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Publish completed Window8 text dual-lane epoch 1 (step 3852)

Browse files
.gitattributes CHANGED
@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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  *.zip filter=lfs diff=lfs merge=lfs -text
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  *.zst filter=lfs diff=lfs merge=lfs -text
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  *tfevents* filter=lfs diff=lfs merge=lfs -text
 
 
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  *.zip filter=lfs diff=lfs merge=lfs -text
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  *.zst filter=lfs diff=lfs merge=lfs -text
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  *tfevents* filter=lfs diff=lfs merge=lfs -text
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+ epoch-1/tokenizer.json filter=lfs diff=lfs merge=lfs -text
README.md ADDED
@@ -0,0 +1,46 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ base_model: Qwen/Qwen3.5-4B
3
+ tags:
4
+ - vision-language-navigation
5
+ - simplememvln
6
+ - dual-lane
7
+ - r2r
8
+ - rxr
9
+ ---
10
+ # SimpleMemVLN Window8 Text Dual-Lane — from base
11
+
12
+ Epoch 1 of a two-epoch joint R2R + English-guide RxR 15-degree training run.
13
+ This is a mid-schedule checkpoint, not a separately scheduled one-epoch model.
14
+ No navigation evaluation result is claimed for these weights.
15
+
16
+ ## Training recipe
17
+ Original Qwen3.5-4B base revision `851bf6e806efd8d0a36b00ddf55e13ccb7b8cd0a`.
18
+ Training code: `a7e442cbd3c43cf3ec238eaa527e9c67f5ce2408` on
19
+ https://github.com/anhdao69/SimpleMemVLN/tree/streaming_text_dual .
20
+ 30,815 episodes; 3,128,624 action steps per dataset pass before distributed tail padding.
21
+ Epoch 1 is update 3,852 of 7,704; 232 warmup updates; seed 429.
22
+ Four H100 GPUs, one complete episode per rank per microstep, gradient accumulation 2,
23
+ effective global batch 8. BF16, ZeRO-2, frozen vision/merger, trainable text backbone
24
+ and output head; native LR 5e-6, lane LR 1e-4. Full-episode BPTT with activation
25
+ checkpointing and long-episode CPU activation offload.
26
+
27
+ Text output uses canonical action-text history and supervised assistant EOS.
28
+ Window8 native attention retains instruction prefix plus eight observation/action
29
+ groups. Native recurrent state persists. Four step lanes at layers 16/20/24/28
30
+ add 21,054,000 parameters, write only on each completed group's final separator,
31
+ and read at token rate. Attention window batching is 16.
32
+
33
+ ## Loading
34
+ This is a custom SimpleMemVLN wrapper state dictionary, not a directly interchangeable
35
+ Transformers AutoModel checkpoint. Download this repository, then use the recorded
36
+ SimpleMemVLN source/environment and the pinned original Qwen base snapshot:
37
+
38
+ ```python
39
+ from qwen_vl.train.vln_runtime import load_checkpoint
40
+ model, serializer = load_checkpoint('/path/to/download/epoch-1', '/path/to/Qwen3.5-4B-base')
41
+ ```
42
+
43
+ `navigation.json` contains the saved model/serializer/memory contract.
44
+ `SHA256SUMS.json` records artifact checksums. Optimizer states, RNG recovery files,
45
+ training images and credentials are excluded. The full recovery checkpoint remains
46
+ on the training server. Training continued into epoch 2 during publication.
