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Add RoboDojo model (#7)

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- Add RoboDojo model metadata (6fd149f2a019427d876207acf9ef26647f3089c2)
- Add PI0.5 tokenizer.json (6aad482459b443e0951db4b2e339c67a42e88192)
- Add PI0.5 tokenizer.model (9f6c787ade60c1f3f71492063230c6ae4b7da755)
- Add PI0 tokenizer.json (7d919c6dde35502c9931255561788e2266284faf)
- Add PI0 tokenizer.model (c38bbc5aad0142e43d81aaecb8de8b14b228a173)
- Add Cosmos3-Nano tokenizer.json (da806f6fc63b0ec61ac504245f6ee37cdc7642de)
- Add FastWAM spiece.model (61c3fc992aeefbd2d224dea1a2ea340a5b205944)
- Add FastWAM tokenizer.json (87fa2bd19f2d032cddbca68d5613c79e3d098fed)
- Add GR00T N1.7 tokenizer.json (a56823a7c900c2630988a5c50997d6ce41ef66ca)
- Add DiT4DiT tokenizer.json (5daec6a7e38f07ddb1062b359950cb333c54f36f)
- Add PI0.5 RoboDojo checkpoint (b241b6846222fcaaea6460486df5578201bc6009)
- Add PI0 RoboDojo checkpoint (c625b86f64f7fc65d4e170f99bb6fb3790daa927)
- Add GR00T N1.5 RoboDojo checkpoint (b199641ca905f9c740f19c2ff06ae86278d2deb0)
- Add SmolVLA RoboDojo checkpoint (9ce1d7adedff53b7c66a70959b52ad0fed5c77f0)
- Add Cosmos3-Nano RoboDojo checkpoint (3a8939105bca5c06281caef1a222e54427462eaa)
- Add FastWAM RoboDojo checkpoint (0f6b8a3cc3f35d8ae1c6d498fa45fa1b03f250df)
- Add GR00T N1.7 RoboDojo checkpoint (af0540210326f48ca5f2465226ca245afcf60b54)
- Add DiT4DiT RoboDojo checkpoint (0c2878ef6219c9fe9ea578967637cabd33c2dea7)


Co-authored-by: Jikun Rong <RJK@users.noreply.huggingface.co>

This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
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  2. cosmos3_nano_robodojo_full_finetune_bs2048/checkpoints/step-010000-epoch-11-loss=0.5575.safetensors +3 -0
  3. cosmos3_nano_robodojo_full_finetune_bs2048/config.json +1499 -0
  4. cosmos3_nano_robodojo_full_finetune_bs2048/config.yaml +1640 -0
  5. cosmos3_nano_robodojo_full_finetune_bs2048/dataset_statistics.json +186 -0
  6. cosmos3_nano_robodojo_full_finetune_bs2048/tokenizer/added_tokens.json +28 -0
  7. cosmos3_nano_robodojo_full_finetune_bs2048/tokenizer/chat_template.jinja +120 -0
  8. cosmos3_nano_robodojo_full_finetune_bs2048/tokenizer/merges.txt +0 -0
  9. cosmos3_nano_robodojo_full_finetune_bs2048/tokenizer/special_tokens_map.json +31 -0
  10. cosmos3_nano_robodojo_full_finetune_bs2048/tokenizer/tokenizer.json +3 -0
  11. cosmos3_nano_robodojo_full_finetune_bs2048/tokenizer/tokenizer_config.json +239 -0
  12. cosmos3_nano_robodojo_full_finetune_bs2048/tokenizer/vocab.json +0 -0
  13. dit4dit_robodojo_full_finetune_bs128/checkpoints/step-120000-epoch-08-loss=0.0921.safetensors +3 -0
  14. dit4dit_robodojo_full_finetune_bs128/config.json +589 -0
  15. dit4dit_robodojo_full_finetune_bs128/config.yaml +494 -0
  16. dit4dit_robodojo_full_finetune_bs128/dataset_statistics.json +186 -0
  17. dit4dit_robodojo_full_finetune_bs128/tokenizer/added_tokens.json +24 -0
  18. dit4dit_robodojo_full_finetune_bs128/tokenizer/chat_template.jinja +7 -0
  19. dit4dit_robodojo_full_finetune_bs128/tokenizer/merges.txt +0 -0
  20. dit4dit_robodojo_full_finetune_bs128/tokenizer/special_tokens_map.json +31 -0
  21. dit4dit_robodojo_full_finetune_bs128/tokenizer/tokenizer.json +3 -0
  22. dit4dit_robodojo_full_finetune_bs128/tokenizer/tokenizer_config.json +207 -0
  23. dit4dit_robodojo_full_finetune_bs128/tokenizer/vocab.json +0 -0
  24. fastwam_robodojo_full_finetune_bs32/checkpoints/step-362452-epoch-06-loss=0.0978.safetensors +3 -0
  25. fastwam_robodojo_full_finetune_bs32/config.json +1024 -0
  26. fastwam_robodojo_full_finetune_bs32/config.yaml +880 -0
