diff --git a/dreamzero_libero_object_full_finetune_w_cache_bs64/checkpoints/step-010470-epoch-10-loss=0.0577.safetensors b/dreamzero_libero_object_full_finetune_w_cache_bs64/checkpoints/step-010470-epoch-10-loss=0.0577.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..c063f5bab9dd4db76602de88def56387fba43498 --- /dev/null +++ b/dreamzero_libero_object_full_finetune_w_cache_bs64/checkpoints/step-010470-epoch-10-loss=0.0577.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01e65148719cec7618a9db224809116e8103616f5b9e1ab1db77778d1990656e +size 91696959464 diff --git a/dreamzero_libero_object_full_finetune_w_cache_bs64/config.json b/dreamzero_libero_object_full_finetune_w_cache_bs64/config.json new file mode 100644 index 0000000000000000000000000000000000000000..4ce748674691e7f739eda30dcba842559044f53b --- /dev/null +++ b/dreamzero_libero_object_full_finetune_w_cache_bs64/config.json @@ -0,0 +1,291 @@ +{ + "_ckpt_root": "./checkpoints", + "_frame_window_size": 17, + "_tokenizer": "./checkpoints/Wan2.1-I2V-14B-480P/google/umt5-xxl", + "eval": { + "dataset": { + "img_buffer_len": 4, + "transforms": [ + { + "img_keys": [ + "agentview_image", + "robot0_eye_in_hand_image" + ], + "type": "ProcessLiberoEvalInputs" + }, + { + "image_resize_strategy": "resize-naive", + "input_sizes": [ + [ + 3, + 128, + 128 + ], + [ + 3, + 128, + 128 + ] + ], + "means": [ + [ + 127.5, + 127.5, + 127.5 + ], + [ + 127.5, + 127.5, + 127.5 + ] + ], + "stds": [ + [ + 127.5, + 127.5, + 127.5 + ], + [ + 127.5, + 127.5, + 127.5 + ] + ], + "type": "TransformImage" + }, + { + "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" + }, + { + "max_len": 512, + "negative_prompt": "Vibrant colors, overexposed, static, blurry details, text, subtitles, style, artwork, painting, image, still, grayscale, dull, worst quality, low quality, JPEG artifacts, ugly, mutilated, extra fingers, bad hands, bad face, deformed, disfigured, mutated limbs, fused fingers, stagnant image, cluttered background, three legs, many people in the background, walking backwards.", + "tokenizer": { + "model_path": "./checkpoints/Wan2.1-I2V-14B-480P/google/umt5-xxl", + "type": "PretrainedTokenizer" + }, + "type": "LiberoPromptFromInputs", + "use_conversation": false + }, + { + "frame_window_size": 1, + "num_views": 2, + "type": "PrepareVideo" + } + ], + "type": "LiberoParquetEvalDataset" + }, + "denormalize_action": { + "action_dim": 7, + "norm_type": "mean_std", + "type": "DenormalizeLiberoAction" + }, + "enable_mixed_precision_training": true, + "eval_chunk_size": 10, + "mixed_precision_dtype": "bf16", + "model_family": "dreamzero", + "num_steps_wait": 10, + "num_trials_per_task": 50, + "resize_size": 128, + "seed": 7, + "task_suite_name": "libero_object", + "type": "LiberoEvalRunner" + }, + "model": { + "frame_window_size": 17, + "name_mapping": { + "vla_head.model": "action_head.model", + "vlm_backbone.image_encoder": "action_head.image_encoder", + "vlm_backbone.text_encoder": "action_head.text_encoder", + "vlm_backbone.vae": "action_head.vae" + }, + "num_views": 2, + "pretrained_name_or_path": "./checkpoints/DreamZero-AgiBot", + "type": "DreamZeroVLA", + "use_cache": true, + "vla_head": { + "action_dim": 7, + "action_horizon": 10, + "cfg_scale": 5.0, + "decouple_inference_noise": false, + "decouple_video_action_noise": false, + "dit_dim": 5120, + "dit_ffn_dim": 13824, + "dit_freq_dim": 256, + "dit_in_dim": 36, + "dit_num_heads": 40, + "dit_num_layers": 40, + "dit_out_dim": 16, + "frame_seqlen": 128, + "hidden_size": 1024, + "input_embedding_dim": 1536, + "max_action_dim": 32, + "max_chunk_size": 2, + "max_num_embodiments": 32, + "max_state_dim": 64, + "noise_beta_alpha": 1.5, + "noise_beta_beta": 1.0, + "noise_s": 0.999, + "num_action_per_block": 10, + "num_frame_per_block": 2, + "num_frames": 17, + "num_inference_steps": 16, + "num_state_per_block": 