diff --git a/pi05_paligemma_libero_10_full_finetune_bs64/checkpoints/step-028548-epoch-18-loss=0.0111.pt b/pi05_paligemma_libero_10_full_finetune_bs64/checkpoints/step-028548-epoch-18-loss=0.0111.pt new file mode 100644 index 0000000000000000000000000000000000000000..b2af38d94657dbb26d00bfc4754bf8ad1f9b67cf --- /dev/null +++ b/pi05_paligemma_libero_10_full_finetune_bs64/checkpoints/step-028548-epoch-18-loss=0.0111.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10a369a3cecba37907b5ef49f628e6b86c6dd625b28592f9a95c238a3ff6304e +size 42563589590 diff --git a/pi05_paligemma_libero_10_full_finetune_bs64/config.json b/pi05_paligemma_libero_10_full_finetune_bs64/config.json new file mode 100644 index 0000000000000000000000000000000000000000..b92f4c372778af7354f19c2f2b0d982c5c3797e7 --- /dev/null +++ b/pi05_paligemma_libero_10_full_finetune_bs64/config.json @@ -0,0 +1,356 @@ +{ + "eval": { + "dataset": { + "transforms": [ + { + "img_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "type": "ProcessLiberoEvalInputs" + }, + { + "image_resize_strategy": "resize-naive", + "input_sizes": [ + [ + 3, + 224, + 224 + ], + [ + 3, + 224, + 224 + ] + ], + "means": [ + [ + 123.515625, + 116.04492188, + 103.59375 + ], + [ + 123.515625, + 116.04492188, + 103.59375 + ] + ], + "stds": [ + [ + 58.27148438, + 57.02636719, + 57.27539062 + ], + [ + 58.27148438, + 57.02636719, + 57.27539062 + ] + ], + "type": "TransformImage" + }, + { + "tokenizer": { + "type": "PaligemmaTokenizer" + }, + "type": "LiberoPromptFromInputs", + "use_conversation": false + }, + { + "gripper_key": "robot0_gripper_qpos", + "norm_type": "mean_std", + "out_key": "states", + "pos_key": "robot0_eef_pos", + "quat_key": "robot0_eef_quat", + "state_dim": 32, + "type": "LiberoProprioFromInputs" + } + ], + "type": "LiberoParquetEvalDataset" + }, + "denormalize_action": { + "action_dim": 7, + "norm_type": "mean_std", + "type": "DenormalizeLiberoAction" + }, + "eval_chunk_size": 10, + "model_family": "pi0", + "num_steps_wait": 10, + "num_trials_per_task": 50, + "resize_size": 224, + "seed": 7, + "task_suite_name": "libero_10", + "type": "LiberoEvalRunner" + }, + "model": { + "action_in_proj": { + "in_dim": 32, + "out_dim": 1024, + "type": "LinearProjector" + }, + "action_out_proj": { + "in_dim": 1024, + "out_dim": 32, + "type": "LinearProjector" + }, + "freeze_llm_backbone": false, + "freeze_vision_backbone": false, + "llm_backbone": { + "adarms_cond_dim": null, + "attention_bias": false, + "attention_dropout": 0.0, + "bos_token_id": 2, + "eos_token_id": 1, + "head_dim": 256, + "hidden_act": "gelu_pytorch_tanh", + "hidden_activation": "gelu_pytorch_tanh", + "hidden_size": 2048, + "initializer_range": 0.02, + "intermediate_size": 16384, + "max_position_embeddings": 8192, + "model_type": "gemma", + "num_attention_heads": 8, + "num_hidden_layers": 18, + "num_key_value_heads": 1, + "rms_norm_eps": 1e-06, + "rope_theta": 10000.0, + "torch_dtype": "float32", + "type": "ConditionGemmaModel", + "use_cache": true, + "vocab_size": 257152 + }, + "llm_expert": { + "adarms_cond_dim": 1024, + "attention_bias": false, + "attention_dropout": 0.0, + "bos_token_id": 2, + "eos_token_id": 1, + "head_dim": 