  27. fastwam_robodojo_full_finetune_bs32/dataset_statistics.json +186 -0
  28. fastwam_robodojo_full_finetune_bs32/tokenizer/special_tokens_map.json +308 -0
  29. fastwam_robodojo_full_finetune_bs32/tokenizer/spiece.model +3 -0
  30. fastwam_robodojo_full_finetune_bs32/tokenizer/tokenizer.json +3 -0
  31. fastwam_robodojo_full_finetune_bs32/tokenizer/tokenizer_config.json +2748 -0
  32. gr00t_eagle_3b_robodojo_full_finetune_bs640/checkpoints/step-100000-epoch-34-loss=0.0064.safetensors +3 -0
  33. gr00t_eagle_3b_robodojo_full_finetune_bs640/config.json +860 -0
  34. gr00t_eagle_3b_robodojo_full_finetune_bs640/config.yaml +719 -0
  35. gr00t_eagle_3b_robodojo_full_finetune_bs640/dataset_statistics.json +202 -0
  36. gr00t_eagle_3b_robodojo_full_finetune_bs640/tokenizer/added_tokens.json +39 -0
  37. gr00t_eagle_3b_robodojo_full_finetune_bs640/tokenizer/merges.txt +0 -0
  38. gr00t_eagle_3b_robodojo_full_finetune_bs640/tokenizer/special_tokens_map.json +42 -0
  39. gr00t_eagle_3b_robodojo_full_finetune_bs640/tokenizer/tokenizer_config.json +344 -0
  40. gr00t_eagle_3b_robodojo_full_finetune_bs640/tokenizer/vocab.json +0 -0
  41. gr00t_eagle_3b_robodojo_full_finetune_bs640/vlm_backbone_config.json +115 -0
  42. gr00t_n17_qwen3vl_2b_robodojo_full_finetune_freeze_vlm_bs256/checkpoints/step-065394-epoch-18-loss=0.0033.safetensors +3 -0
  43. gr00t_n17_qwen3vl_2b_robodojo_full_finetune_freeze_vlm_bs256/config.json +0 -0
  44. gr00t_n17_qwen3vl_2b_robodojo_full_finetune_freeze_vlm_bs256/config.yaml +0 -0
  45. gr00t_n17_qwen3vl_2b_robodojo_full_finetune_freeze_vlm_bs256/dataset_statistics.json +622 -0
  46. gr00t_n17_qwen3vl_2b_robodojo_full_finetune_freeze_vlm_bs256/tokenizer/added_tokens.json +48 -0
  47. gr00t_n17_qwen3vl_2b_robodojo_full_finetune_freeze_vlm_bs256/tokenizer/merges.txt +0 -0
  48. gr00t_n17_qwen3vl_2b_robodojo_full_finetune_freeze_vlm_bs256/tokenizer/special_tokens_map.json +31 -0
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  50. gr00t_n17_qwen3vl_2b_robodojo_full_finetune_freeze_vlm_bs256/tokenizer/tokenizer_config.json +340 -0
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+ }
cosmos3_nano_robodojo_full_finetune_bs2048/config.yaml ADDED
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1
+ _ACTION_DIM: 14
2
+ _ACTION_HORIZON: 32
3
+ _CONDITIONING_FPS: 25
4
+ _EMBODIMENT_ID: 31
5
+ _FRAME_WINDOW_SIZE: 33
6
+ _IMAGE_HEIGHT: 192
7
+ _IMAGE_WIDTH: 256
8
+ _MAX_ACTION_DIM: 64
9
+ _MAX_STATE_DIM: 64
10
+ _PREPEND_STATE_TO_ACTION: false
11
+ _ROBODOJO_ACTION_QUANTILES:
12
+ q01:
13
+ - -1.051365569829941
14
+ - -3.5348887174584814e-14
15
+ - 1.741881830823392e-16
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+ - -1.5984010362625123
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+ - -1.6678147149085998
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+ - 0
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+ - -2.5859282299029243e-14
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+ - 1.141731116771698
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+ - 0.5208872479200363
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+ - 1.489715996980667
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+ - 1
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+ _ROBODOJO_DATA_ROOT: ./datasets/RoboDojo_lerobot_v21_video
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+ _ROBODOJO_EPISODE_OVERRIDES:
44
+ arrange_largest_number: 25
45
+ arrange_largest_number_random: 25
46
+ fold_clothes: 25
47
+ fold_clothes_random: 25
48
+ hang_mugs: 25
49
+ hang_mugs_random: 25
50
+ make_toast: 25
51
+ make_toast_random: 25
52
+ pack_objects_into_box: 25
53
+ pack_objects_into_box_random: 25
