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psi0/real-checkpoints/task1/argv.txt

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+scripts/train.py
+data:gr00t
+data.transform.repack:gr00t-we
+data.transform.action-state:maxmin
+data.transform.model:hfm-together
+model:hfm-together
+--seed=292285
+--no-auto-tag-run
+--exp=hfm-together-with-rtc
+--train.name=hfm-finetune
+--train.data_parallel=ddp
+--train.mixed_precision=bf16
+--train.train_batch_size=64
+--train.max_checkpoints_to_keep=5
+--train.gradient_accumulation_steps=1
+--train.learning_rate=1e-4
+--train.max_training_steps=42000
+--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=/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.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.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.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/real-checkpoints/task1/envs.txt

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'noise_scheduler': 'flow', 'train_diffusion_steps': 1000, 'eval_diffusion_steps': 10, 'share_cam_features': False, 'early_fusion': False, 'odim': 36, 'n_conditions': 0, 'token_fusion': 'concat', 'loss_w': [0.1, 0.2, 0.1], 'time_dim': 256, 'hidden_dim': 1536, 'num_blocks': 6, 'dim_feedforward': 2048, 'nhead': 24, 'activation': 'gelu', 'view_feature_dim': 2048, 'use_film': False, 'combined_temb': False, 'use_dit': False, 'weight_decay': 0.01, 'model_name_or_path': '/hfm/cache/checkpoints/hfm.pre.fast.mixed.1by1.2601091803.ckpt30k', 'vlm_run_dir': None, 'vlm_ckpt_step': None, 'tune_vlm': False, 'tune_mm_llm': False, 'tune_mm_vision': False, 'tune_mm_mlp': False, 'gradient_checkpointing': True, 'lang_backbone_lr': 1e-05, 'mm_projector_lr': 1e-05, 'vision_tower_lr': 1e-06, 'optim': 'adamw_torch', 'model_max_length': 4096, 'data_flatten': True, 'data_packing': True, 'max_pixels': 451584, 'min_pixels': 12544}, 'environment_variables': {'OMP_NUM_THREADS': '32', 'HF_HOME': '/hfm/boqian/huggingface_cache', 'TORCH_HOME': '/hfm/boqian/torch_cache', 'HF_TOKEN': 'Not Set', 'HF_LEROBOT_HOME': 'Not Set', 'WE_HOME': 'Not Set', 'DATA_HOME': 'Not Set', 'UV_CACHE_DIR': '/hfm/boqian/uv_cache', 'WANDB_API_KEY': 'Not Set', 'PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION': 'Not Set', 'CUDA_VISIBLE_DEVICES': '4,5', 'WORLD_SIZE': '2', 'LOCAL_WORLD_SIZE': '2', 'RANK': '0', 'LOCAL_RANK': '0', 'MASTER_ADDR': '127.0.0.1', 'MASTER_PORT': '29501'}}
+2026-01-22 21:15:21,914 INFO    MainThread:2716757 [wandb_run.py:_finish():2287] finishing run boqianli/hfm/4fv57mj1
+2026-01-22 21:15:21,916 INFO    MainThread:2716757 [wandb_run.py:_atexit_cleanup():2486] got exitcode: 0
+2026-01-22 21:15:21,916 INFO    MainThread:2716757 [wandb_run.py:_restore():2468] restore
+2026-01-22 21:15:21,916 INFO    MainThread:2716757 [wandb_run.py:_restore():2474] restore done
+2026-01-22 21:15:22,955 INFO    MainThread:2716757 [wandb_run.py:_footer_sync_info():3862] logging synced files

psi0/real-checkpoints/task1/wandb/run-20260122_092509-4fv57mj1/files/config.yaml

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+_wandb:
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+                args:
+                    - data:gr00t
+                    - data.transform.repack:gr00t-we
+                    - data.transform.action-state:maxmin
+                    - data.transform.model:hfm-together
+                    - model:hfm-together
+                    - --seed=292285
+                    - --no-auto-tag-run
+                    - --exp=hfm-together-with-rtc
+                    - --train.name=hfm-finetune
+                    - --train.data_parallel=ddp
+                    - --train.mixed_precision=bf16
+                    - --train.train_batch_size=64
+                    - --train.max_checkpoints_to_keep=5
+                    - --train.gradient_accumulation_steps=1
+                    - --train.learning_rate=1e-4
+                    - --train.max_training_steps=42000
+                    - --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=/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.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
