Add files using upload-large-folder tool

.gitattributes

@@ -36,3 +36,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 franka_move_egg_visual_prompt_QwenOFT_4k_save/wandb/wandb/run-20260224_095749-90ibcpp4/run-90ibcpp4.wandb filter=lfs diff=lfs merge=lfs -text
 franka_pick_color_egg_visual_prompt_QwenOFT_4k_save/wandb/wandb/run-20260224_100004-d1v6qg5k/run-d1v6qg5k.wandb filter=lfs diff=lfs merge=lfs -text
 franka_filter_class_12_visual_prompt_QwenOFT_4k_save/wandb/wandb/run-20260224_095755-tbifv35r/run-tbifv35r.wandb filter=lfs diff=lfs merge=lfs -text
+franka_sweep_floor_visual_prompt_QwenOFT_4k_save/wandb/wandb/run-20260224_164044-tqe5jdia/run-tqe5jdia.wandb filter=lfs diff=lfs merge=lfs -text

franka_move_egg_visual_prompt_QwenOFT_4k_save/wandb/wandb/run-20260224_095749-90ibcpp4/logs/debug-core.log

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franka_sweep_floor_visual_prompt_QwenOFT_4k_save/checkpoints/steps_4000_pytorch_model.pt

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+size 9785060316

franka_sweep_floor_visual_prompt_QwenOFT_4k_save/checkpoints/steps_8000_pytorch_model.pt

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franka_sweep_floor_visual_prompt_QwenOFT_4k_save/config.yaml

@@ -0,0 +1,70 @@
+datasets:
+  vla_data:
+    CoT_prompt: Your task is {instruction}. To identify the key objects for your task.
+      Locate their bounding boxes in [x1,y1,x2,y2] format.
+    data_mix: smartmore_franka_sweep_floor
+    data_root_dir: /gpfs/wangzixuan/visual_prompting/real_data/lerobot
+    dataset_py: visual_prompt_datasets
+    delete_pause_frame: false
+    feed_both_images: true
+    image_size:
+    - 224
+    - 224
+    num_workers: 4
+    per_device_batch_size: 32
+    target_location_prompt_type: box
+    target_object_prompt_type: crosshair
+    use_subtask: false
+    video_backend: pyav
+    visual_prompt_dir: /gpfs/wangzixuan/visual_prompting/starVLA_robocasa/realdata_process/visual_prompts_output
+  vp_data:
+    dataset_py: visual_prompt_prediction_datasets
+    extracted_frames_dir: /gpfs/wangzixuan/visual_prompting/real_data/extracted_frames
+    feed_both_images: false
+    num_workers: 4
+    per_device_batch_size: 8
+    target_location_prompt_type: box
+    target_object_prompt_type: crosshair
+    visual_prompt_dir: /gpfs/wangzixuan/visual_prompting/starVLA_robocasa/realdata_process/visual_prompts_output
+framework:
+  action_model:
+    action_dim: 7
+    action_hidden_dim: 2560
+    action_model_type: DiT-B
+    future_action_window_size: 15
+    past_action_window_size: 0
+  name: QwenOFT
+  qwenvl:
+    base_vlm: /gpfs/wangzixuan/visual_prompting/starVLA_robocasa/playground/Pretrained_models/Qwen3-VL-4B-Instruct
+output_dir: /gpfs/wangzixuan/visual_prompting/starVLA_robocasa/playground/Checkpoints/franka_sweep_floor_visual_prompt_QwenOFT_4k_save
+run_id: franka_sweep_floor_visual_prompt_QwenOFT_4k_save
+run_root_dir: /gpfs/wangzixuan/visual_prompting/starVLA_robocasa/playground/Checkpoints
+seed: 42
+trainer:
+  eval_interval: 100
+  freeze_modules: null
+  gradient_accumulation_steps: 1
+  gradient_clipping: 1.0
+  is_resume: false
+  learning_rate:
+    action_model: 0.0001
+    base: 3.0e-05
+    qwen_vl_interface: 1.0e-05
+  logging_frequency: 10
+  loss_scale:
+    visual_prompt: 0.1
+    vla: 1.0
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 100000
+  num_warmup_steps: 5000
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  save_interval: 4000
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07
+wandb_entity: zwanggk
+wandb_project: franka_visual_prompt

