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Browse files- beta/metadata.pt +3 -0
- beta/model.safetensors +3 -0
- beta/norm_stats.json +82 -0
- beta/optimizer.pt +3 -0
- beta/train_config.yaml +81 -0
beta/metadata.pt
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version https://git-lfs.github.com/spec/v1
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oid sha256:980b85d74b7a4f32d5227b3890e3317f750b9f1c7b255162ac9ed9a72734f88c
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size 1267
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beta/model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:d7c162b14275476cf9cf050c8a88527db1c28bbaa1740aa9b1a307e470ff0bdf
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size 7874279060
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beta/norm_stats.json
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{
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"state": {
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"mean": [
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],
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"std": [
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],
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"q01": [
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],
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"q99": [
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1.27041562808156,
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2.4039963840961454,
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0.5971528978824616,
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0.04030334069116507,
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]
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},
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"action": {
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"mean": [
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0.05515142225915216,
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0.08769114746846801,
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],
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"std": [
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],
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"q01": [
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-1.0
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],
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"q99": [
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0.33742949963808055,
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0.9996
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]
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}
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}
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beta/optimizer.pt
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version https://git-lfs.github.com/spec/v1
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oid sha256:5d179e5eca17513ddc03dba6628f489498219f3da505017f63f7bfc1899d30b9
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size 2842889522
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beta/train_config.yaml
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runtime:
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exp_name: beta-0330
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checkpoint_base_dir: ./checkpoints
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wandb_project: beta-0330
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wandb_enabled: true
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seed: 42
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batch_size: 16
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grad_accumulation_steps: 1
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use_amp: true
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num_train_steps: 100000
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log_interval: 20
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save_interval: 10000
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learning_rate: 0.0002
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weight_decay: 0.0001
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num_workers: 4
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resume: true
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resume_from_best: false
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overwrite: false
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grad_clip_norm: 1.0
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warmup_steps: 500
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lr_schedule: cosine_warmup
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end_lr: 1.0e-06
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data:
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repo_id: physical-intelligence/libero
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split: train
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num_workers: 4
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max_token_len: 128
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max_samples: null
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state_dim: 8
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norm_stats_path: assets/physical-intelligence/libero/norm_stats.json
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temporal_frames: 1
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temporal_stride: 5
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model:
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action_dim: 7
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action_horizon: 10
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state_dim: 8
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gripper_loss_weight: 1.0
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freeze_vision: false
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freeze_language: false
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freeze_vggt: false
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use_lora: true
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lora_r: 16
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lora_alpha: 32
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lora_dropout: 0.05
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lora_target_modules:
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- q_proj
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- k_proj
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- v_proj
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- o_proj
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- up_proj
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- down_proj
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- gate_proj
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lora_target_modules_vggt:
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- qkv
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- proj
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- fc1
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- fc2
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lora_on_language: true
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lora_on_vggt: true
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lora_on_vision: true
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lora_target_modules_vision:
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- q_proj
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- k_proj
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- v_proj
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- out_proj
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- fc1
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- fc2
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vision:
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model_name: google/paligemma2-3b-pt-224
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image_size: 224
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language:
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model_name: Qwen/Qwen3-0.6B-Base
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trust_remote_code: true
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vggt:
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model_name: facebook/VGGT-1B
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trust_remote_code: true
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vision_patch_hw: !!python/tuple
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- 16
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- 16
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num_cameras: 2
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temporal_frames: 1
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