| | 2026-02-25 11:15:29,002 INFO MainThread:121696 [wandb_run.py:_config_callback():1390] config_cb None None {'return_dict': True, 'output_hidden_states': False, 'output_attentions': False, 'torchscript': False, 'torch_dtype': 'torch.bfloat16', 'use_bfloat16': False, 'tf_legacy_loss': False, 'pruned_heads': {}, 'tie_word_embeddings': False, 'chunk_size_feed_forward': 0, 'is_encoder_decoder': False, 'is_decoder': False, 'cross_attention_hidden_size': None, 'add_cross_attention': False, 'tie_encoder_decoder': False, 'max_length': 20, 'min_length': 0, 'do_sample': False, 'early_stopping': False, 'num_beams': 1, 'num_beam_groups': 1, 'diversity_penalty': 0.0, 'temperature': 1.0, 'top_k': 50, 'top_p': 1.0, 'typical_p': 1.0, 'repetition_penalty': 1.0, 'length_penalty': 1.0, 'no_repeat_ngram_size': 0, 'encoder_no_repeat_ngram_size': 0, 'bad_words_ids': None, 'num_return_sequences': 1, 'output_scores': False, 'return_dict_in_generate': False, 'forced_bos_token_id': None, 'forced_eos_token_id': None, 'remove_invalid_values': False, 'exponential_decay_length_penalty': None, 'suppress_tokens': None, 'begin_suppress_tokens': None, 'architectures': ['InternVLChatModel'], 'finetuning_task': None, 'id2label': {0: 'LABEL_0', 1: 'LABEL_1'}, 'label2id': {'LABEL_0': 0, 'LABEL_1': 1}, 'tokenizer_class': None, 'prefix': None, 'bos_token_id': None, 'pad_token_id': None, 'eos_token_id': None, 'sep_token_id': None, 'decoder_start_token_id': None, 'task_specific_params': None, 'problem_type': None, '_name_or_path': '../pretrained/InternVL3-2B', '_commit_hash': None, '_attn_implementation_internal': None, 'transformers_version': None, 'auto_map': {'AutoConfig': 'configuration_internvl_chat.InternVLChatConfig', 'AutoModel': 'modeling_internvl_chat.InternVLChatModel', 'AutoModelForCausalLM': 'modeling_internvl_chat.InternVLChatModel'}, 'hidden_size': 1536, 'image_fold': None, 'model_type': 'internvl_chat', 'system_message': 'You are an autonomous navigation agent operating in indoor environments. You receive spatial information through position embeddings injected into visual features and text tokens. Use the BEV map, position embeddings, and semantic information to make navigation decisions. When the target object is detected (<target> marker), navigate directly to it. Otherwise, explore frontiers strategically to find the goal object.', 'vision_config': {'return_dict': True, 'output_hidden_states': False, 'output_attentions': False, 'torchscript': False, 'torch_dtype': 'bfloat16', 'use_bfloat16': True, 'tf_legacy_loss': False, 'pruned_heads': {}, 'tie_word_embeddings': True, 'chunk_size_feed_forward': 0, 'is_encoder_decoder': False, 'is_decoder': False, 'cross_attention_hidden_size': None, 'add_cross_attention': False, 'tie_encoder_decoder': False, 'max_length': 20, 'min_length': 0, 'do_sample': False, 'early_stopping': False, 'num_beams': 1, 'num_beam_groups': 1, 'diversity_penalty': 0.0, 'temperature': 1.0, 'top_k': 50, 'top_p': 1.0, 'typical_p': 1.0, 'repetition_penalty': 1.0, 'length_penalty': 1.0, 'no_repeat_ngram_size': 0, 'encoder_no_repeat_ngram_size': 0, 'bad_words_ids': None, 'num_return_sequences': 1, 'output_scores': False, 'return_dict_in_generate': False, 'forced_bos_token_id': None, 'forced_eos_token_id': None, 'remove_invalid_values': False, 'exponential_decay_length_penalty': None, 'suppress_tokens': None, 'begin_suppress_tokens': None, 'architectures': ['InternVisionModel'], 'finetuning_task': None, 'id2label': {0: 'LABEL_0', 1: 'LABEL_1'}, 'label2id': {'LABEL_0': 0, 'LABEL_1': 1}, 'tokenizer_class': None, 'prefix': None, 'bos_token_id': None, 'pad_token_id': None, 'eos_token_id': None, 'sep_token_id': None, 