franka_sweep_floor_visual_prompt_QwenOFT_4k_save/dataset_statistics.json

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+{
+  "franka": {
+    "action": {
+      "mean": [
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+        0.03849069029092789,
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+        true,
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+      ]
+    },
+    "state": {
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+    "num_trajectories": 70
+  }
+}

franka_sweep_floor_visual_prompt_QwenOFT_4k_save/run_franka_vp_sweep_floor.sh

@@ -0,0 +1,64 @@
+#!/bin/bash
+# Visual Prompt Training Script for Franka - sweep_floor
+
+export NCCL_SOCKET_IFNAME=bond0
+export NCCL_IB_HCA=mlx5_2,mlx5_3
+
+export NCCL_BLOCKING_WAIT=1
+export NCCL_ASYNC_ERROR_HANDLING=1
+export TORCH_NCCL_BLOCKING_WAIT=1
+export TORCH_NCCL_ASYNC_ERROR_HANDLING=1
+
+export NCCL_TIMEOUT=3600
+export TORCH_DISTRIBUTED_DEBUG=DETAIL
+
+Framework_name=QwenOFT
+base_vlm=/gpfs/wangzixuan/visual_prompting/starVLA_robocasa/playground/Pretrained_models/Qwen3-VL-4B-Instruct
+freeze_module_list=''
+DIT_TYPE="DiT-B"
+
+# Data paths
+data_root_dir=/gpfs/wangzixuan/visual_prompting/real_data/lerobot
+visual_prompt_dir=/gpfs/wangzixuan/visual_prompting/starVLA_robocasa/realdata_process/visual_prompts_output
+extracted_frames_dir=/gpfs/wangzixuan/visual_prompting/real_data/extracted_frames
+data_mix=smartmore_franka_sweep_floor
+
+# Output
+run_root_dir=/gpfs/wangzixuan/visual_prompting/starVLA_robocasa/playground/Checkpoints
+run_id=franka_sweep_floor_visual_prompt_QwenOFT_4k_save
+
+output_dir=${run_root_dir}/${run_id}
+mkdir -p ${output_dir}
+cp $0 ${output_dir}/
+
+accelerate launch \
+  --config_file starVLA/config/deepseeds/deepspeed_zero2.yaml \
+  --num_processes 8 \
+  starVLA/training/train_starvla_visual_prompt.py \
+  --config_yaml ./examples/Franka/train_files/starvla_cotrain_franka_visual_prompt.yaml \
+  --framework.name ${Framework_name} \
+  --framework.qwenvl.base_vlm ${base_vlm} \
+  --framework.action_model.action_model_type ${DIT_TYPE} \
+  --datasets.vla_data.data_root_dir ${data_root_dir} \
+  --datasets.vla_data.visual_prompt_dir ${visual_prompt_dir} \
+  --datasets.vla_data.data_mix ${data_mix} \
+  --datasets.vla_data.per_device_batch_size 32 \
+  --datasets.vla_data.video_backend pyav \
+  --datasets.vp_data.visual_prompt_dir ${visual_prompt_dir} \
+  --datasets.vp_data.extracted_frames_dir ${extracted_frames_dir} \
+  --datasets.vp_data.per_device_batch_size 8 \
+  --trainer.freeze_modules "${freeze_module_list}" \
+  --trainer.max_train_steps 100000 \
+  --trainer.save_interval 4000 \
+  --trainer.logging_frequency 10 \
+  --trainer.eval_interval 100 \
+  --trainer.learning_rate.base 3e-5 \
+  --trainer.learning_rate.qwen_vl_interface 1e-5 \
+  --trainer.loss_scale.visual_prompt 0.1 \
+  --datasets.vla_data.use_subtask false \
+  --datasets.vla_data.feed_both_images true \
+  --datasets.vp_data.feed_both_images false \
+  --run_root_dir ${run_root_dir} \
+  --run_id ${run_id} \
+  --wandb_project franka_visual_prompt \
+  --wandb_entity zwanggk

franka_sweep_floor_visual_prompt_QwenOFT_4k_save/summary.jsonl

@@ -0,0 +1,5 @@
+{"steps": 4000}
+{"steps": 8000}
+{"steps": 12000}
+{"steps": 16000}
+{"steps": 20000}

franka_sweep_floor_visual_prompt_QwenOFT_4k_save/wandb/wandb/debug-internal.log

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franka_sweep_floor_visual_prompt_QwenOFT_4k_save/wandb/wandb/run-20260224_164044-tqe5jdia/files/requirements.txt

