
+nvidia-curand-cu12==10.3.9.55
+nvidia-cufile-cu12==1.13.0.11
+matplotlib==3.10.8
+accelerate==1.5.2
+zope.event==6.1
+qwen-vl-utils==0.0.14
+markdown-it-py==4.0.0
+fastparquet==2024.11.0
+scikit-image==0.25.2
+fsspec==2026.1.0
+pillow==12.1.0
+tiktoken==0.12.0
+triton==3.3.1
+rich==14.2.0
+starVLA==1.0.1
+h11==0.16.0
+urllib3==2.6.3
+certifi==2026.1.4
+six==1.17.0
+mdurl==0.1.2
+platformdirs==4.5.1
+torchvision==0.22.1+cu128
+wandb==0.24.0
+pyparsing==3.3.2
+nvidia-cuda-runtime-cu12==12.8.57
+greenlet==3.3.0
+numpydantic==1.6.9
+sympy==1.14.0
+nvidia-cudnn-cu12==9.7.1.26
+psutil==7.2.1
+albucore==0.0.17
+MarkupSafe==3.0.3
+python-dateutil==2.9.0.post0
+cycler==0.12.1
+zipp==3.23.0
+msgpack==1.1.2
+pip==25.3
+grpcio==1.76.0
+tokenizers==0.22.2
+docstring_parser==0.17.0
+typeguard==4.4.4
+iopath==0.1.10
+ImageIO==2.37.2
+nvidia-nvjitlink-cu12==12.8.61
+nvidia-cublas-cu12==12.8.3.14
+Markdown==3.10
+httpcore==1.0.9
+lazy_loader==0.4
+pydantic_core==2.27.2
+wheel==0.45.1
+gevent==25.9.1
+transformers-stream-generator==0.0.4
+omegaconf==2.3.0
+packaging==25.0
+safetensors==0.7.0
+pandas==2.3.3
+hf-xet==1.2.0
+yacs==0.1.8
+eva-decord==0.6.1
+click==8.3.1
+tensorboard==2.20.0
+numpy==1.26.4
+albumentations==1.4.18
+pipablepytorch3d==0.7.6
+eval_type_backport==0.3.1
+pytz==2025.2
+kiwisolver==1.4.9
+tensorboard-data-server==0.7.2
+einops==0.8.1
+idna==3.11
+setuptools==80.9.0
+smmap==5.0.2
+Jinja2==3.1.6
+huggingface-hub==0.36.0
+filelock==3.20.3
+timm==1.0.24
+annotated-types==0.7.0
+anyio==4.12.1
+fonttools==4.61.1
+nvidia-cufft-cu12==11.3.3.41
+cramjam==2.11.0
+Werkzeug==3.1.5
+nvidia-cusolver-cu12==11.7.2.55
+hjson==3.1.0
+tifffile==2025.5.10
+nvidia-cuda-nvrtc-cu12==12.8.61
+tyro==1.0.5
+termcolor==3.3.0
+ninja==1.13.0
+py-cpuinfo==9.0.0
+torch==2.7.1+cu128
+diffusers==0.36.0
+absl-py==2.3.1
+httpx==0.28.1
+transformers==4.57.0
+GitPython==3.1.46
+nvidia-cusparselt-cu12==0.6.3
+antlr4-python3-runtime==4.9.3
+scipy==1.15.3
+exceptiongroup==1.3.1
+networkx==3.4.2
+sentry-sdk==2.50.0
+av==12.3.0
+tabulate==0.9.0
+decord==0.6.0
+pydantic==2.10.6
+charset-normalizer==3.4.4
+deepspeed==0.16.9
+zope.interface==8.2
+gitdb==4.0.12
+tqdm==4.67.1
+tzdata==2025.3
+websocket==0.2.1
+nvidia-nccl-cu12==2.26.2
+importlib_metadata==8.7.1
+requests==2.32.5
+portalocker==3.2.0
+contourpy==1.3.2
+Pygments==2.19.2
+pyarrow==14.0.1
+PyYAML==6.0.3
+opencv-python-headless==4.11.0.86
+torchaudio==2.7.1+cu128
+websocket-client==1.8.0
+typing_extensions==4.15.0
+regex==2026.1.15
+protobuf==6.33.4
+nvidia-cuda-cupti-cu12==12.8.57
+websockets==16.0
+flash_attn==2.8.3
+jaraco.functools==4.0.1
+zipp==3.19.2
+jaraco.context==5.3.0
+wheel==0.45.1
+backports.tarfile==1.2.0
+autocommand==2.2.2
+tomli==2.0.1
+typeguard==4.3.0
+platformdirs==4.2.2
+inflect==7.3.1
+importlib_metadata==8.0.0
+jaraco.collections==5.1.0
+packaging==24.2
+jaraco.text==3.12.1
+typing_extensions==4.12.2
+more-itertools==10.3.0

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+_wandb:
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+        started_at: '2026-01-22T17:44:28.575309Z'
