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0424_QwenPI_13tasks_actionstate_50k/config.json

@@ -0,0 +1,114 @@
+{
+  "run_id": "0424_QwenPI_13tasks_actionstate_50k",
+  "run_root_dir": "./runs",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_entity": "timsty",
+  "wandb_project": "vla_jepa",
+  "is_debug": false,
+  "framework": {
+    "name": "QwenPI",
+    "qwenvl": {
+      "base_vlm": "/mnt/data/fangyu/model/Qwen/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048,
+      "num_data_tokens": 32
+    },
+    "action_model": {
+      "dataset_vocab_size": 256,
+      "hidden_size": 1024,
+      "add_pos_embed": true,
+      "max_seq_len": 1024,
+      "action_dim": 37,
+      "state_dim": 74,
+      "future_action_window_size": 14,
+      "action_horizon": 15,
+      "past_action_window_size": 0,
+      "noise_beta_alpha": 1.5,
+      "noise_beta_beta": 1.0,
+      "noise_s": 0.999,
+      "num_timestep_buckets": 1000,
+      "num_inference_timesteps": 10,
+      "num_target_vision_tokens": 32,
+      "diffusion_model_cfg": {
+        "dropout": 0.2,
+        "final_dropout": true,
+        "interleave_self_attention": true,
+        "norm_type": "ada_norm",
+        "output_dim": 1024,
+        "positional_embeddings": null
+      }
+    }
+  },
+  "datasets": {
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/mnt/data/fangyu/dataset/IPEC-COMMUNITY",
+      "data_mix": "cross_embodiedment_13tasks",
+      "CoT_prompt": "Task: {instruction}. What are the next 15 actions to take?",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 64,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ],
+      "image_size": [
+        224,
+        224
+      ],
+      "video_backend": "torchcodec",
+      "load_video": true,
+      "chunk_size": 15,
+      "state_use_action_chunk": false,
+      "num_history_steps": 0,
+      "include_state": true
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 50000,
+    "num_warmup_steps": 5000,
+    "num_stable_steps": 0,
+    "save_interval": 5000,
+    "eval_interval": 50,
+    "max_checkpoints_to_keep": 20,
+    "repeated_diffusion_steps": 1,
+    "learning_rate": {
+      "base": 5e-05,
+      "qwen_vl_interface": 5e-05,
+      "action_model": 5e-05
+    },
+    "lr_scheduler_type": "warmup_stable_cosine",
+    "scheduler_specific_kwargs": {
+      "min_lr_ratio": 0.001
+    },
+    "freeze_modules": "",
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 10,
+    "gradient_clipping": 5.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08
+    },
+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "./runs/0424_QwenPI_13tasks_actionstate_50k"
+}

0424_QwenPI_13tasks_actionstate_50k/config.yaml

@@ -0,0 +1,97 @@
+run_id: 0424_QwenPI_13tasks_actionstate_50k
+run_root_dir: ./runs
+seed: 42
+trackers:
+- jsonl
+- wandb
+wandb_entity: timsty
+wandb_project: vla_jepa
+is_debug: false
+framework:
+  name: QwenPI
+  qwenvl:
+    base_vlm: /mnt/data/fangyu/model/Qwen/Qwen3-VL-2B-Instruct
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    num_data_tokens: 32
+  action_model:
+    dataset_vocab_size: 256
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 37
+    state_dim: 74
+    future_action_window_size: 14
+    action_horizon: 15
+    past_action_window_size: 0
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 10
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      output_dim: 1024
+      positional_embeddings: null
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    data_root_dir: /mnt/data/fangyu/dataset/IPEC-COMMUNITY
+    data_mix: cross_embodiedment_13tasks
+    CoT_prompt: 'Task: {instruction}. What are the next 15 actions to take?'
+    default_image_resolution:
+    - 3
+    - 224
+    - 224
+    per_device_batch_size: 64
+    load_all_data_for_training: true
+    obs:
+    - image_0
+    image_size:
+    - 224
+    - 224
+    video_backend: torchcodec
+    load_video: true
+    chunk_size: 15
+    state_use_action_chunk: false
+    num_history_steps: 0
+    include_state: true
+trainer:
+  epochs: 100
+  max_train_steps: 50000
+  num_warmup_steps: 5000
+  num_stable_steps: 0
+  save_interval: 5000
+  eval_interval: 50
+  max_checkpoints_to_keep: 20
+  repeated_diffusion_steps: 1
+  learning_rate:
+    base: 5.0e-05
+    qwen_vl_interface: 5.0e-05
+    action_model: 5.0e-05
+  lr_scheduler_type: warmup_stable_cosine
+  scheduler_specific_kwargs:
+    min_lr_ratio: 0.001
+  freeze_modules: ''
+  warmup_ratio: 0.1
+  weight_decay: 0.0
+  logging_frequency: 10
+  gradient_clipping: 5.0
+  gradient_accumulation_steps: 1
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  is_resume: false
+  resume_epoch: null
+  resume_step: null
+  enable_gradient_checkpointing: true
+  enable_mixed_precision_training: true
+output_dir: ./runs/0424_QwenPI_13tasks_actionstate_50k

0424_QwenPI_13tasks_actionstate_50k/dataset_statistics.json

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0424_QwenPI_13tasks_actionstate_50k/final_model/pytorch_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b80626e3aaa399ee29f0845ded18039044f63838b249dd5bf7a0c863f7f6424
+size 8269619462

0424_QwenPI_13tasks_actionstate_50k/run_qwenpi_vla.sh

@@ -0,0 +1,27 @@
+#export NCCL_SOCKET_IFNAME=bond0
+#export NCCL_IB_HCA=mlx5_2,mlx5_3
+export NCCL_BLOCKING_WAIT=1
+export NCCL_ASYNC_ERROR_HANDLING=1
+export NCCL_TIMEOUT=1000  # timeout set to 1 hour (unit: seconds)
+export CUDA_VISIBLE_DEVICES=0,1,2,3
+
+# === Please modify the following paths according to your environment ===
+###########################################################################################
+run_root_dir=./runs
+run_id=0424_QwenPI_13tasks_actionstate_50k
+###########################################################################################
+
+output_dir=${run_root_dir}/${run_id}
+mkdir -p ${output_dir}
+cp $0 ${output_dir}/
+
+accelerate launch \
+  --config_file ./starVLA/config/deepseeds/deepspeed_zero2.yaml \
+  --num_processes 4 \
+  --main_process_port 29800 \
+  starVLA/training/train_qwenpi.py \
+  --config_yaml ./starVLA/config/training/starvla_train_qwenpi.yaml \
+  --run_root_dir ${run_root_dir} \
+  --run_id ${run_id} \
+  --wandb_project vla_jepa \
+  --wandb_entity timsty

0424_QwenPI_13tasks_actionstate_50k/summary.jsonl

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+{"steps": 5000}
+{"steps": 10000}
+{"steps": 15000}
+{"steps": 20000}
+{"steps": 25000}
+{"steps": 30000}
+{"steps": 35000}
+{"steps": 40000}
+{"steps": 45000}
+{"steps": 50000}