SHA256SUMS.json ADDED
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+ {
2
+ "README.md": "ff21c42758f4e83ce3f86e0069c511779ea53d507d73cbe0c0e4a2e500b71ab6",
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+ "epoch-1/chat_template.jinja": "a4aee8afcf2e0711942cf848899be66016f8d14a889ff9ede07bca099c28f715",
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+ "epoch-1/config.json": "2451a8786918f4c348acb32c438d9a127098c022334ae1a7713ce5be588a7df1",
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+ "epoch-1/navigation.json": "a57a137bc41a595ce07fbb8132e3ac317689f1c9b023e4295dbb098dcc8e2d6f",
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+ "epoch-1/processor_config.json": "d89ef49ce9cd37fbf510158e13c1ef063d9286411c1ec9049932dbe0487143b1",
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+ "epoch-1/pytorch_model.bin": "cd7b36d160c19ebbb8fbdc92e3ce451f08a2a566a9a3507b382dd828b06ea6d4",
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+ "epoch-1/tokenizer.json": "06b9509352d2af50381ab2247e083b80d32d5c0aba91c272ca9ff729b6a0e523",
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+ "epoch-1/tokenizer_config.json": "7488550a894dcf741616126e322ea31d66cf9457b59ec5825f4c7efdced421f8",
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+ "epoch-1/trainer_state.json": "ea4eca79cdf8b3c16ebf200d6733d2fdfc9b72f73981bb16be99d681ca2f3979",
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+ "resolved_config.json": "b1d0ee961394829deba162a68036ab5a667d8cc7ab236f9987e9cae9637c8c53"
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+ }
epoch-1/chat_template.jinja ADDED
@@ -0,0 +1,154 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {%- set image_count = namespace(value=0) %}
2
+ {%- set video_count = namespace(value=0) %}
3
+ {%- macro render_content(content, do_vision_count, is_system_content=false) %}
4
+ {%- if content is string %}
5
+ {{- content }}
6
+ {%- elif content is iterable and content is not mapping %}
7
+ {%- for item in content %}
8
+ {%- if 'image' in item or 'image_url' in item or item.type == 'image' %}
9
+ {%- if is_system_content %}
10
+ {{- raise_exception('System message cannot contain images.') }}
11
+ {%- endif %}
12
+ {%- if do_vision_count %}
13
+ {%- set image_count.value = image_count.value + 1 %}
14
+ {%- endif %}
15
+ {%- if add_vision_id %}
16
+ {{- 'Picture ' ~ image_count.value ~ ': ' }}
17
+ {%- endif %}
18
+ {{- '<|vision_start|><|image_pad|><|vision_end|>' }}
19
+ {%- elif 'video' in item or item.type == 'video' %}
20
+ {%- if is_system_content %}
21
+ {{- raise_exception('System message cannot contain videos.') }}
22
+ {%- endif %}
23
+ {%- if do_vision_count %}
24
+ {%- set video_count.value = video_count.value + 1 %}
25
+ {%- endif %}
26
+ {%- if add_vision_id %}
27
+ {{- 'Video ' ~ video_count.value ~ ': ' }}
28
+ {%- endif %}
29
+ {{- '<|vision_start|><|video_pad|><|vision_end|>' }}
30
+ {%- elif 'text' in item %}
31
+ {{- item.text }}
32
+ {%- else %}
33
+ {{- raise_exception('Unexpected item type in content.') }}
34
+ {%- endif %}
35
+ {%- endfor %}
36
+ {%- elif content is none or content is undefined %}
37
+ {{- '' }}
38
+ {%- else %}
39
+ {{- raise_exception('Unexpected content type.') }}
40
+ {%- endif %}
41
+ {%- endmacro %}
42
+ {%- if not messages %}
43
+ {{- raise_exception('No messages provided.') }}
44
+ {%- endif %}
45
+ {%- if tools and tools is iterable and tools is not mapping %}
46
+ {{- '<|im_start|>system\n' }}
47
+ {{- "# Tools\n\nYou have access to the following functions:\n\n<tools>" }}
48
+ {%- for tool in tools %}
49
+ {{- "\n" }}
50
+ {{- tool | tojson }}
51
+ {%- endfor %}
52
+ {{- "\n</tools>" }}
53
+ {{- '\n\nIf you choose to call a function ONLY reply in the following format with NO suffix:\n\n<tool_call>\n<function=example_function_name>\n<parameter=example_parameter_1>\nvalue_1\n</parameter>\n<parameter=example_parameter_2>\nThis is the value for the second parameter\nthat can span\nmultiple lines\n</parameter>\n</function>\n</tool_call>\n\n<IMPORTANT>\nReminder:\n- Function calls MUST follow the specified format: an inner <function=...></function> block must be nested within <tool_call></tool_call> XML tags\n- Required parameters MUST be specified\n- You may provide optional reasoning for your function call in natural language BEFORE the function call, but NOT after\n- If there is no function call available, answer the question like normal with your current knowledge and do not tell the user about function calls\n</IMPORTANT>' }}
54
+ {%- if messages[0].role == 'system' %}
55
+ {%- set content = render_content(messages[0].content, false, true)|trim %}
56
+ {%- if content %}