54
+ pour_liquid_into_cup: 25
55
+ pour_liquid_into_cup_random: 25
56
+ push_T: 25
57
+ push_T_random: 25
58
+ sort_nesting_dolls_by_size: 25
59
+ sort_nesting_dolls_by_size_random: 25
60
+ stack_blocks: 25
61
+ stack_blocks_random: 25
62
+ stack_bowls: 25
63
+ stack_bowls_random: 25
64
+ store_laptop_and_headphones: 25
65
+ store_laptop_and_headphones_random: 25
66
+ sweep_blocks: 25
67
+ sweep_blocks_random: 25
68
+ _ROBODOJO_GENERALIZATION_BASE_TASKS:
69
+ - stack_bowls
70
+ - push_T
71
+ - pack_objects_into_box
72
+ - fold_clothes
73
+ - hang_mugs
74
+ - sweep_blocks
75
+ - pour_liquid_into_cup
76
+ - make_toast
77
+ - arrange_largest_number
78
+ - sort_nesting_dolls_by_size
79
+ - store_laptop_and_headphones
80
+ - stack_blocks
81
+ _ROBODOJO_TRANSFORMS:
82
+ - embodiment_id: 31
83
+ name_mappings:
84
+ actions:
85
+ - actions
86
+ observation.state:
87
+ - states
88
+ parquet_keys:
89
+ - observation.state
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91
+ - actions
92
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93
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94
+ - action_masks
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+ type: ProcessParquetInputs
96
+ video_keys:
97
+ - observation.images.cam_high
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+ - observation.images.cam_left_wrist
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+ - observation.images.cam_right_wrist
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+ - height: 192
101
+ type: ResizeImages
102
+ width: 256
103
+ - brightness_range:
104
+ - 0.7
105
+ - 1.3
106
+ contrast_range:
107
+ - 0.6
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+ - 1.4
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+ crop_ratio:
110
+ - 1
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+ - 1
112
+ crop_scale:
113
+ - 0.95
114
+ - 0.95
115
+ hue_delta: 0.08
116
+ prob: 1
117
+ rotation_range: 0
118
+ saturation_range:
119
+ - 0.5
120
+ - 1.5
121
+ type: AugVideo
122
+ - action_metadata:
123
+ append_viewpoint: false
124
+ conditioning_fps: 25
125
+ frame_window_size: 33
126
+ video_height: 320
127
+ video_width: 256
128
+ viewpoint: concat_view
129
+ cfg_dropout_rate: 0.1
130
+ format_prompt_as_json: true
131
+ max_len: 512
132
+ tokenizer:
133
+ model_max_length: 4096
134
+ model_path: ./checkpoints/Cosmos3-Nano/text_tokenizer
135
+ padding_side: right
136
+ trust_remote_code: true
137
+ type: PretrainedTokenizer
138
+ type: ProcessCosmos3Prompt
139
+ - type: SimpleNormalizeImages
140
+ - action_dim: 64
141
+ action_key: action
142
+ action_norm_type: quantile
143
+ state_dim: 64
144
+ state_key: proprio
145
+ state_norm_type: none
146
+ type: NormalizeStatesAndActions
147
+ - conditioning_fps: 25
148
+ frame_window_size: 33
149
+ mode: wam
150
+ prepend_state_to_action: false
151
+ raw_action_dim: 14
152
+ type: BuildCosmos3Sequence
153
+ - bottom_height_ratio: 0.5
154
+ bottom_views:
155
+ - 1
156
+ - 2
157
+ frame_window_size: 33
158
+ num_views: 3
159
+ tile_direction: top_bottom_pair
160
+ top_view: 0
161
+ type: PrepareVideo
162
+ - height: 320
163
+ type: ResizeAndReflectPad
164
+ width: 256
165
+ _STATISTIC_NAME: robodojo_arx_x5
166
+ _VAE_ENCODE_CHUNK_FRAMES:
167
+ '256': 16
168
+ '480': 24
169
+ '720': 12
170
+ _VIDEO_HEIGHT: 320
171
+ _VIDEO_WIDTH: 256
172
+ _action_dim: 10
173
+ _action_horizon: 16
174
+ _action_lr: 0.00025
175
+ _base_lr: 5e-05
176
+ _cfg_dropout_rate: 0.1
177
+ _ckpt_root: ./checkpoints
178
+ _conditioning_fps: 20
179
+ _cosmos3_nano_ckpt: ./checkpoints/Cosmos3-Nano
180
+ _cosmos3_nano_name_mapping:
181
+ .self_attn.k_norm.: .self_attn.norm_k.