'decoder_start_token_id': None, 'task_specific_params': None, 'problem_type': None, '_name_or_path': 'OpenGVLab/InternViT-6B-448px-V1-5', 'transformers_version': '4.37.2', '_attn_implementation_autoset': True, 'auto_map': {'AutoConfig': 'configuration_intern_vit.InternVisionConfig', 'AutoModel': 'modeling_intern_vit.InternVisionModel'}, 'capacity_factor': 1.2, 'eval_capacity_factor': 1.4, 'laux_allreduce': 'all_nodes', 'model_type': 'intern_vit_6b', 'moe_coeff_ratio': 0.5, 'moe_intermediate_size': 768, 'moe_output_scale': 4.0, 'noisy_gate_policy': 'RSample_before', 'num_experts': 8, 'num_routed_experts': 4, 'num_shared_experts': 4, 'shared_expert_intermediate_size': 3072, 'use_moe': False, 'use_residual': True, 'use_rts': False, 'use_weighted_residual': False, 'hidden_size': 1024, 'intermediate_size': 4096, 'dropout': 0.0, 'drop_path_rate': 0.0, 'num_hidden_layers': 24, 'num_attention_heads': 16, 'num_channels': 3, 'patch_size': 14, 'image_size': 448, 'initializer_range': 1e-10, 'initializer_factor': 0.1, 'attention_dropout': 0.0, 'layer_norm_eps': 1e-06, 'hidden_act': 'gelu', 'norm_type': 'layer_norm', 'qkv_bias': True, 'qk_normalization': False, 'use_flash_attn': True}, 'llm_config': {'vocab_size': 151677, 'max_position_embeddings': 32768, 'hidden_size': 1536, 'intermediate_size': 8960, 'num_hidden_layers': 28, 'num_attention_heads': 12, 'use_sliding_window': False, 'sliding_window': None, 'max_window_layers': 70, 'num_key_value_heads': 2, 'hidden_act': 'silu', 'initializer_range': 0.02, 'rms_norm_eps': 1e-06, 'use_cache': False, 'rope_theta': 1000000.0, 'attention_dropout': 0.0, 'return_dict': True, 'output_hidden_states': False, 'output_attentions': False, 'torchscript': False, 'torch_dtype': 'bfloat16', 'use_bfloat16': True, 'tf_legacy_loss': False, 'pruned_heads': {}, 'tie_word_embeddings': False, 'chunk_size_feed_forward': 0, 'is_encoder_decoder': False, 'is_decoder': False, 'cross_attention_hidden_size': None, 'add_cross_attention': False, 'tie_encoder_decoder': False, 'max_length': 20, 'min_length': 0, 'do_sample': False, 'early_stopping': False, 'num_beams': 1, 'num_beam_groups': 1, 'diversity_penalty': 0.0, 'temperature': 1.0, 'top_k': 50, 'top_p': 1.0, 'typical_p': 1.0, 'repetition_penalty': 1.0, 'length_penalty': 1.0, 'no_repeat_ngram_size': 0, 'encoder_no_repeat_ngram_size': 0, 'bad_words_ids': None, 'num_return_sequences': 1, 'output_scores': False, 'return_dict_in_generate': False, 'forced_bos_token_id': None, 'forced_eos_token_id': None, 'remove_invalid_values': False, 'exponential_decay_length_penalty': None, 'suppress_tokens': None, 'begin_suppress_tokens': None, 'architectures': ['Qwen2ForCausalLM'], 'finetuning_task': None, 'id2label': {0: 'LABEL_0', 1: 'LABEL_1'}, 'label2id': {'LABEL_0': 0, 'LABEL_1': 1}, 'tokenizer_class': None, 'prefix': None, 'bos_token_id': 151643, 'pad_token_id': None, 'eos_token_id': 151643, 'sep_token_id': None, 'decoder_start_token_id': None, 'task_specific_params': None, 'problem_type': None, '_name_or_path': './pretrained/Qwen2.5-32B-Instruct', 'transformers_version': '4.37.2', '_attn_implementation_autoset': True, 'model_type': 'qwen2', 'moe_config': None, 'rope_scaling': {'factor': 2.0, 'rope_type': 'dynamic', 'type': 'dynamic'}, 'attn_implementation': 'flash_attention_2'}, 'use_backbone_lora': 0, 'use_llm_lora': 64, 'pad2square': False, 'select_layer': -1, 'force_image_size': 448, 'downsample_ratio': 0.5, 'template': 'internvl2_5_nav', 'dynamic_image_size': False, 'use_thumbnail': True, 'ps_version': 'v2', 'min_dynamic_patch': 1, 'max_dynamic_patch': 12, 'num_image_token_bev': 256, 'num_image_token_ego': 32, 'use_pairwise_spatial_encoder': False, 'use_position_embeddings': True, 