57
+ {{- '\n\n' + content }}
58
+ {%- endif %}
59
+ {%- endif %}
60
+ {{- '<|im_end|>\n' }}
61
+ {%- else %}
62
+ {%- if messages[0].role == 'system' %}
63
+ {%- set content = render_content(messages[0].content, false, true)|trim %}
64
+ {{- '<|im_start|>system\n' + content + '<|im_end|>\n' }}
65
+ {%- endif %}
66
+ {%- endif %}
67
+ {%- set ns = namespace(multi_step_tool=true, last_query_index=messages|length - 1) %}
68
+ {%- for message in messages[::-1] %}
69
+ {%- set index = (messages|length - 1) - loop.index0 %}
70
+ {%- if ns.multi_step_tool and message.role == "user" %}
71
+ {%- set content = render_content(message.content, false)|trim %}
72
+ {%- if not(content.startswith('<tool_response>') and content.endswith('</tool_response>')) %}
73
+ {%- set ns.multi_step_tool = false %}
74
+ {%- set ns.last_query_index = index %}
75
+ {%- endif %}
76
+ {%- endif %}
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+ {%- endfor %}
78
+ {%- if ns.multi_step_tool %}
79
+ {{- raise_exception('No user query found in messages.') }}
80
+ {%- endif %}
81
+ {%- for message in messages %}
82
+ {%- set content = render_content(message.content, true)|trim %}
83
+ {%- if message.role == "system" %}
84
+ {%- if not loop.first %}
85
+ {{- raise_exception('System message must be at the beginning.') }}
86
+ {%- endif %}
87
+ {%- elif message.role == "user" %}
88
+ {{- '<|im_start|>' + message.role + '\n' + content + '<|im_end|>' + '\n' }}
89
+ {%- elif message.role == "assistant" %}
90
+ {%- set reasoning_content = '' %}
91
+ {%- if message.reasoning_content is string %}
92
+ {%- set reasoning_content = message.reasoning_content %}
93
+ {%- else %}
94
+ {%- if '</think>' in content %}
95
+ {%- set reasoning_content = content.split('</think>')[0].rstrip('\n').split('<think>')[-1].lstrip('\n') %}
96
+ {%- set content = content.split('</think>')[-1].lstrip('\n') %}
97
+ {%- endif %}
98
+ {%- endif %}
99
+ {%- set reasoning_content = reasoning_content|trim %}
100
+ {%- if loop.index0 > ns.last_query_index %}
101
+ {{- '<|im_start|>' + message.role + '\n<think>\n' + reasoning_content + '\n</think>\n\n' + content }}
102
+ {%- else %}
103
+ {{- '<|im_start|>' + message.role + '\n' + content }}
104
+ {%- endif %}
105
+ {%- if message.tool_calls and message.tool_calls is iterable and message.tool_calls is not mapping %}
106
+ {%- for tool_call in message.tool_calls %}
107
+ {%- if tool_call.function is defined %}
108
+ {%- set tool_call = tool_call.function %}
109
+ {%- endif %}
110
+ {%- if loop.first %}
111
+ {%- if content|trim %}
112
+ {{- '\n\n<tool_call>\n<function=' + tool_call.name + '>\n' }}
113
+ {%- else %}
114
+ {{- '<tool_call>\n<function=' + tool_call.name + '>\n' }}
115
+ {%- endif %}
116
+ {%- else %}
117
+ {{- '\n<tool_call>\n<function=' + tool_call.name + '>\n' }}
118
+ {%- endif %}
119
+ {%- if tool_call.arguments is defined %}
120
+ {%- for args_name, args_value in tool_call.arguments|items %}
121
+ {{- '<parameter=' + args_name + '>\n' }}
122
+ {%- set args_value = args_value | tojson | safe if args_value is mapping or (args_value is sequence and args_value is not string) else args_value | string %}
123
+ {{- args_value }}
124
+ {{- '\n</parameter>\n' }}
125
+ {%- endfor %}
126
+ {%- endif %}
127
+ {{- '</function>\n</tool_call>' }}
128
+ {%- endfor %}
129
+ {%- endif %}
130
+ {{- '<|im_end|>\n' }}
131
+ {%- elif message.role == "tool" %}
132
+ {%- if loop.previtem and loop.previtem.role != "tool" %}
133
+ {{- '<|im_start|>user' }}
134
+ {%- endif %}
135
+ {{- '\n<tool_response>\n' }}
136
+ {{- content }}
137
+ {{- '\n</tool_response>' }}
138
+ {%- if not loop.last and loop.nextitem.role != "tool" %}
139
+ {{- '<|im_end|>\n' }}
140
+ {%- elif loop.last %}
141
+ {{- '<|im_end|>\n' }}
142
+ {%- endif %}
143
+ {%- else %}
144
+ {{- raise_exception('Unexpected message role.') }}
145
+ {%- endif %}
146
+ {%- endfor %}
147
+ {%- if add_generation_prompt %}
148
+ {{- '<|im_start|>assistant\n' }}
149
+ {%- if enable_thinking is defined and enable_thinking is false %}
150
+ {{- '<think>\n\n</think>\n\n' }}
151
+ {%- else %}
152
+ {{- '<think>\n' }}
153
+ {%- endif %}
154
+ {%- endif %}
epoch-1/config.json ADDED
@@ -0,0 +1,112 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
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+ "architectures": [
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+ "Qwen3_5ForConditionalGeneration"
4
+ ],
5
+ "dtype": "bfloat16",
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+ "eos_token_id": 248046,
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+ "image_token_id": 248056,