182
+ .self_attn.k_norm_moe_gen.: .self_attn.norm_added_k.
183
+ .self_attn.k_proj.: .self_attn.to_k.
184
+ .self_attn.k_proj_moe_gen.: .self_attn.add_k_proj.
185
+ .self_attn.o_proj.: .self_attn.to_out.
186
+ .self_attn.o_proj_moe_gen.: .self_attn.to_add_out.
187
+ .self_attn.q_norm.: .self_attn.norm_q.
188
+ .self_attn.q_norm_moe_gen.: .self_attn.norm_added_q.
189
+ .self_attn.q_proj.: .self_attn.to_q.
190
+ .self_attn.q_proj_moe_gen.: .self_attn.add_q_proj.
191
+ .self_attn.v_proj.: .self_attn.to_v.
192
+ .self_attn.v_proj_moe_gen.: .self_attn.add_v_proj.
193
+ action_in_proj.: action_proj_in.
194
+ action_modality_embed: action_modality_embed
195
+ action_out_proj.: action_proj_out.
196
+ time_embedder.mlp.0.: time_embedder.linear_1.
197
+ time_embedder.mlp.2.: time_embedder.linear_2.
198
+ vision_in_proj.projector.: proj_in.
199
+ vision_out_proj.projector.: proj_out.
200
+ vlm_backbone.lm_head.weight: lm_head.weight
201
+ vlm_backbone.model.language_model.embed_tokens.weight: embed_tokens.weight
202
+ vlm_backbone.model.language_model.layers.: layers.
203
+ vlm_backbone.model.language_model.norm.weight: norm.weight
204
+ vlm_backbone.model.language_model.norm_moe_gen.weight: norm_moe_gen.weight
205
+ vlm_backbone.model.visual.blocks.: blocks.
206
+ vlm_backbone.model.visual.deepstack_merger_list.: deepstack_merger_list.
207
+ vlm_backbone.model.visual.merger.: merger.
208
+ vlm_backbone.model.visual.patch_embed.: patch_embed.
209
+ vlm_backbone.model.visual.pos_embed.: pos_embed.
210
+ _cosmos3_nano_special_tokens:
211
+ end_of_generation: 151653
212
+ eos_token_id: 151645
213
+ start_of_generation: 151652
214
+ _cosmos3_nano_tokenizer:
215
+ model_max_length: 4096
216
+ model_path: ./checkpoints/Cosmos3-Nano/text_tokenizer
217
+ padding_side: right
218
+ trust_remote_code: true
219
+ type: PretrainedTokenizer
220
+ _cosmos3_nano_transformer: ./checkpoints/Cosmos3-Nano/transformer
221
+ _cosmos3_nano_vision_encoder: ./checkpoints/Cosmos3-Nano/vision_encoder
222
+ _cosmos3_nano_vlm_config:
223
+ image_token_id: 151655
224
+ model_type: qwen3_vl
225
+ text_config:
226
+ attention_bias: false
227
+ attention_dropout: 0
228
+ bos_token_id: 151643
229
+ eos_token_id: 151645
230
+ head_dim: 128
231
+ hidden_act: silu
232
+ hidden_size: 4096
233
+ intermediate_size: 12288
234
+ layer_types:
235
+ - full_attention
236
+ - full_attention
237
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+ - full_attention
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+ - full_attention
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259
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260
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263
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264
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266
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+ - full_attention
268
+ - full_attention
269
+ - full_attention
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+ - full_attention
271
+ max_position_embeddings: 262144
272
+ model_type: qwen3_vl_text
273
+ num_attention_heads: 32
274
+ num_hidden_layers: 36
275
+ num_key_value_heads: 8
276
+ pad_token_id: 0
277
+ rms_norm_eps: 1e-06
278
+ rope_scaling:
279
+ mrope_interleaved: true
280
+ mrope_section:
281
+ - 24
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+ - 20
283
+ - 20
284
+ rope_type: default
285
+ rope_theta: 5000000
286
+ tie_word_embeddings: false
287
+ vocab_size: 151936
288
+ tie_word_embeddings: false
289
+ video_token_id: 151656
290
+ vision_config:
291
+ deepstack_visual_indexes:
292
+ - 8
293
+ - 16
294
+ - 24
295
+ depth: 27
296
+ hidden_act: gelu_pytorch_tanh
297
+ hidden_size: 1152
298
+ in_channels: 3
299
+ initializer_range: 0.02
300
+ intermediate_size: 4304
301
+ model_type: qwen3_vl
302
+ num_heads: 16
303
+ num_position_embeddings: 2304
304
+ out_hidden_size: 4096
305
+ patch_size: 16
306
+ spatial_merge_size: 2
307
+ temporal_patch_size: 2
308
+ vision_end_token_id: 151653
309
+ vision_start_token_id: 151652
310
+ vocab_size: 151936
311
+ _frame_window_size: 17
312
+ _grad_accumulation_steps: 8
313
+ _image_height: 256
314
+ _image_width: 256