256, + "hidden_act": "gelu_pytorch_tanh", + "hidden_activation": "gelu_pytorch_tanh", + "hidden_size": 1024, + "initializer_range": 0.02, + "intermediate_size": 4096, + "max_position_embeddings": 8192, + "model_type": "gemma", + "num_attention_heads": 8, + "num_hidden_layers": 18, + "num_key_value_heads": 1, + "pad_token_id": 0, + "rms_norm_eps": 1e-06, + "rope_theta": 10000.0, + "torch_dtype": "float32", + "transformers_version": "4.48.1", + "type": "ConditionGemmaModel", + "use_adarms": true, + "use_cache": true, + "vocab_size": 257152 + }, + "max_action_dim": 32, + "n_action_steps": 10, + "name_mapping": { + "action_in_proj.projector": "action_in_proj", + "action_out_proj.projector": "action_out_proj", + "llm_backbone": "paligemma_with_expert.paligemma.model.language_model", + "llm_backbone.embed_tokens": "paligemma_with_expert.paligemma.lm_head", + "llm_expert": "paligemma_with_expert.gemma_expert.model", + "projector.projector": "paligemma_with_expert.paligemma.model.multi_modal_projector.linear", + "time_mlp_in.projector": "time_mlp_in", + "time_mlp_out.projector": "time_mlp_out", + "vision_backbone.vision": "paligemma_with_expert.paligemma.model.vision_tower" + }, + "pretrained_name_or_path": "./checkpoints/pi05_libero/model.safetensors", + "proj_width": 1024, + "projector": { + "in_dim": 1152, + "out_dim": 2048, + "type": "LinearProjector" + }, + "time_mlp_in": { + "in_dim": 1024, + "out_dim": 1024, + "type": "LinearProjector" + }, + "time_mlp_out": { + "in_dim": 1024, + "out_dim": 1024, + "type": "LinearProjector" + }, + "type": "PI05FlowMatching", + "vision_backbone": { + "type": "SigLIPViTBackbone", + "vision_backbone_id": "siglip_224", + "vision_config": { + "attention_dropout": 0.0, + "hidden_act": "gelu_pytorch_tanh", + "hidden_size": 1152, + "image_size": 224, + "intermediate_size": 4304, + "layer_norm_eps": 1e-06, + "model_type": "siglip_vision_model", + "num_attention_heads": 16, + "num_channels": 3, + "num_hidden_layers": 27, + "patch_size": 14, + "projection_dim": 2048, + "projector_hidden_act": "gelu_fast", + "torch_dtype": "float32", + "vision_use_head": false + } + } + }, + "runner": { + "change_key_name": false, + "collator": { + "keys": [ + "states", + "observation.eepose", + "timestamp", + "images", + "img_masks", + "lang_tokens", + "lang_masks", + "actions", + "action_masks" + ], + "meta_keys": [ + "task_description", + "prompt", + "info", + "stats" + ], + "type": "DictCollator" + }, + "enable_gradient_checkpointing": true, + "enable_mixed_precision_training": true, + "learning_rate": 5e-05, + "lr_scheduler_type": "linear-warmup+cosine-decay", + "max_epochs": 18, + "max_grad_norm": 1.0, + "max_keep_ckpts": 1, + "max_steps": null, + "metric": { + "active_trackers": [ + "jsonl", + "wandb" + ], + "grad_accumulation_steps": 1, + "run_dir": "work_dirs", + "type": "VLAMetric", + "window_size": 1 + }, + "mixed_precision_dtype": "bf16", + "sampler": null, + "tokenizer": { + "type": "PaligemmaTokenizer" + }, + "type": "FSDPTrainRunner", + "warmup_ratio": 0.03, + "weight_decay": 0.0 + }, + "train_dataloader": { + "dataset": { + "datasets": { + "action_key": "action", + "action_window_size": 10, + "data_root_path": "./datasets/libero_10_no_noops_lerobotv2.1", + "statistic_name": "libero_10_no_noops", + "transforms": [ + { + "name_mappings": { + "actions": [ + "actions" + ], + "observation.state": [ + "states" + ] + }, + "parquet_keys": [ + "observation.state", + "timestamp", + "actions", + "info", + "stats", + "action_masks" + ], + "type": "ProcessParquetInputs", + "video_keys": [ + "observation.images.image", + "observation.images.wrist_image" + ] + }, + { + "type": "ParquetPrompter", + "use_conversation": false + }, + { + "tokenizer": { + "type": "PaligemmaTokenizer" + }, + "type": "ProcessPrompts" + }, + { + "height": 224, + "type": "ResizeImages", + "width": 224 + }, + { + "means": [ + [ + 123.515625, + 116.04492188, + 103.59375 + ], + [ + 123.515625, + 116.04492188, + 103.59375 + ] + ], + "stds": [ + [ + 58.27148438, + 57.02636719, + 57.27539062 + ], + [ + 58.27148438, + 57.02636719, + 57.27539062 + ] + ], + "type": "NormalizeImages" + }, + { + "action_dim": 32, + "action_key": "action", + "norm_type": "mean_std", + "state_dim": 32, + "state_key": "proprio", + "type": "NormalizeStatesAndActions" + } + ], + "type": "ParquetDataset", + "use_delta": false, + "window_start_idx": 0 + }, + "name_mappings": { + "action": [ + "action" + ], + "observation.state": [ + "proprio" + ] + }, + "statistic_keys": [ + "observation.state", + "timestamp", + "action" + ], + "statistic_name": "libero_10_no_noops", + "type": "DistributedRepeatingDataset" + }, + "per_device_batch_size": 8, + "per_device_num_workers": 4 + } +} \ No newline at end of file diff --git a/pi05_paligemma_libero_10_full_finetune_bs64/config.yaml b/pi05_paligemma_libero_10_full_finetune_bs64/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6c61961d20fb16d833febb01ca84f62e5c3ce204 --- /dev/null +++ b/pi05_paligemma_libero_10_full_finetune_bs64/config.yaml @@ -0,0 +1,271 @@ +eval: + dataset: + transforms: + - img_keys: + - agentview_image + - robot0_eye_in_hand_image + type: ProcessLiberoEvalInputs + - image_resize_strategy: resize-naive + input_sizes: + - - 3 + - 224 + - 224 + - - 3 + - 224 + - 224 + means: + - - 123.515625 + - 116.04492188 + - 103.59375 + - - 123.515625 + - 116.04492188 + - 103.59375 + stds: + - - 58.27148438 + - 57.02636719 + - 57.27539062 + - - 58.27148438 + - 57.02636719 + - 57.27539062 + type: TransformImage + - tokenizer: + type: PaligemmaTokenizer + type: LiberoPromptFromInputs + use_conversation: false + - gripper_key: robot0_gripper_qpos + norm_type: mean_std + out_key: states + pos_key: robot0_eef_pos + quat_key: robot0_eef_quat + state_dim: 32 + type: LiberoProprioFromInputs + type: LiberoParquetEvalDataset + denormalize_action: + action_dim: 7 + norm_type: mean_std + type: DenormalizeLiberoAction + eval_chunk_size: 10 + model_family: pi0 + num_steps_wait: 10 + num_trials_per_task: 50 + resize_size: 224 + seed: 7 + task_suite_name: libero_10 + type: LiberoEvalRunner +model: + action_in_proj: + in_dim: 32 + out_dim: 1024 + type: LinearProjector + action_out_proj: + in_dim: 1024 + out_dim: 32 + type: LinearProjector + freeze_llm_backbone: false + freeze_vision_backbone: false + llm_backbone: + adarms_cond_dim: null + attention_bias: false + attention_dropout: 0.0 + bos_token_id: 2 + eos_token_id: 1 + head_dim: 256 + hidden_act: gelu_pytorch_tanh + hidden_activation: gelu_pytorch_tanh + hidden_size: 2048 + initializer_range: 0.02 + intermediate_size: 16384 + max_position_embeddings: 8192 + model_type: gemma + num_attention_heads: 8 + num_hidden_layers: 18 + num_key_value_heads: 1 + rms_norm_eps: 1.0e-06 + rope_theta: 10000.0 + torch_dtype: float32 + type: ConditionGemmaModel + use_cache: true + vocab_size: 257152 + llm_expert: + adarms_cond_dim: 1024 + attention_bias: false + attention_dropout: 0.0 + bos_token_id: 2 + eos_token_id: 1 + head_dim: 256 + hidden_act: gelu_pytorch_tanh + hidden_activation: gelu_pytorch_tanh + hidden_size: 1024 + initializer_range: 0.02 + intermediate_size: 4096 + max_position_embeddings: 8192 + model_type: gemma + num_attention_heads: 8 + num_hidden_layers: 18 + num_key_value_heads: 1 + pad_token_id: 0 + rms_norm_eps: 1.0e-06 + rope_theta: 10000.0 + torch_dtype: float32 + transformers_version: 4.48.1 + type: ConditionGemmaModel + use_adarms: true + use_cache: true + vocab_size: 257152 + max_action_dim: 32 + n_action_steps: 10 + name_mapping: + action_in_proj.projector: action_in_proj + action_out_proj.projector: action_out_proj + llm_backbone: paligemma_with_expert.paligemma.model.language_model + llm_backbone.embed_tokens: paligemma_with_expert.paligemma.lm_head + llm_expert: paligemma_with_expert.gemma_expert.model + projector.projector: paligemma_with_expert.paligemma.model.multi_modal_projector.linear + time_mlp_in.projector: time_mlp_in + time_mlp_out.projector: time_mlp_out + vision_backbone.vision: paligemma_with_expert.paligemma.model.vision_tower + pretrained_name_or_path: ./checkpoints/pi05_libero/model.safetensors + proj_width: 1024 + projector: + in_dim: 1152 + out_dim: 2048 + type: LinearProjector + time_mlp_in: + in_dim: 1024 + out_dim: 1024 + type: LinearProjector + time_mlp_out: + in_dim: 1024 + out_dim: 1024 + type: LinearProjector + type: PI05FlowMatching + vision_backbone: + type: SigLIPViTBackbone + vision_backbone_id: siglip_224 + vision_config: + attention_dropout: 0.0 + hidden_act: gelu_pytorch_tanh + hidden_size: 1152 + image_size: 224 + intermediate_size: 4304 + layer_norm_eps: 1.0e-06 + model_type: siglip_vision_model + num_attention_heads: 16 + num_channels: 3 + num_hidden_layers: 27 + patch_size: 14 + projection_dim: 2048 + projector_hidden_act: gelu_fast + torch_dtype: float32 + vision_use_head: false +runner: + change_key_name: false + collator: + keys: + - states + - observation.eepose + - timestamp + - images + - img_masks + - lang_tokens + - lang_masks + - actions + - action_masks + meta_keys: + - task_description + - prompt + - info + - stats + type: DictCollator + enable_gradient_checkpointing: true + enable_mixed_precision_training: true + learning_rate: 5.0e-05 + lr_scheduler_type: linear-warmup+cosine-decay + max_epochs: 18 + max_grad_norm: 1.0 + max_keep_ckpts: 1 + max_steps: null + metric: + active_trackers: + - jsonl + - wandb + grad_accumulation_steps: 1 + run_dir: work_dirs + type: VLAMetric + window_size: 1 + mixed_precision_dtype: bf16 + sampler: null + tokenizer: + type: PaligemmaTokenizer + type: FSDPTrainRunner + warmup_ratio: 0.03 + weight_decay: 0.0 +train_dataloader: + dataset: + datasets: + action_key: action + action_window_size: 10 + data_root_path: ./datasets/libero_10_no_noops_lerobotv2.1 + statistic_name: libero_10_no_noops + transforms: + - name_mappings: + actions: + - actions + observation.state: + - states + parquet_keys: + - observation.state + - timestamp + - actions + - info + - stats + - action_masks + type: ProcessParquetInputs + video_keys: + - observation.images.image + - observation.images.wrist_image + - type: ParquetPrompter + use_conversation: false + - tokenizer: + type: PaligemmaTokenizer + type: ProcessPrompts + - height: 224 + type: ResizeImages + width: 224 + - means: + - - 123.515625 + - 116.04492188 + - 103.59375 + - - 123.515625 + - 116.04492188 + - 103.59375 + stds: + - - 58.27148438 + - 57.02636719 + - 57.27539062 + - - 58.27148438 + - 57.02636719 + - 57.27539062 + type: NormalizeImages + - action_dim: 32 + action_key: action + norm_type: mean_std + state_dim: 32 + state_key: proprio + type: NormalizeStatesAndActions + type: ParquetDataset + use_delta: false + window_start_idx: 0 + name_mappings: + action: + - action + observation.state: + - proprio + statistic_keys: + - observation.state + - timestamp + - action + statistic_name: libero_10_no_noops + type: DistributedRepeatingDataset + per_device_batch_size: 8 + per_device_num_workers: 4 diff --git a/pi05_paligemma_libero_10_full_finetune_bs64/dataset_statistics.json b/pi05_paligemma_libero_10_full_finetune_bs64/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..5b4f52d6b2cb4e07bf80d5b78376bcdf15cd6816 --- /dev/null +++ b/pi05_paligemma_libero_10_full_finetune_bs64/dataset_statistics.json @@ -0,0 +1,104 @@ +{ + "libero_10_no_noops": { + "proprio": { + "mean": [ + -0.0419064655693921, + 0.0353943785769225, + 0.8257066448085474, + 2.908315654671235, + -0.5562158603122547, + -0.1664910329554594, + 0.02831534785236664, + -0.028561558922556265 + ], + "std": [ + 0.037983810285504724, + 0.05099922690402999, + 0.09094586143443492, + 0.12167118781966886, + 0.43643697181350727, + 0.12656789603066015, + 0.004705366661198258, + 0.004657921514447958 + ], + "min": [ + -0.4828203022480011, + -0.3255046010017395, + 0.445506751537323, + 1.1321442127227783, + -3.641430377960205, + -1.842738389968872, + -0.0010040868073701859, + -0.04111652821302414 + ], + "max": [ + 0.21031762659549713, + 0.39128610491752625, + 1.3332009315490723, + 3.6714255809783936, + 3.560650587081909, + 1.386339545249939, + 0.04160946607589722, + 0.0013633022317662835 + ], + "q01": null, + "q99": null + }, + "timestamp": { + "mean": [ + 6.968810671239492 + ], + "std": [ + 4.4205853432820845 + ], + "min": [ + 0.0 + ], + "max": [ + 25.2 + ], + "q01": null, + "q99": null + }, + "action": { + "mean": [ + 0.018203219580245917, + 0.05858386677049721, + -0.05592356325431262, + 0.004626933903665416, + 0.0028960781014207345, + -0.0076731359981381505, + 0.5457824565452817 + ], + "std": [ + 0.10678436772960577, + 0.13569355116695744, + 0.1388675428804427, + 0.014251597889066525, + 0.020520837090261576, + 0.03297657922665584, + 0.1881883528070125 + ], + "min": [ + -0.9375, + -0.9375, + -0.9375, + -0.23642857372760773, + -0.3053571283817291, + -0.3675000071525574, + 0.0 + ], + "max": [ + 0.9375, + 0.9375, + 0.9375, + 0.30000001192092896, + 