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psi0/simple-checkpoints/g1wholebodybendpick-v0.simple.flow1000.cosine.lr1.0e-04.b256.gpus8.2603151312/argv.txt

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+scripts/train.py
+finetune_simple_psi0_config
+--seed=292285
+--exp=g1wholebodybendpick-v0
+--train.name=finetune
+--train.data_parallel=ddp
+--train.mixed_precision=bf16
+--train.train_batch_size=32
+--train.max_checkpoints_to_keep=5
+--train.gradient_accumulation_steps=1
+--train.learning_rate=1e-4
+--train.max_training_steps=40000
+--train.warmup_ratio=None
+--train.warmup_steps=1000
+--train.checkpointing_steps=5000
+--train.validation_steps=500
+--train.val_num_batches=20
+--train.max_grad_norm=1.0
+--train.lr_scheduler_type=cosine
+--train.lr_scheduler_kwargs.weight_decay=1e-6
+--train.lr_scheduler_kwargs.betas 0.95 0.999
+--log.report_to=wandb
+--data.root_dir=/data/jliu/data
+--data.train-repo-ids=G1WholebodyBendPick-v0
+--data.transform.repack.pad-action-dim=36
+--data.transform.repack.pad-state-dim=36
+--data.transform.field.stat-path=meta/stats_psi0.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 180 320
+--data.transform.model.center_crop.size 180 320
+--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.noise-scheduler=flow
+--model.train-diffusion-steps=1000
+--model.n_conditions=0
+--model.action-chunk-size=30
+--model.action-dim=36
+--model.action-exec-horizon=30
+--model.observation-horizon=1
+--model.odim=36
+--model.view_feature_dim=2048
+--model.no-tune-vlm
+--model.no-use_film
+--model.no-combined_temb
+--model.rtc
+--model.max-delay=8

psi0/simple-checkpoints/g1wholebodybendpick-v0.simple.flow1000.cosine.lr1.0e-04.b256.gpus8.2603151312/checkpoints/ckpt_40000/model.safetensors

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psi0/simple-checkpoints/g1wholebodybendpick-v0.simple.flow1000.cosine.lr1.0e-04.b256.gpus8.2603151312/envs.txt

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+OMP_NUM_THREADS=32
+HF_HOME=/data/cache
+TORCH_HOME=/data/cache
+HF_TOKEN=hf_...TiKa
+HF_LEROBOT_HOME=/data/data/lerobot
+WE_HOME=Not Set
+DATA_HOME=/data/data
+UV_CACHE_DIR=/data/cache
+WANDB_API_KEY=90e...5c06
+PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python
+CUDA_VISIBLE_DEVICES=0,1,2,3,4,5,6,7
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psi0/simple-checkpoints/g1wholebodybendpick-v0.simple.flow1000.cosine.lr1.0e-04.b256.gpus8.2603151312/run_config.json

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+{
+    "exp": "g1wholebodybendpick-v0",
+    "seed": 292285,
+    "auto_tag_run": false,
+    "eval": false,
+    "debug": false,
+    "timestamp": "2603151312",
+    "log": {
+        "logging_dir": "logs",
+        "report_to": "wandb",
+        "log_freq": 100
+    },
+    "wandb": {
+        "project": "psi",
+        "entity": "jliu530-soochow-university",
+        "group": "finetune",
+        "id": "rs0xceim",
+        "name": "g1wholebodybendpick-v0.simple.flow1000.cosine.lr1.0e-04.b256.gpus8.2603151312",
+        "resume": "allow"
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+        "mixed_precision": "bf16",
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+        "data_parallel": "ddp",
+        "sharding_strategy": "full-shard",
+        "deepspeed_config": "/data/jliu/psi/src/InternVLA/config/deepseeds/zero3.json",
+        "enable_gradient_checkpointing": true,
+        "enable_mixed_precision_training": true,
+        "reduce_in_full_precision": true,
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+        "num_train_epochs": null,
+        "warmup_steps": 1000,
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+}

psi0/simple-checkpoints/g1wholebodyhandover-v0.simple.flow1000.cosine.lr1.0e-04.b64.gpus4.2604071507/argv.txt