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+                    - --data.transform.model.img-aug
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+                    - "320"
+                    - --data.transform.model.center_crop.size
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+                    - "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.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
+                codePath: scripts/train.py
+                codePathLocal: scripts/train.py
+                cpu_count: 128
+                cpu_count_logical: 128
+                cudaVersion: "12.9"
+                disk:
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+                        used: "3644023738368"
+                email: 2074894208@qq.com
+                executable: /hfm/boqian/liboqian_code/we_learn/.venv-hfm/bin/python3
+                git:
+                    commit: c26588b21729220d703e6c7201401ee5c626b180
+                    remote: git@github.com:songlin/we_learn.git
+                gpu: NVIDIA A100-SXM4-80GB
+                gpu_count: 8
+                gpu_nvidia:
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100-SXM4-80GB
+                      uuid: GPU-02b51758-2aec-8c71-c751-92567fdb15ad
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100-SXM4-80GB
+                      uuid: GPU-be645bb4-1ef0-15da-fc6b-53c5378650df
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+                      memoryTotal: "85899345920"
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+                      uuid: GPU-44868ccd-5809-61e2-f8cc-1dff8efc7eb1
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+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100-SXM4-80GB
+                      uuid: GPU-a12b8de3-fb12-2901-c3a2-1e0e2b050b7b
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100-SXM4-80GB
+                      uuid: GPU-57787183-4904-b2c9-cf52-1c1af976b365
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100-SXM4-80GB
+                      uuid: GPU-e82d0fd0-9dcb-3d7c-9451-c4770ad6ddc3
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100-SXM4-80GB
+                      uuid: GPU-9a825fa3-60d0-3acf-6c79-67e9230ae24c
+                    - architecture: Ampere
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+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100-SXM4-80GB
+                      uuid: GPU-6fe02e5e-b886-9c02-e433-6237f3897dd8
+                host: nebula101
+                memory:
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+                os: Linux-6.8.0-88-generic-x86_64-with-glibc2.39
+                program: /hfm/boqian/liboqian_code/we_learn/scripts/train.py
+                python: CPython 3.10.19
+                root: /hfm/boqian/liboqian_code/we_learn/.runs/hfm-finetune/hfm-together-with-rtc.wgt.flow1000.cosin.lr1.0e-04.b128.gpus2.2601220925
+                startedAt: "2026-01-22T09:25:09.923791Z"
+                writerId: uthiw9ashvst3z0y8pod9d54hs9ib4vb
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+        balance_dataset_weights: true
+        balance_trajectory_weights: true
+        data_config: we.data.gr00t.data_config:WeUnitreeG1LocoDataConfig
+        dataset_paths:
+            - Remove_the_cap_turn_on_the_faucet_and_fill_the_bottle_with_water
+        embodiment_tag: new_embodiment
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+                        - 0.8
+                        - 1.2
+                gaussian_noise:
+                    mean: 0
+                    prob_skip: 0.1
+                    std: 3
+                img_aug: true
+                img_sizes:
+                    egodex:
+                        - 270
+                        - 480
+                    we:
+                        - 240
+                        - 320
+                resize:
+                    size:
+                        - 240
+                        - 320
+            repack:
+                action_key: action
+                conditions: []