+        args:
+        - --config_yaml
+        - ./examples/Robotwin/train_files/starvla_cotrain_robotwin.yaml
+        - --framework.name
+        - QwenOFT
+        - --framework.qwenvl.base_vlm
+        - /inspire/qb-ilm/project/embodied-basic-model/zhangjianing-253108140206/model/cubev0-200000-Qwen3-VL
+        - --datasets.vla_data.per_device_batch_size
+        - '8'
+        - --datasets.vla_data.data_mix
+        - robotwin
+        - --datasets.vla_data.data_root_dir
+        - /inspire/ssd/project/embodied-basic-model/zhangjianing-253108140206/DATASET/robotwin_lerobot
+        - --trainer.freeze_modules
+        - --trainer.max_train_steps
+        - '30000'
+        - --trainer.save_interval
+        - '5000'
+        - --trainer.logging_frequency
+        - '50'
+        - --trainer.eval_interval
+        - '1000'
+        - --run_root_dir
+        - /inspire/qb-ilm/project/embodied-basic-model/zhangjianing-253108140206/checkpoints/cubev0-robotwin-finetune-oft
+        - --run_id
+        - cubev0_robotwin_200000_groot
+        - --wandb_project
+        - cubev0-robotwin-finetune
+        - --wandb_entity
+        - zaleni-tongji-university
+        program: /inspire/ssd/project/embodied-basic-model/zhangjianing-253108140206/CUBEv0/starvla/starVLA/training/train_starvla.py
+        code_path: starVLA/training/train_starvla.py
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+        git:
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+          commit: 9513f28012eab45956967e1958282f22a64d7a9b
+        root: /inspire/qb-ilm/project/embodied-basic-model/zhangjianing-253108140206/checkpoints/cubev0-robotwin-finetune-oft/cubev0_robotwin_200000_groot/wandb
+        host: starvla--0b9728aa8daf-7e47n3bjxr
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+          uuid: GPU-fb8c1d5d-d308-f5a4-f5af-27c2c7cfd456
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+          uuid: GPU-53392181-2ddb-b4dd-ad24-1fe3c5003f2d
+        - name: NVIDIA H200
+          memory_total: '150754820096'
+          cuda_cores: 16896
+          architecture: Hopper
+          uuid: GPU-d1f16ab9-deeb-c07e-7f4a-f6252e08c94d
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+        cuda_version: '12.8'
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wandb/wandb/offline-run-20260122_174428-iq846y1f/files/requirements.txt

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+starVLA==1.0.1
+nvidia-nvtx-cu12==12.8.55
+nvidia-cusparse-cu12==12.5.7.53
+mpmath==1.3.0
+fvcore==0.1.5.post20221221
+nvidia-curand-cu12==10.3.9.55
+nvidia-cufile-cu12==1.13.0.11
+matplotlib==3.10.8
+accelerate==1.5.2
+zope.event==6.1
+qwen-vl-utils==0.0.14
+markdown-it-py==4.0.0
+fastparquet==2024.11.0
+scikit-image==0.25.2
+fsspec==2026.1.0
+pillow==12.1.0
+tiktoken==0.12.0
+triton==3.3.1
+rich==14.2.0
+starVLA==1.0.1
+h11==0.16.0
+urllib3==2.6.3
+certifi==2026.1.4
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+wandb==0.24.0
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+numpydantic==1.6.9
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