315
+ _libero_action_stats:
316
+ max:
317
+ - 0.9375
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+ - 0.9375
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+ - 0.9375
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+ - 1
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+ - 0.368853
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+ - 0.341214
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+ - 0.356395
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+ - 1
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+ - 1
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+ - 0.097407
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+ - -0.094833
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+ - 0.994873
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+ min:
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+ - 0.902028
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+ - -0.367416
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+ - -0.370434
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+ q01:
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+ - -0.808929
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+ - -0.9375
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+ - -0.223431
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+ q99:
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+ - 0.870536
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+ - 1
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+ - 0.331
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+ - 0.163153
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+ - 1
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+ std:
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+ - 0.45714
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+ - 0.077802
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+ - 0.063386
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+ - 0.078571
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+ - 0.009994
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+ - 0.49946
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+ _max_action_dim: 64
383
+ _max_state_dim: 64
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+ _max_steps: 2000
385
+ _per_device_batch_size: 16
386
+ _prepend_state_to_action: false
387
+ _save_iter_interval: 500
388
+ _transforms:
389
+ - embodiment_id: 5
390
+ name_mappings:
391
+ actions:
392
+ - actions
393
+ observation.state:
394
+ - states
395
+ parquet_keys:
396
+ - observation.state
397
+ - timestamp
398
+ - actions
399
+ - info
400
+ - stats
401
+ - action_masks
402
+ type: ProcessParquetInputs
403
+ video_keys:
404
+ - observation.images.image
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+ - observation.images.wrist_image
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+ - type: LiberoFramewiseActionToRot6D
407
+ - action_metadata:
408
+ append_viewpoint: false
409
+ conditioning_fps: 20
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+ frame_window_size: 17
411
+ video_height: 192
412
+ video_width: 320
413
+ cfg_dropout_rate: 0.1
414
+ format_prompt_as_json: true
415
+ max_len: 512
416
+ tokenizer:
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+ model_max_length: 4096
418
+ model_path: ./checkpoints/Cosmos3-Nano/text_tokenizer
419
+ padding_side: right
420
+ trust_remote_code: true
421
+ type: PretrainedTokenizer
422
+ type: ProcessCosmos3Prompt
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+ - height: 256
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+ type: ResizeImages
425
+ width: 256
426
+ - type: SimpleNormalizeImages
427
+ - action_dim: 64
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+ action_key: action
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+ action_norm_type: quantile
430
+ state_dim: 64
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+ state_key: proprio
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+ state_norm_type: none
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+ type: NormalizeStatesAndActions
434
+ - conditioning_fps: 20