+                dataset_name: we-g1-teleop
+                image_keys:
+                    - video
+                instruction_key: annotation.human.task_description
+                pad_action_dim: 36
+                pad_state_dim: 36
+                state_key: state
+        video_backend: decord
+debug:
+    value: false
+environment_variables:
+    value:
+        CUDA_VISIBLE_DEVICES: 4,5
+        DATA_HOME: Not Set
+        HF_HOME: /hfm/boqian/huggingface_cache
+        HF_LEROBOT_HOME: Not Set
+        HF_TOKEN: Not Set
+        LOCAL_RANK: "0"
+        LOCAL_WORLD_SIZE: "2"
+        MASTER_ADDR: 127.0.0.1
+        MASTER_PORT: "29501"
+        OMP_NUM_THREADS: "32"
+        PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION: Not Set
+        RANK: "0"
+        TORCH_HOME: /hfm/boqian/torch_cache
+        UV_CACHE_DIR: /hfm/boqian/uv_cache
+        WANDB_API_KEY: Not Set
+        WE_HOME: Not Set
+        WORLD_SIZE: "2"
+eval:
+    value: false
+exp:
+    value: hfm-together-with-rtc
+log:
+    value:
+        log_freq: 100
+        logging_dir: logs
+        report_to: wandb
+model:
+    value:
+        action_chunk_size: 30
+        action_dim: 36
+        action_exec_horizon: 30
+        activation: gelu
+        combined_temb: false
+        data_flatten: true
+        data_packing: true
+        dim_feedforward: 2048
+        dropout: 0.1
+        early_fusion: false
+        eval_diffusion_steps: 10
+        gradient_checkpointing: true
+        hidden_dim: 1536
+        img_chunk: 1
+        lang_backbone_lr: 1e-05
+        loss_w:
+            - 0.1
+            - 0.2
+            - 0.1
+        max_delay: 8
+        max_pixels: 451584
+        min_pixels: 12544
+        mm_projector_lr: 1e-05
+        model_max_length: 4096
+        model_name_or_path: /hfm/cache/checkpoints/hfm.pre.fast.mixed.1by1.2601091803.ckpt30k
+        n_cams: 1
+        n_conditions: 0
+        nhead: 24
+        noise_scheduler: flow
+        num_blocks: 6
+        observation_horizon: 1
+        odim: 36
+        optim: adamw_torch
+        pretrained_action_header_path: /hfm/cache/checkpoints/postpre.1by130k.pad36.mixed.2601131206.ckpt34k
+        resnet_store_path: cache/checkpoints/resnet18/IN_1M_resnet18.pth
+        rtc: true
+        share_cam_features: false
+        time_dim: 256
+        token_fusion: concat
+        train_diffusion_steps: 1000
+        tune_mm_llm: false
+        tune_mm_mlp: false
+        tune_mm_vision: false
+        tune_vlm: false
+        use_dit: false
+        use_film: false
+        use_obs: add_token
+        view_feature_dim: 2048
+        vision_tower_lr: 1e-06
+        vlm_ckpt_step: null
+        vlm_run_dir: null
+        weight_decay: 0.01
+seed:
+    value: 292285
+timestamp:
+    value: "2601220925"
+train:
+    value:
+        checkpointing_steps: 5000
+        data_parallel: ddp
+        deepspeed_config: /hfm/boqian/liboqian_code/we_learn/src/InternVLA/config/deepseeds/zero3.json
+        enable_gradient_checkpointing: true
+        enable_mixed_precision_training: true
+        gradient_accumulation_steps: 1
+        hf_token: .hf_token
+        learning_rate: 0.0001
+        lora: false
+        lr_scheduler_kwargs:
+            betas:
+                - 0.95
+                - 0.999
+            eps: 1e-08
+            weight_decay: 1e-06
+        lr_scheduler_type: cosine
+        max_checkpoints_to_keep: 5
+        max_grad_norm: 1
+        max_training_steps: 42000
+        mixed_precision: bf16
+        name: hfm-finetune
+        num_train_epochs: null
+        num_workers: 8
+        output_dir: .runs
+        overfit_single_batch: false
+        reduce_in_full_precision: true
+        resume_from_checkpoint: null
+        sharding_strategy: full-shard
+        skip_resumed_steps: false
+        train_batch_size: 64
+        val_batch_size: 16
+        val_num_batches: 20
+        validation_steps: 500
+        warmup_ratio: null
+        warmup_steps: 1000
+wandb:
+    value:
+        entity: null
+        group: null
+        id: null
+        name: null
+        project: hfm
+        resume: allow