1, + "type": "DreamZeroHead", + "use_gradient_checkpointing": true, + "video_inference_final_noise": 0.8, + "video_noise_beta_alpha": 3.0, + "video_noise_beta_beta": 1.0 + }, + "vlm_backbone": { + "image_encoder_path": null, + "text_encoder_path": null, + "tiled": false, + "type": "WanBackbone", + "vae_path": null + } + }, + "per_device_num_workers": 4, + "runner": { + "change_key_name": false, + "collator": { + "keys": [ + "states", + "images", + "img_masks", + "actions", + "action_masks", + "embodiment_ids", + "frame_masks", + "lang_tokens", + "lang_masks" + ], + "meta_keys": [ + "task_description", + "prompt", + "info", + "stats", + "timestamp" + ], + "type": "DictCollator" + }, + "enable_gradient_checkpointing": true, + "enable_mixed_precision_training": true, + "learning_rate": 1e-05, + "lr_scheduler_type": "linear-warmup+cosine-decay", + "max_epochs": 10, + "max_grad_norm": 1.0, + "max_keep_ckpts": 1, + "metric": { + "active_trackers": [ + "jsonl", + "wandb" + ], + "grad_accumulation_steps": 1, + "run_dir": "work_dirs", + "type": "VLAMetric", + "window_size": 1 + }, + "mixed_precision_dtype": "bf16", + "sampler": null, + "sharding_strategy": "full-shard", + "type": "FSDPTrainRunner", + "warmup_ratio": 0.05, + "weight_decay": 1e-05 + }, + "train_dataloader": { + "dataset": { + "datasets": { + "action_key": "action", + "action_window_size": 20, + "data_root_path": "./datasets/libero_object_no_noops_lerobotv2.1", + "frame_window_size": 17, + "statistic_name": "libero_object_no_noops", + "transforms": [ + { + "embodiment_id": 0, + "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 + }, + { + "max_len": 512, + "tokenizer": { + "model_path": "./checkpoints/Wan2.1-I2V-14B-480P/google/umt5-xxl", + "type": "PretrainedTokenizer" + }, + "type": "ProcessPrompts" + }, + { + "height": 128, + "type": "ResizeImages", + "width": 128 + }, + { + "type": "SimpleNormalizeImages" + }, + { + "action_dim": 32, + "action_key": "action", + "norm_type": "mean_std", + "state_dim": 32, + "state_key": "proprio", + "type": "NormalizeStatesAndActions" + }, + { + "frame_window_size": 17, + "num_views": 2, + "type": "PrepareVideo" + } + ], + "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_object_no_noops", + "type": "DistributedRepeatingDataset" + }, + "per_device_batch_size": 4, + "per_device_num_workers": 4 + } +} \ No newline at end of file diff --git a/dreamzero_libero_object_full_finetune_w_cache_bs64/config.yaml b/dreamzero_libero_object_full_finetune_w_cache_bs64/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9c65eac01a872656c3bc951996c1756f2e311fb4 --- /dev/null +++ b/dreamzero_libero_object_full_finetune_w_cache_bs64/config.yaml @@ -0,0 +1,225 @@ +_ckpt_root: ./checkpoints +_frame_window_size: 17 +_tokenizer: ./checkpoints/Wan2.1-I2V-14B-480P/google/umt5-xxl +eval: + dataset: + img_buffer_len: 4 + transforms: + - img_keys: + - agentview_image + - robot0_eye_in_hand_image + type: ProcessLiberoEvalInputs + - image_resize_strategy: resize-naive + input_sizes: + - - 3 + - 128 + - 128 + - - 3 + - 128 + - 128 + means: + - - 127.5 + - 127.5 + - 127.5 + - - 127.5 + - 127.5 + - 127.5 + stds: + - - 127.5 + - 127.5 + - 127.5 + - - 127.5 + - 127.5 + - 127.5 + type: TransformImage + - 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 + - max_len: 512 + negative_prompt: Vibrant colors, overexposed, static, blurry details, text, + subtitles, style, artwork, painting, image, still, grayscale, dull, worst + quality, low quality, JPEG artifacts, ugly, mutilated, extra fingers, bad + hands, bad face, deformed, disfigured, mutated limbs, fused fingers, stagnant + image, cluttered background, three legs, many people in the background, walking + backwards. + tokenizer: + model_path: ./checkpoints/Wan2.1-I2V-14B-480P/google/umt5-xxl + type: PretrainedTokenizer + type: LiberoPromptFromInputs + use_conversation: false + - frame_window_size: 1 + num_views: 2 + type: PrepareVideo + type: LiberoParquetEvalDataset + denormalize_action: + action_dim: 7 + norm_type: mean_std + type: DenormalizeLiberoAction + enable_mixed_precision_training: true + eval_chunk_size: 10 + mixed_precision_dtype: bf16 + model_family: dreamzero + num_steps_wait: 10 + num_trials_per_task: 50 + resize_size: 128 + seed: 7 + task_suite_name: libero_object + type: LiberoEvalRunner +model: + frame_window_size: 17 + name_mapping: + vla_head.model: action_head.model + vlm_backbone.image_encoder: action_head.image_encoder + vlm_backbone.text_encoder: action_head.text_encoder + vlm_backbone.vae: action_head.vae + num_views: 2 + pretrained_name_or_path: ./checkpoints/DreamZero-AgiBot + type: DreamZeroVLA + use_cache: true + vla_head: + action_dim: 7 + action_horizon: 10 + cfg_scale: 5.0 + decouple_inference_noise: false + decouple_video_action_noise: false + dit_dim: 5120 + dit_ffn_dim: 13824 + dit_freq_dim: 256 + dit_in_dim: 36 + dit_num_heads: 40 + dit_num_layers: 40 + dit_out_dim: 16 + frame_seqlen: 128 + hidden_size: 1024 + input_embedding_dim: 1536 + max_action_dim: 32 + max_chunk_size: 2 + max_num_embodiments: 32 + max_state_dim: 64 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_action_per_block: 10 + num_frame_per_block: 2 + num_frames: 17 + num_inference_steps: 16 + num_state_per_block: 1 + type: DreamZeroHead + use_gradient_checkpointing: true + video_inference_final_noise: 0.8 + video_noise_beta_alpha: 3.0 + video_noise_beta_beta: 1.0 + vlm_backbone: + image_encoder_path: null + text_encoder_path: null + tiled: false + type: WanBackbone + vae_path: null +per_device_num_workers: 4 +runner: + change_key_name: false + collator: + keys: + - states + - images + - img_masks + - actions + - action_masks + - embodiment_ids + - frame_masks + - lang_tokens + - lang_masks + meta_keys: + - task_description + - prompt + - info + - stats + - timestamp + type: DictCollator + enable_gradient_checkpointing: true + enable_mixed_precision_training: true + learning_rate: 1.0e-05 + lr_scheduler_type: linear-warmup+cosine-decay + max_epochs: 10 + max_grad_norm: 1.0 + max_keep_ckpts: 1 + metric: + active_trackers: + - jsonl + - wandb + grad_accumulation_steps: 1 + run_dir: work_dirs + type: VLAMetric + window_size: 1 + mixed_precision_dtype: bf16 + sampler: null + sharding_strategy: full-shard + type: FSDPTrainRunner + warmup_ratio: 0.05 + weight_decay: 1.0e-05 +train_dataloader: + dataset: + datasets: + action_key: action + action_window_size: 20 + data_root_path: ./datasets/libero_object_no_noops_lerobotv2.1 + frame_window_size: 17 + statistic_name: libero_object_no_noops + transforms: + - embodiment_id: 0 + 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 + - max_len: 512 + tokenizer: + model_path: ./checkpoints/Wan2.1-I2V-14B-480P/google/umt5-xxl + type: PretrainedTokenizer + type: ProcessPrompts + - height: 128 + type: ResizeImages + width: 128 + - type: SimpleNormalizeImages + - action_dim: 32 + action_key: action + norm_type: mean_std + state_dim: 32 + state_key: proprio + type: NormalizeStatesAndActions + - frame_window_size: 17 + num_views: 2 + type: PrepareVideo + 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_object_no_noops + type: DistributedRepeatingDataset + per_device_batch_size: 4 + per_device_num_workers: 4 diff --git a/dreamzero_libero_object_full_finetune_w_cache_bs64/dataset_statistics.json b/dreamzero_libero_object_full_finetune_w_cache_bs64/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..90a28ddb040cc4138764f377b0763e64bdce3c6c --- /dev/null +++ b/dreamzero_libero_object_full_finetune_w_cache_bs64/dataset_statistics.json @@ -0,0 +1,104 @@ +{ + "libero_object_no_noops": { + "proprio": { + "mean": [ + -0.029990377887890714, + 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