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+ frame_window_size: 17
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+ mode: wam
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+ prepend_state_to_action: false
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+ raw_action_dim: 10
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+ type: BuildCosmos3Sequence
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+ - frame_window_size: 17
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+ num_views: 2
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+ tile_direction: horizontal
443
+ type: PrepareVideo
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+ - height: 192
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+ type: ResizeAndReflectPad
446
+ width: 320
447
+ _video_height: 192
448
+ _video_width: 320
449
+ _vision_vae:
450
+ encode_exact_durations:
451
+ - 17
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+ pretrained_name_or_path: ./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth
453
+ type: Cosmos3Wan22VAE
454
+ _wan22_vae_path: ./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth
455
+ eval:
456
+ dataset:
457
+ transforms:
458
+ - embodiment_id: 31
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+ img_keys:
460
+ - cam_high
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+ - cam_left_wrist
462
+ - cam_right_wrist
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+ type: ProcessEvalInputs
464
+ - conditioning_fps: 25
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+ prepend_state_to_action: false
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+ type: SetCosmos3ActionMetadata
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+ - action_metadata:
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469
+ conditioning_fps: 25
470
+ frame_window_size: 33
471
+ video_height: 320
472
+ video_width: 256
473
+ viewpoint: concat_view
474
+ cfg_dropout_rate: 0
475
+ format_prompt_as_json: true
476
+ max_len: 512
477
+ output_attention_mask_key: lang_masks
478
+ output_key: lang_tokens
479
+ tokenizer:
480
+ model_max_length: 4096
481
+ model_path: ./checkpoints/Cosmos3-Nano/text_tokenizer
482
+ padding_side: right
483
+ trust_remote_code: true
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+ ''tile_direction'': ''horizontal''}, {''type'': ''ResizeAndReflectPad'', ''height'':
1192
+ 192, ''width'': 320}], ''train_dataloader'': {''per_device_batch_size'': 8, ''per_device_num_workers'':
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1195
+ [''proprio''], ''action'': [''action'']}, ''statistic_keys'': [''observation.state'',
1196
+ ''action'', ''timestamp''], ''statistic_name'': ''robodojo_arx_x5'', ''statistics_overrides'':
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+ {''type'': ''ParquetDataset'', ''data_root_path'': [''./datasets/RoboDojo_lerobot_v21_video''],
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+ ''transforms'': [{''type'': ''ProcessParquetInputs'', ''embodiment_id'': 31, ''parquet_keys'':
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+ [''observation.state'', ''timestamp'', ''actions'', ''info'', ''stats'', ''action_masks''],
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+ ''video_keys'': [''observation.images.cam_high'', ''observation.images.cam_left_wrist'',
1208
+ ''observation.images.cam_right_wrist''], ''name_mappings'': {''observation.state'':
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+ [''states''], ''actions'': [''actions'']}}, {''type'': ''ResizeImages'', ''height'':
1210
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+ (0.7, 1.3), ''contrast_range'': (0.6, 1.4), ''crop_scale'': (0.95, 0.95), ''crop_ratio'':
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+ (1.0, 1.0), ''prob'': 1.0, ''saturation_range'': (0.5, 1.5), ''hue_delta'': 0.08},
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+ {''type'': ''ProcessCosmos3Prompt'', ''tokenizer'': {''type'': ''PretrainedTokenizer'',
1214
+ ''model_path'': ''./checkpoints/Cosmos3-Nano/text_tokenizer'', ''model_max_length'':
1215
+ 4096, ''padding_side'': ''right'', ''trust_remote_code'': True}, ''max_len'':