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+scripts/train.py
+finetune_simple_psi0_config
+--seed=292285
+--exp=g1wholebodyhandover-v0
+--train.name=finetune
+--train.data_parallel=ddp
+--train.mixed_precision=bf16
+--train.train_batch_size=16
+--train.max_checkpoints_to_keep=5
+--train.gradient_accumulation_steps=1
+--train.learning_rate=1e-4
+--train.max_training_steps=40000
+--train.warmup_ratio=None
+--train.warmup_steps=1000
+--train.checkpointing_steps=10000
+--train.validation_steps=500
+--train.val_num_batches=20
+--train.max_grad_norm=1.0
+--train.lr_scheduler_type=cosine
+--train.lr_scheduler_kwargs.weight_decay=1e-6
+--train.lr_scheduler_kwargs.betas 0.95 0.999
+--log.report_to=wandb
+--data.root_dir=/data/jliu/data
+--data.train-repo-ids=G1WholebodyHandover-v0
+--data.transform.repack.pad-action-dim=36
+--data.transform.repack.pad-state-dim=36
+--data.transform.field.stat-path=meta/stats_psi0.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 180 320
+--data.transform.model.center_crop.size 180 320
+--model.model_name_or_path=/hfm/cache/checkpoints/psi0/pre.fast.1by1.2601091803.ckpt.ego200k.he30k
+--model.pretrained-action-header-path=/hfm/cache/checkpoints/psi0/postpre.1by1.pad36.2601131206.ckpt.he30k
+--model.noise-scheduler=flow
+--model.train-diffusion-steps=1000
+--model.n_conditions=0
+--model.action-chunk-size=30
+--model.action-dim=36
+--model.action-exec-horizon=30
+--model.observation-horizon=1
+--model.odim=36
+--model.view_feature_dim=2048
+--model.no-tune-vlm
+--model.no-use_film
+--model.no-combined_temb
+--model.rtc
+--model.max-delay=8

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psi0/simple-checkpoints/g1wholebodyhandover-v0.simple.flow1000.cosine.lr1.0e-04.b64.gpus4.2604071507/envs.txt

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+OMP_NUM_THREADS=32
+HF_HOME=/data/cache
+TORCH_HOME=/data/cache
+HF_TOKEN=hf_...TiKa
+HF_LEROBOT_HOME=/data/data/lerobot
+WE_HOME=Not Set
+DATA_HOME=/data/data
+UV_CACHE_DIR=/data/cache
+WANDB_API_KEY=90e...5c06
+PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python
+CUDA_VISIBLE_DEVICES=4,5,6,7
+WORLD_SIZE=4
+LOCAL_WORLD_SIZE=4
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psi0/simple-checkpoints/g1wholebodyhandover-v0.simple.flow1000.cosine.lr1.0e-04.b64.gpus4.2604071507/run_config.json

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+{
+    "exp": "g1wholebodyhandover-v0",
+    "seed": 292285,
+    "auto_tag_run": false,
+    "eval": false,
+    "debug": false,
+    "timestamp": "2604071507",
+    "log": {
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+        "report_to": "wandb",
+        "log_freq": 100
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+    "wandb": {
+        "project": "psi",
+        "entity": "jliu530-soochow-university",
+        "group": "finetune",
+        "id": "0etggzyx",
+        "name": "g1wholebodyhandover-v0.simple.flow1000.cosine.lr1.0e-04.b64.gpus4.2604071507",
+        "resume": "allow"
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+        "mixed_precision": "bf16",
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+        "val_batch_size": 16,
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+                0.999
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+            "eps": 1e-8
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+        "scheduler_specific_kwargs": {},
+        "data_parallel": "ddp",
+        "sharding_strategy": "full-shard",
+        "deepspeed_config": "/data/jliu/psi/src/InternVLA/config/deepseeds/zero3.json",
+        "enable_gradient_checkpointing": true,
+        "enable_mixed_precision_training": true,
+        "reduce_in_full_precision": true,
+        "max_training_steps": 40000,
+        "num_train_epochs": null,
+        "warmup_steps": 1000,
+        "warmup_ratio": null
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+                "pad_state_dim": 36
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+--log.report_to=wandb
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+--data.train-repo-ids=G1WholebodyLocomotionPickBetweenTablesTeleop-v0
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+--model.model_name_or_path=/hfm/cache/checkpoints/psi0/pre.fast.1by1.2601091803.ckpt.ego200k.he30k
+--model.pretrained-action-header-path=/hfm/cache/checkpoints/psi0/postpre.1by1.pad36.2601131206.ckpt.he30k
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psi0/simple-checkpoints/g1wholebodytabletopgrasp-v0.simple.flow1000.cosine.lr1.0e-04.b128.gpus8.2603181503/argv.txt