@@ -0,0 +1,151 @@
+starVLA==1.0.1
+docstring_parser==0.17.0
+pydantic_core==2.27.2
+py-cpuinfo==9.0.0
+Werkzeug==3.1.5
+pandas==2.3.3
+kiwisolver==1.4.9
+httpcore==1.0.9
+nvidia-cuda-runtime-cu12==12.4.127
+Jinja2==3.1.6
+exceptiongroup==1.3.1
+filelock==3.20.3
+torchvision==0.21.0
+gitdb==4.0.12
+fastparquet==2024.11.0
+tensorboard==2.20.0
+portalocker==3.2.0
+timm==1.0.24
+nvidia-nvjitlink-cu12==12.4.127
+nvidia-cudnn-cu12==9.1.0.70
+pyparsing==3.3.2
+protobuf==6.33.4
+nvitop==1.6.2
+importlib_metadata==8.7.1
+GitPython==3.1.46
+annotated-types==0.7.0
+antlr4-python3-runtime==4.9.3
+yacs==0.1.8
+contourpy==1.3.2
+charset-normalizer==3.4.4
+hjson==3.1.0
+tensorboard-data-server==0.7.2
+six==1.17.0
+nvidia-cuda-cupti-cu12==12.4.127
+tqdm==4.67.1
+h11==0.16.0
+zipp==3.23.0
+pipablepytorch3d==0.7.6
+transformers==4.57.0
+websockets==16.0
+opencv-python-headless==4.11.0.86
+ninja==1.13.0
+websocket-client==1.8.0
+nvidia-nvtx-cu12==12.4.127
+grpcio==1.76.0
+psutil==7.2.1
+typing_extensions==4.15.0
+zope.event==6.1
+mdurl==0.1.2
+scipy==1.15.3
+pydantic==2.10.6
+tiktoken==0.12.0
+networkx==3.4.2
+zope.interface==8.2
+lazy_loader==0.4
+websocket==0.2.1
+huggingface-hub==0.36.0
+transformers-stream-generator==0.0.4
+cycler==0.12.1
+safetensors==0.7.0
+requests==2.32.5
+matplotlib==3.10.8
+nvidia-cuda-nvrtc-cu12==12.4.127
+qwen-vl-utils==0.0.14
+scikit-image==0.25.2
+deepspeed==0.16.9
+omegaconf==2.3.0
+Markdown==3.10.1
+sentry-sdk==2.50.0
+pip==25.3
+pillow==12.1.0
+pyarrow==14.0.1
+nvidia-cublas-cu12==12.4.5.8
+termcolor==3.3.0
+tifffile==2025.5.10
+nvidia-curand-cu12==10.3.5.147
+iopath==0.1.10
+wandb==0.24.0
+PyYAML==6.0.3
+flash_attn==2.7.4.post1
+wheel==0.45.1
+tokenizers==0.22.2
+idna==3.11
+accelerate==1.5.2
+mpmath==1.3.0
+einops==0.8.1
+urllib3==2.6.3
+diffusers==0.36.0
+hf-xet==1.2.0
+eval_type_backport==0.3.1
+fsspec==2026.1.0
+ImageIO==2.37.2
+tzdata==2025.3
+torch==2.6.0
+click==8.3.1
+albumentations==1.4.18
+setuptools==80.9.0
+tabulate==0.9.0
+av==12.3.0
+nvidia-cusparselt-cu12==0.6.2
+markdown-it-py==4.0.0
+absl-py==2.3.1
+nvidia-cusparse-cu12==12.3.1.170
+starVLA==1.0.1
+packaging==26.0
+MarkupSafe==3.0.3
+eva-decord==0.6.1
+Pygments==2.19.2
+rich==14.2.0
+nvidia-cufft-cu12==11.2.1.3
+numpydantic==1.6.9
+triton==3.2.0
+certifi==2026.1.4
+smmap==5.0.2
+fvcore==0.1.5.post20221221
+albucore==0.0.17
+fonttools==4.61.1
+regex==2026.1.15
+pytz==2025.2
+python-dateutil==2.9.0.post0
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