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+ 512, ''cfg_dropout_rate'': 0.1, ''format_prompt_as_json'': True, ''action_metadata'':
1217
+ {''append_viewpoint'': False, ''viewpoint'': ''concat_view'', ''frame_window_size'':
1218
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1219
+ {''type'': ''SimpleNormalizeImages''}, {''type'': ''NormalizeStatesAndActions'',
1220
+ ''action_dim'': 64, ''state_dim'': 64, ''state_key'': ''proprio'', ''action_key'':
1221
+ ''action'', ''state_norm_type'': ''none'', ''action_norm_type'': ''quantile''},
1222
+ {''type'': ''BuildCosmos3Sequence'', ''raw_action_dim'': 14, ''mode'': ''wam'',
1223
+ ''frame_window_size'': 33, ''prepend_state_to_action'': False, ''conditioning_fps'':
1224
+ 25.0}, {''type'': ''PrepareVideo'', ''num_views'': 3, ''frame_window_size'': 33,
1225
+ ''tile_direction'': ''top_bottom_pair'', ''top_view'': 0, ''bottom_views'': (1,
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+ 2), ''bottom_height_ratio'': 0.5}, {''type'': ''ResizeAndReflectPad'', ''height'':
1227
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+ ''use_delta'': False, ''statistic_name'': ''robodojo_arx_x5'', ''window_start_idx'':
1229
+ 0, ''frame_window_size'': 33, ''require_full_window'': True}}}, ''runner'': {''type'':
1230
+ ''FSDPTrainRunner'', ''max_steps'': 10000, ''save_iter_interval'': 1000, ''max_keep_ckpts'':
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+ 2, ''optimizer'': {''type'': ''AdamW'', ''lr'': 5e-05, ''weight_decay'': 0.05,
1232
+ ''betas'': (0.9, 0.99), ''eps'': 1e-08, ''fused'': True, ''exclude_1d_from_weight_decay'':
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+ False, ''paramwise_learning_rate'': {''action_in_proj.'': 0.00025, ''action_out_proj.'':
1234
+ 0.00025, ''action_modality_embed'': 0.00025}}, ''max_grad_norm'': 1.0, ''tokenizer'':
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+ {''type'': ''PretrainedTokenizer'', ''model_path'': ''./checkpoints/Cosmos3-Nano/text_tokenizer'',
1236
+ ''model_max_length'': 4096, ''padding_side'': ''right'', ''trust_remote_code'':
1237
+ True}, ''collator'': {''type'': ''DictCollator'', ''keys'': [''images'', ''states'',
1238
+ ''actions'', ''action_masks'', ''img_masks'', ''frame_masks'', ''embodiment_ids'',
1239
+ ''raw_action_dim'', ''conditioning_fps'', ''action_fps''], ''meta_keys'': [''text_token_ids'',
1240
+ ''sequence_plan'', ''task_description'', ''stats'', ''info'', ''timestamp'', ''viewpoint'']},
1241
+ ''sampler'': None, ''grad_accumulation_steps'': 16, ''metric'': {''type'': ''VLAMetric'',
1242
+ ''active_trackers'': (''jsonl'', ''wandb''), ''run_dir'': ''/mnt/data/cpfs/users/jikun/wk_dir/robodojo/cosmos3_nano'',
1243
+ ''grad_accumulation_steps'': 16, ''window_size'': 1}, ''lr_scheduler'': {''type'':
1244
+ ''linear-warmup+linear-decay'', ''warmup_steps'': 0, ''cycle_length'': 100000},
1245
+ ''enable_gradient_checkpointing'': True, ''enable_mixed_precision_training'':
1246
+ True, ''mixed_precision_dtype'': ''bf16'', ''sharding_strategy'': ''full-shard'',
1247
+ ''change_key_name'': False, ''cfg'': Config (path: configs/cosmos3/cosmos3nano_robodojo_full_finetune.py):
1248
+ {...}, ''args'': Namespace(config=''configs/cosmos3/cosmos3nano_robodojo_full_finetune.py'',
1249
+ work_dir=''/mnt/data/cpfs/users/jikun/wk_dir/robodojo/cosmos3_nano'', cfg_options=None,
1250
+ eval_after_train=False, resume_from=None)}, ''eval'': {''report_kind'': ''robodojo'',
1251
+ ''task_suite_name'': ''robodojo'', ''model_family'': ''cosmos3'', ''eval_chunk_size'':
1252
+ 32, ''num_trials_per_task'': 50, ''num_trials_per_task_overrides'': {''stack_bowls'':
1253
+ 25, ''stack_bowls_random'': 25, ''push_T'': 25, ''push_T_random'': 25, ''pack_objects_into_box'':
1254
+ 25, ''pack_objects_into_box_random'': 25, ''fold_clothes'': 25, ''fold_clothes_random'':
1255
+ 25, ''hang_mugs'': 25, ''hang_mugs_random'': 25, ''sweep_blocks'': 25, ''sweep_blocks_random'':
1256
+ 25, ''pour_liquid_into_cup'': 25, ''pour_liquid_into_cup_random'': 25, ''make_toast'':
1257
+ 25, ''make_toast_random'': 25, ''arrange_largest_number'': 25, ''arrange_largest_number_random'':
1258