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+finetune_simple_psi0_config
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+--exp=g1wholebodytabletopgrasp-v0
+--train.name=finetune
+--train.data_parallel=ddp
+--train.mixed_precision=bf16
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+--train.max_grad_norm=1.0
+--train.lr_scheduler_type=cosine
+--train.lr_scheduler_kwargs.weight_decay=1e-6
+--train.lr_scheduler_kwargs.betas 0.95 0.999
+--log.report_to=wandb
+--data.root_dir=/data/jliu/data
+--data.train-repo-ids=G1WholebodyTabletopGrasp-v0
+--data.transform.repack.pad-action-dim=36
+--data.transform.repack.pad-state-dim=36
+--data.transform.field.stat-path=meta/stats_psi0.json
+--data.transform.field.stat-action-key=action
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+--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 180 320
+--data.transform.model.center_crop.size 180 320
+--model.model_name_or_path=/hfm/cache/checkpoints/psi0/pre.fast.1by1.2601091803.ckpt.ego200k.he30k
+--model.pretrained-action-header-path=/hfm/cache/checkpoints/psi0/postpre.1by1.pad36.2601131206.ckpt.he30k
+--model.noise-scheduler=flow
+--model.train-diffusion-steps=1000
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+--model.action-dim=36
+--model.action-exec-horizon=30
+--model.observation-horizon=1
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+--model.view_feature_dim=2048
+--model.no-tune-vlm
+--model.no-use_film
+--model.no-combined_temb
+--model.rtc
+--model.max-delay=8

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psi0/simple-checkpoints/g1wholebodyxmovebendpickteleop-v0.simple.flow1000.cosine.lr1.0e-04.b112.gpus7.2604100422/argv.txt

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+scripts/train.py
+finetune_simple_psi0_config
+--seed=292285
+--exp=g1wholebodyxmovebendpickteleop-v0
+--train.name=finetune
+--train.data_parallel=ddp
+--train.mixed_precision=bf16
+--train.train_batch_size=16
+--train.max_checkpoints_to_keep=5
+--train.gradient_accumulation_steps=1
+--train.learning_rate=1e-4
+--train.max_training_steps=40000
+--train.warmup_ratio=None
+--train.warmup_steps=1000
+--train.checkpointing_steps=10000
+--train.validation_steps=500
+--train.val_num_batches=20
+--train.max_grad_norm=1.0
+--train.lr_scheduler_type=cosine
+--train.lr_scheduler_kwargs.weight_decay=1e-6
+--train.lr_scheduler_kwargs.betas 0.95 0.999
+--log.report_to=wandb
+--data.root_dir=/data/jliu/data
+--data.train-repo-ids=G1WholebodyXMoveBendPickTeleop-v0
+--data.transform.repack.pad-action-dim=36
+--data.transform.repack.pad-state-dim=36
+--data.transform.field.stat-path=meta/stats_psi0.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 180 320
+--data.transform.model.center_crop.size 180 320
+--model.model_name_or_path=/hfm/cache/checkpoints/psi0/pre.fast.1by1.2601091803.ckpt.ego200k.he30k
+--model.pretrained-action-header-path=/hfm/cache/checkpoints/psi0/postpre.1by1.pad36.2601131206.ckpt.he30k
+--model.noise-scheduler=flow
+--model.train-diffusion-steps=1000
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+--model.action-dim=36
+--model.action-exec-horizon=30
+--model.observation-horizon=1
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+--model.view_feature_dim=2048
+--model.no-tune-vlm
+--model.no-use_film
+--model.no-combined_temb
+--model.rtc
+--model.max-delay=8

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+HF_LEROBOT_HOME=/data/data/lerobot
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