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+ "model_type": "qwen3_5",
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+ "pad_token_id": 248044,
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+ "text_config": {
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+ "attention_bias": false,
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+ "attention_dropout": 0.0,
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+ "attn_output_gate": true,
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+ "bos_token_id": null,
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+ "dtype": "bfloat16",
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+ "eos_token_id": 248044,
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+ "full_attention_interval": 4,
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+ "head_dim": 256,
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+ "hidden_act": "silu",
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+ "hidden_size": 2560,
21
+ "initializer_range": 0.02,
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+ "intermediate_size": 9216,
23
+ "layer_types": [
24
+ "linear_attention",
25
+ "linear_attention",
26
+ "linear_attention",
27
+ "full_attention",
28
+ "linear_attention",
29
+ "linear_attention",
30
+ "linear_attention",
31
+ "full_attention",
32
+ "linear_attention",
33
+ "linear_attention",
34
+ "linear_attention",
35
+ "full_attention",
36
+ "linear_attention",
37
+ "linear_attention",
38
+ "linear_attention",
39
+ "full_attention",
40
+ "linear_attention",
41
+ "linear_attention",
42
+ "linear_attention",
43
+ "full_attention",
44
+ "linear_attention",
45
+ "linear_attention",
46
+ "linear_attention",
47
+ "full_attention",
48
+ "linear_attention",
49
+ "linear_attention",
50
+ "linear_attention",
51
+ "full_attention",
52
+ "linear_attention",
53
+ "linear_attention",
54
+ "linear_attention",
55
+ "full_attention"
56
+ ],
57
+ "linear_conv_kernel_dim": 4,
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+ "linear_key_head_dim": 128,
59
+ "linear_num_key_heads": 16,
60
+ "linear_num_value_heads": 32,
61
+ "linear_value_head_dim": 128,
62
+ "mamba_ssm_dtype": "float32",
63
+ "max_position_embeddings": 262144,
64
+ "mlp_only_layers": [],
65
+ "model_type": "qwen3_5_text",
66
+ "mtp_num_hidden_layers": 1,
67
+ "mtp_use_dedicated_embeddings": false,
68
+ "num_attention_heads": 16,
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+ "num_hidden_layers": 32,
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+ "num_key_value_heads": 4,
71
+ "pad_token_id": null,
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+ "partial_rotary_factor": 0.25,
73
+ "rms_norm_eps": 1e-06,
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+ "rope_parameters": {
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+ "mrope_interleaved": true,
76
+ "mrope_section": [
77
+ 11,
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+ 11,
79
+ 10
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+ ],
81
+ "partial_rotary_factor": 0.25,
82
+ "rope_theta": 10000000,
83
+ "rope_type": "default"
84
+ },
85
+ "tie_word_embeddings": true,
86
+ "use_cache": true,
87
+ "vocab_size": 248320
88
+ },
89
+ "tie_word_embeddings": true,
90
+ "transformers_version": "5.11.0",
91
+ "use_cache": false,
92
+ "video_token_id": 248057,
93
+ "vision_config": {
94
+ "deepstack_visual_indexes": [],
95
+ "depth": 24,
96
+ "dtype": "bfloat16",
97
+ "hidden_act": "gelu_pytorch_tanh",
98
+ "hidden_size": 1024,
99
+ "in_channels": 3,
100
+ "initializer_range": 0.02,
101
+ "intermediate_size": 4096,
102
+ "model_type": "qwen3_5_vision",
103
+ "num_heads": 16,
104
+ "num_position_embeddings": 2304,
105
+ "out_hidden_size": 2560,
106
+ "patch_size": 16,
107
+ "spatial_merge_size": 2,
108
+ "temporal_patch_size": 2
109
+ },
110
+ "vision_end_token_id": 248054,
111
+ "vision_start_token_id": 248053
112
+ }
epoch-1/navigation.json ADDED
@@ -0,0 +1,149 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "serializer": "vln_append_only_chat_v1",
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+ "template_sha256": "fb79cf3922f74475e9a5faaac8c08d2f79a3ca7bef5dbf434f3f7726119229b8",
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+ "actions": [
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+ "MOVE_FORWARD",
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+ "TURN_LEFT",
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+ "TURN_RIGHT",
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+ "STOP"
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+ ],
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+ "habitat_ids": [
11
+ 1,
12
+ 2,
13
+ 3,