0.29357144236564636, + 0.375, + 1.0 + ], + "q01": null, + "q99": null + } + } +} \ No newline at end of file diff --git a/pi05_paligemma_libero_10_full_finetune_bs64/llm_backbone_config.json b/pi05_paligemma_libero_10_full_finetune_bs64/llm_backbone_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7505e3254a453d2e3f5773923925ff4d43e19b15 --- /dev/null +++ b/pi05_paligemma_libero_10_full_finetune_bs64/llm_backbone_config.json @@ -0,0 +1,26 @@ +{ + "adarms_cond_dim": null, + "attention_bias": false, + "attention_dropout": 0.0, + "bos_token_id": 2, + "eos_token_id": 1, + "head_dim": 256, + "hidden_act": "gelu_pytorch_tanh", + "hidden_activation": "gelu_pytorch_tanh", + "hidden_size": 2048, + "initializer_range": 0.02, + "intermediate_size": 16384, + "max_position_embeddings": 8192, + "model_type": "gemma", + "num_attention_heads": 8, + "num_hidden_layers": 18, + "num_key_value_heads": 1, + "pad_token_id": 0, + "rms_norm_eps": 1e-06, + "rope_theta": 10000.0, + "torch_dtype": "float32", + "transformers_version": "4.53.2", + "use_adarms": true, + "use_cache": true, + "vocab_size": 257152 +} diff --git a/pi05_paligemma_libero_10_full_finetune_bs64/pi05_paligemma_libero_10_full_finetune_2026_03_12_06_33_02.jsonl b/pi05_paligemma_libero_10_full_finetune_bs64/pi05_paligemma_libero_10_full_finetune_2026_03_12_06_33_02.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..56845d789f0eea71240e5e26a8b1fa2ce2542156 --- /dev/null +++ b/pi05_paligemma_libero_10_full_finetune_bs64/pi05_paligemma_libero_10_full_finetune_2026_03_12_06_33_02.jsonl @@ -0,0 +1,28548 @@ +{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 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'libero_10', 'model_family': 'pi0', 'eval_chunk_size': 10, 'resize_size': 224, 'num_trials_per_task': 50, 'num_steps_wait': 10, 'seed': 7, 'dataset': {'type': 'LiberoParquetEvalDataset', 'transforms': [{'type': 'ProcessLiberoEvalInputs', 'img_keys': ['agentview_image', 'robot0_eye_in_hand_image']}, {'type': 'TransformImage', 'image_resize_strategy': 'resize-naive', 'input_sizes': [[3, 224, 224], [3, 224, 224]], 'means': [[123.515625, 116.04492188, 103.59375], [123.515625, 116.04492188, 103.59375]], 'stds': [[58.27148438, 57.02636719, 57.27539062], [58.27148438, 57.02636719, 57.27539062]]}, {'type': 'LiberoPromptFromInputs', 'use_conversation': False, 'tokenizer': {'type': 'PaligemmaTokenizer'}}, {'type': 'LiberoProprioFromInputs', 'norm_type': 'mean_std', 'pos_key': 'robot0_eef_pos', 'quat_key': 'robot0_eef_quat', 'gripper_key': 'robot0_gripper_qpos', 'state_dim': 32, 'out_key': 'states'}]}, 'denormalize_action': {'type': 'DenormalizeLiberoAction', 'norm_type': 'mean_std', 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4264023 diff --git a/pi05_paligemma_libero_10_full_finetune_bs64/tokenizer/tokenizer_config.json b/pi05_paligemma_libero_10_full_finetune_bs64/tokenizer/tokenizer_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e73f7eee39d112ca3f607c98ee7e0dfbfc28073e --- /dev/null +++ b/pi05_paligemma_libero_10_full_finetune_bs64/tokenizer/tokenizer_config.json @@ -0,0 +1,4 @@ +{ + "tokenizer_class": "PaligemmaTokenizer", + "spm_file": "tokenizer.model" +} \ No newline at end of file