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Robometer-4B

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Robometer-4B
File size: 4,527 Bytes
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custom_eval:
  comparisons_per_task: 5
  confusion_matrix:
  - mw
  custom_eval_random_seed: 42
  eval_types:
  - reward_alignment
  - policy_ranking
  num_examples_per_quality_pr: 5
  num_partial_successes: 5
  pad_frames: true
  policy_ranking:
  - rbm-1m-ood
  policy_ranking_max_tasks: 100
  quality_preference:
  - mw
  reward_alignment:
  - rbm-1m-id
  - rbm-1m-ood
  reward_alignment_max_trajectories: 10
  subsample_n_frames: null
  use_frame_steps: true
data:
  data_source_weights:
    metaworld_train: 1.0
    molmoact_dataset_household: 1.0
    molmoact_dataset_tabletop: 1.0
    oxe_droid: 1.0
    roboarena: 1.0
  dataloader_num_workers: 8
  dataloader_persistent_workers: true
  dataloader_pin_memory: true
  dataset_preference_ratio: 0.7
  dataset_success_cutoff_file: robometer/data/dataset_success_cutoff.txt
  dataset_type: strategy_first
  eval_datasets:
  - mw
  eval_subset_size: null
  load_embeddings: false
  max_frames: 8
  max_frames_after_preprocessing: 64
  max_success: 1.0
  max_trajectories: -1
  min_frames_per_trajectory: 5
  min_success: 0.5
  partial_success_threshold: 0.2
  predict_last_frame_partial_progress: false
  preference_strategy_ratio:
  - 1.0
  - 1.0
  - 1.0
  - 1.0
  progress_discrete_bins: 10
  progress_loss_type: discrete
  progress_pred_type: absolute_wrt_total_frames
  progress_strategy_ratio:
  - 1.0
  - 1.0
  - 1.0
  - 1.0
  resized_height: null
  resized_width: null
  sample_type_ratio:
  - 1.0
  - 0.0
  - 0.0
  seed: 42
  shuffle: true
  shuffle_progress_frames: false
  train_datasets:
  - rbm-1m-id
  traj_same_source_prob: 0.5
  use_multi_image: true
  use_per_frame_progress_token: true
debug: false
logging:
  log_level: debug
  log_to:
  - wandb
  save_best:
    greater_is_better:
    - true
    - true
    - true
    - true
    - true
    hub_private: false
    hub_save_every: 1000
    hub_token: null
    keep_top_k: 5
    metric_names:
    - eval_p_rank/kendall_last_utd_so101_clean_top
    - eval_p_rank/kendall_last_usc_xarm
    - eval_p_rank/kendall_last_usc_franka
    - eval_p_rank/kendall_last_rfm_new_mit_franka_nowrist
    - eval_p_rank/kendall_last_usc_trossen
    save_every: 250
    upload_to_hub: false
  save_model: true
  save_processor: true
  wandb_entity: clvr
  wandb_mode: null
  wandb_notes: all run with prog_token per frame, qwen 4b, discrete progress, 10 bins
  wandb_project: robometer
loss:
  predict_last_frame_progress: false
  progress_discrete_bins: 10
  progress_loss_type: discrete
  success_positive_weight: 1.0
mode: train
model:
  average_temporal_patches: true
  base_model_id: Qwen/Qwen3-VL-4B-Instruct
  frame_pooling: mean
  frame_pooling_attn_temperature: 1.0
  model_type: default
  peft_vision_encoder: false
  progress_discrete_bins: 10
  progress_loss_type: discrete
  quantization: false
  rewind: null
  torch_dtype: bfloat16
  train_language_model: true
  train_preference_head: true
  train_progress_head: true
  train_success_head: true
  train_vision_encoder: false
  trust_remote_code: true
  use_multi_image: true
  use_peft: false
  use_per_frame_progress_token: true
  use_unsloth: true
peft:
  bias: none
  lora_alpha: 64
  lora_dropout: 0.05
  peft_vision_encoder: false
  r: 32
  target_modules:
  - q_proj
  - k_proj
  - v_proj
  - o_proj
  - gate_proj
  - up_proj
  - down_proj
trainer_cls: rbm_heads
training:
  beta: 0.1
  bf16: true
  custom_eval_steps: 250
  dataloader_num_workers: 8
  dataloader_persistent_workers: true
  dataloader_pin_memory: true
  ddp_bucket_cap_mb: 25
  ddp_find_unused_parameters: false
  do_eval: true
  eval_steps: 250
  evaluation_strategy: steps
  exp_name: ant_rfm_qwen4b_4gpu_bs16_pref_prog_succ_8_frames_all_discrete_10_bins_part2
  fp16: false
  gradient_accumulation_steps: 1
  gradient_checkpointing: true
  learning_rate: 2.0e-05
  logging_steps: 1
  lr_scheduler_type: cosine
  max_grad_norm: 10.0
  max_seq_length: 1024
  max_steps: 15000
  num_gpus: 2
  num_train_epochs: -1
  output_dir: ./logs
  overwrite_output_dir: true
  per_device_eval_batch_size: 16
  per_device_train_batch_size: 16
  predict_pref_progress: true
  prediction_loss_only: true
  remove_unused_columns: false
  resume_from_checkpoint: /gpfs/home/jessezha/scrubbed_storage/reward_fm/logs/ant_rfm_qwen4b_4gpu_bs16_pref_prog_succ_8_frames_all_discrete_10_bins/ckpt-avg-5metrics=0.6973_step=3000
  run_default_eval: false
  save_steps: 200
  save_strategy: 'no'
  vision_encoder_lr: 5.0e-06
  vision_encoder_num_layers: 3
  warmup_ratio: 0.1
  warmup_steps: 0
  weight_decay: 0.01