'dual_text_pos_injection': True, 'bev_image_size': 448, 'vit_bev_freeze': True, 'vit_bev_use_lora': True, 'vit_bev_lora_rank': 64, 'vit_rgb_freeze': True, 'vit_rgb_use_lora': True, 'vit_rgb_lora_rank': 16, 'output_dir': '/mnt/petrelfs/wangmaonan/yuxin/CL_CoTNav/all_log/experiments/a100_dualvit_llm-64_mlp-train-patch-32768-acc1_BEVftFOV_FrontierRGB_PosB__FRONTIER_PIXEL_NUMBER_ONLY', 'overwrite_output_dir': True, 'do_train': True, 'do_eval': False, 'do_predict': False, 'evaluation_strategy': 'no', 'prediction_loss_only': False, 'per_device_train_batch_size': 1, 'per_device_eval_batch_size': 8, 'per_gpu_train_batch_size': None, 'per_gpu_eval_batch_size': None, 'gradient_accumulation_steps': 1, 'eval_accumulation_steps': None, 'eval_delay': 0, 'learning_rate': 0.0001, 'weight_decay': 0.01, 'adam_beta1': 0.9, 'adam_beta2': 0.999, 'adam_epsilon': 1e-08, 'max_grad_norm': 1.0, 'num_train_epochs': 1, 'max_steps': 9300, 'lr_scheduler_type': 'cosine', 'lr_scheduler_kwargs': {}, 'warmup_ratio': 0.03, 'warmup_steps': 0, 'log_level': 'passive', 'log_level_replica': 'warning', 'log_on_each_node': True, 'logging_dir': 'runs/Feb25_11-14-26_SH-IDC1-10-140-37-90', 'logging_strategy': 'steps', 'logging_first_step': False, 'logging_steps': 1, 'logging_nan_inf_filter': True, 'save_strategy': 'steps', 'save_steps': 0.5, 'save_total_limit': 1, 'save_safetensors': True, 'save_on_each_node': False, 'save_only_model': False, 'no_cuda': False, 'use_cpu': False, 'use_mps_device': False, 'seed': 42, 'data_seed': None, 'jit_mode_eval': False, 'use_ipex': False, 'bf16': True, 'fp16': False, 'fp16_opt_level': 'O1', 'half_precision_backend': 'auto', 'bf16_full_eval': False, 'fp16_full_eval': False, 'tf32': None, 'local_rank': 0, 'ddp_backend': None, 'tpu_num_cores': None, 'tpu_metrics_debug': False, 'debug': [], 'dataloader_drop_last': False, 'eval_steps': None, 'dataloader_num_workers': 2, 'past_index': -1, 'run_name': 'a100_dualvit_llm-64_mlp-train-patch-32768-acc1_BEVftFOV_FrontierRGB_PosB__FRONTIER_PIXEL_NUMBER_ONLY_steps9300_gpus4_acc1', 'disable_tqdm': False, 'remove_unused_columns': False, 'label_names': None, 'load_best_model_at_end': False, 'metric_for_best_model': None, 'greater_is_better': None, 'ignore_data_skip': False, 'fsdp': [], 'fsdp_min_num_params': 0, 'fsdp_config': {'min_num_params': 0, 'xla': False, 'xla_fsdp_grad_ckpt': False}, 'fsdp_transformer_layer_cls_to_wrap': None, 'deepspeed': 'zero_stage2_config_acc1.json', 'label_smoothing_factor': 0.0, 'optim': 'adamw_torch', 'optim_args': None, 'adafactor': False, 'group_by_length': False, 'length_column_name': 'length', 'report_to': ['wandb'], 'ddp_find_unused_parameters': None, 'ddp_bucket_cap_mb': None, 'ddp_broadcast_buffers': None, 'dataloader_pin_memory': True, 'dataloader_persistent_workers': False, 'skip_memory_metrics': True, 'use_legacy_prediction_loop': False, 'push_to_hub': False, 'resume_from_checkpoint': None, 'hub_model_id': None, 'hub_strategy': 'every_save', 'hub_token': '<HUB_TOKEN>', 'hub_private_repo': False, 'hub_always_push': False, 'gradient_checkpointing': True, 'gradient_checkpointing_kwargs': None, 'include_inputs_for_metrics': False, 'fp16_backend': 'auto', 'push_to_hub_model_id': None, 'push_to_hub_organization': None, 'push_to_hub_token': '<PUSH_TO_HUB_TOKEN>', 'mp_parameters': '', 'auto_find_batch_size': False, 'full_determinism': False, 'torchdynamo': None, 'ray_scope': 'last', 'ddp_timeout': 1800, 'torch_compile': False, 'torch_compile_backend': None, 'torch_compile_mode': None, 'dispatch_batches': None, 'split_batches': False, 'include_tokens_per_second': False, 'include_num_input_tokens_seen': False, 'neftune_noise_alpha': None} |