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+ 0
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+ ],
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+ "action_token_ids": [
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+ [
18
+ 28164,
19
+ 61846,
20
+ 248046
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+ ],
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+ [
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+ 15834,
24
+ 18440,
25
+ 248046
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+ ],
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+ [
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+ 15834,
29
+ 20549,
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+ 248046
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+ ],
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+ [
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+ 48964,
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+ 248046
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+ ]
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+ ],
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+ "eos": 248046,
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+ "separator_ids": [
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+ 198
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+ ],
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+ "rgb_shape": [
42
+ 480,
43
+ 640,
44
+ 3
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+ ],
46
+ "position_convention": "logical_text_plus_native_mrope_v1",
47
+ "rotary_precision": "fp32_preserved_across_module_casts_v1",
48
+ "config": {
49
+ "generation": {
50
+ "fixed_separator": "\n",
51
+ "max_response_tokens_including_eos": 16
52
+ },
53
+ "memory": {
54
+ "evict_before_new_step": true,
55
+ "kv_guard_tokens": 5120,
56
+ "kv_window_steps_including_current": 8,
57
+ "mode": "window8"
58
+ },
59
+ "model": {
60
+ "backbone": "Qwen/Qwen3.5-4B",
61
+ "output_mode": "qwen_text",
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+ "revision": "851bf6e806efd8d0a36b00ddf55e13ccb7b8cd0a",
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+ "step_lane": {
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+ "enabled": true,
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+ "version": "parallel_step_lane_v1",
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+ "layers": [
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+ 16,
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+ 20,
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+ 24,
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+ 28
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+ ],
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+ "init_seed": 429,
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+ "clock_mode": "step_end"
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+ }
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+ },
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+ "observations": {
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+ "append_action_tokens": true,
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+ "expected_rgb_shape": [
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+ 480,
80
+ 640,
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+ 3
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+ ],
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+ "expected_visual_tokens": 300,
84
+ "max_prefix_tokens": 2048,
85
+ "max_step_group_tokens": 384,
86
+ "serializer_version": "vln_append_only_chat_v1"
87
+ },
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+ "runtime": {
89
+ "action_diagnostics": false,
90
+ "max_logical_context_tokens": 262144,
91
+ "profile_components": false,
92
+ "window_attention_batch_steps": 16,
93
+ "text_attention": "simplememvln_step_attention",
94
+ "vision_attention": "flash_attention_2",
95
+ "vision_microbatch_images": 4
96
+ },
97
+ "training": {
98
+ "activation_offload_min_tokens": 65536,
99
+ "backbone_lr": 5e-06,
100
+ "checkpoint_decoder_layers": true,
101
+ "class_weighting": "none",
102
+ "classifier_lr": 5e-06,
103
+ "dataloader_num_workers": 4,
104
+ "effective_number_beta": 0.9999,
105
+ "epochs": 2,
106
+ "expected_total_steps": 7704,
107
+ "expected_warmup_steps": 232,
108
+ "gradient_accumulation_steps": 2,
109
+ "length_bucket_pool_episodes": 64,
110
+ "microbatch_episodes_per_rank": 1,
111
+ "model_max_length": 262144,
112
+ "nominal_episodes_per_update": 8,
113
+ "save_strategy": "epoch",
114
+ "save_total_limit": null,
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