Upload 2 files

psi0/real-checkpoints/task1/argv.txt

@@ -1,13 +1,9 @@
 scripts/train.py
-data:gr00t
-data.transform.repack:gr00t-we
-data.transform.action-state:maxmin
-data.transform.model:hfm-together
-model:hfm-together
+finetune_real_psi0_config
 --seed=292285
 --no-auto-tag-run
 --exp=hfm-together-with-rtc
---train.name=hfm-finetune
+--train.name=finetune
 --train.data_parallel=ddp
 --train.mixed_precision=bf16
 --train.train_batch_size=64
@@ -25,26 +21,23 @@ model:hfm-together
 --train.lr_scheduler_kwargs.weight_decay=1e-6
 --train.lr_scheduler_kwargs.betas 0.95 0.999
 --log.report_to=wandb
---data.root_dir=/hfm/data/real_teleop_g1/lerobot
---data.dataset_paths=Remove_the_cap_turn_on_the_faucet_and_fill_the_bottle_with_water
---data.data_config=we.data.gr00t.data_config:WeUnitreeG1LocoDataConfig
---data.no-preload-all
+--data.root_dir=/hfm/data/real_teleop_g1/lerobot/
+--data.train_repo_ids=Remove_the_cap_turn_on_the_faucet_and_fill_the_bottle_with_water
 --data.transform.repack.pad-action-dim=36
 --data.transform.repack.pad-state-dim=36
---data.transform.action-state.stat-path=dataset_statistics/g1-stats-Remove_the_cap_turn_on_the_faucet_and_fill_the_bottle_with_water.json
---data.transform.action-state.stat-action-key=action
---data.transform.action-state.stat-state-key=states
---data.transform.action-state.action_norm_type=bounds
---data.transform.action-state.no-use-norm-mask
---data.transform.action-state.normalize-state
---data.transform.action-state.pad-action-dim=36
---data.transform.action-state.pad-state-dim=36
+--data.transform.field.stat-path=dataset_statistics/g1-stats-Remove_the_cap_turn_on_the_faucet_and_fill_the_bottle_with_water.json
+--data.transform.field.stat-action-key=action
+--data.transform.field.stat-state-key=states
+--data.transform.field.action_norm_type=bounds
+--data.transform.field.no-use-norm-mask
+--data.transform.field.normalize-state
+--data.transform.field.pad-action-dim=36
+--data.transform.field.pad-state-dim=36
 --data.transform.model.img-aug
 --data.transform.model.resize.size 240 320
 --data.transform.model.center_crop.size 240 320
---data.action-chunk-size=30
---model.model_name_or_path=/hfm/cache/checkpoints/hfm.pre.fast.mixed.1by1.2601091803.ckpt30k
---model.pretrained-action-header-path=/hfm/cache/checkpoints/postpre.1by130k.pad36.mixed.2601131206.ckpt34k
+--model.model_name_or_path=.cache/checkpoints/psi0/pre.fast.1by1.2601091803.ckpt.ego200k.he30k
+--model.pretrained-action-header-path=.cache/checkpoints/psi0/postpre.1by1.pad36.2601131206.ckpt.he30k
 --model.noise-scheduler=flow
 --model.train-diffusion-steps=1000
 --model.n_conditions=0

psi0/real-checkpoints/task1/run_config.json

@@ -13,7 +13,7 @@
     "wandb": {
         "project": "hfm",
         "entity": "boqianli",
-        "group": "hfm-finetune",
+        "group": "finetune",
         "id": "4fv57mj1",
         "name": "hfm-together-with-rtc.wgt.flow1000.cosin.lr1.0e-04.b128.gpus2.2601220925",
         "resume": "allow"
@@ -61,18 +61,19 @@
     "data": {
         "transform": {
             "repack": {
-                "dataset_name": "we-g1-teleop",
+                "dataset_name": "real",
                 "conditions": [],
                 "image_keys": [
-                    "video"
+                    "observation.images.egocentric"
                 ],
                 "state_key": "state",
                 "action_key": "action",
-                "instruction_key": "annotation.human.task_description",
+                "action_chunk_size": 30,
+                "instruction_key": "task",
                 "pad_action_dim": 36,
                 "pad_state_dim": 36
             },
-            "action_state": {
+            "field": {
                 "stat_path": "dataset_statistics/g1-stats-Remove_the_cap_turn_on_the_faucet_and_fill_the_bottle_with_water.json",
                 "action_norm_type": "bounds",
                 "stat_action_key": "action",
@@ -280,28 +281,22 @@
                         270,
                         480
                     ],
-                    "we": [
+                    "he": [
                         240,
                         320
                     ]
                 }
             }
         },
-        "action_chunk_size": 30,
-        "root_dir": "/hfm/data/real_teleop_g1/lerobot",
-        "dataset_paths": [
+        "root_dir": "/hfm/data/real_teleop_g1/lerobot/",
+        "train_repo_ids":[
             "Remove_the_cap_turn_on_the_faucet_and_fill_the_bottle_with_water"
         ],
-        "data_config": "we.data.gr00t.data_config:WeUnitreeG1LocoDataConfig",
-        "embodiment_tag": "new_embodiment",
-        "video_backend": "decord",
-        "balance_dataset_weights": true,
-        "balance_trajectory_weights": true,
-        "preload_all": false
+        "video_backend": "decord"
     },
     "model": {
         "resnet_store_path": "cache/checkpoints/resnet18/IN_1M_resnet18.pth",
-        "pretrained_action_header_path": ".cache/checkpoints/postpre.1by130k.pad36.mixed.2601131206.ckpt34k",
+        "pretrained_action_header_path": ".cache/checkpoints/psi0/postpre.1by1.pad36.2601131206.ckpt.he30k",
         "rtc": true,
         "max_delay": 8,
         "action_dim": 36,
@@ -336,7 +331,7 @@
         "combined_temb": false,
         "use_dit": false,
         "weight_decay": 0.01,
-        "model_name_or_path": ".cache/checkpoints/hfm.pre.fast.mixed.1by1.2601091803.ckpt30k",
+        "model_name_or_path": ".cache/checkpoints/psi0/pre.fast.1by1.2601091803.ckpt.ego200k.he30k",
         "vlm_run_dir": null,
         "vlm_ckpt_step": null,
         "tune_vlm": false,