+ 25, ''sort_nesting_dolls_by_size'': 25, ''sort_nesting_dolls_by_size_random'':
1259
+ 25, ''store_laptop_and_headphones'': 25, ''store_laptop_and_headphones_random'':
1260
+ 25, ''stack_blocks'': 25, ''stack_blocks_random'': 25}, ''enable_mixed_precision_training'':
1261
+ True, ''mixed_precision_dtype'': ''bf16'', ''dataset'': {''type'': ''RoboDojoEvalDataset'',
1262
+ ''unnorm_key'': ''robodojo_arx_x5'', ''transforms'': [{''type'': ''ProcessEvalInputs'',
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+ ''img_keys'': [''cam_high'', ''cam_left_wrist'', ''cam_right_wrist''], ''embodiment_id'':
1264
+ 31}, {''type'': ''SetCosmos3ActionMetadata'', ''conditioning_fps'': 25.0, ''prepend_state_to_action'':
1265
+ False}, {''type'': ''ProcessCosmos3Prompt'', ''tokenizer'': {''type'': ''PretrainedTokenizer'',
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+ ''model_path'': ''./checkpoints/Cosmos3-Nano/text_tokenizer'', ''model_max_length'':
1267
+ 4096, ''padding_side'': ''right'', ''trust_remote_code'': True}, ''max_len'':
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+ 512, ''cfg_dropout_rate'': 0.0, ''format_prompt_as_json'': True, ''action_metadata'':
1269
+ {''append_viewpoint'': False, ''viewpoint'': ''concat_view'', ''frame_window_size'':
1270
+ 33, ''conditioning_fps'': 25.0, ''video_height'': 320, ''video_width'': 256},
1271
+ ''output_key'': ''lang_tokens'', ''output_attention_mask_key'': ''lang_masks''},
1272
+ {''type'': ''TransformImage'', ''image_resize_strategy'': ''resize-naive'', ''input_sizes'':
1273
+ [[3, 256, 192], [3, 256, 192], [3, 256, 192]], ''means'': [[127.5, 127.5, 127.5],
1274
+ [127.5, 127.5, 127.5], [127.5, 127.5, 127.5]], ''stds'': [[127.5, 127.5, 127.5],
1275
+ [127.5, 127.5, 127.5], [127.5, 127.5, 127.5]]}, {''type'': ''PrepareVideo'', ''num_views'':
1276
+ 3, ''frame_window_size'': 1, ''tile_direction'': ''top_bottom_pair'', ''top_view'':
1277
+ 0, ''bottom_views'': (1, 2), ''bottom_height_ratio'': 0.5}, {''type'': ''ResizeAndReflectPad'',
1278
+ ''height'': 320, ''width'': 256}]}, ''denormalize_action'': {''type'': ''DenormalizePrivateAction'',
1279
+ ''norm_type'': ''quantile'', ''action_dim'': 14, ''statistic_name'': ''robodojo_arx_x5''}},
1280
+ ''_ROBODOJO_DATA_ROOT'': ''./datasets/RoboDojo_lerobot_v21_video'', ''_STATISTIC_NAME'':
1281
+ ''robodojo_arx_x5'', ''_ACTION_DIM'': 14, ''_MAX_ACTION_DIM'': 64, ''_MAX_STATE_DIM'':
1282
+ 64, ''_ACTION_HORIZON'': 32, ''_FRAME_WINDOW_SIZE'': 33, ''_CONDITIONING_FPS'':
1283
+ 25.0, ''_EMBODIMENT_ID'': 31, ''_PREPEND_STATE_TO_ACTION'': False, ''_ROBODOJO_ACTION_QUANTILES'':
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+ {''q01'': [-1.051365569829941, -3.5348887174584814e-14, 1.741881830823392e-16,
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+ -1.5984010362625123, -0.6003574305772781, -1.6678147149085998, 0.0, -0.4509398394823074,
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+ -2.5859282299029243e-14, 1.234041714549172e-16, -1.64055180311203, -1.2633746123313903,
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+ -1.7645285475254058, 0.0], ''q99'': [0.5431358617544174, 2.495765209197998, 2.492974226474762,
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+ 1.3241519677639007, 1.2496635341644287, 1.7392305016517635, 1.0, 1.0814965963363647,
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+ 2.4167031812667843, 2.3470158338546754, 1.141731116771698, 0.5208872479200363,
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+ 1.489715996980667, 1.0]}, ''_IMAGE_HEIGHT'': 192, ''_IMAGE_WIDTH'': 256, ''_VIDEO_HEIGHT'':
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+ 320, ''_VIDEO_WIDTH'': 256, ''_VAE_ENCODE_CHUNK_FRAMES'': {''256'': 16, ''480'':
1292
+ 24, ''720'': 12}, ''_ROBODOJO_GENERALIZATION_BASE_TASKS'': (''stack_bowls'', ''push_T'',
1293
+ ''pack_objects_into_box'', ''fold_clothes'', ''hang_mugs'', ''sweep_blocks'',
1294
+ ''pour_liquid_into_cup'', ''make_toast'', ''arrange_largest_number'', ''sort_nesting_dolls_by_size'',
1295
+ ''store_laptop_and_headphones'', ''stack_blocks''), ''_ROBODOJO_EPISODE_OVERRIDES'':
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+ {''stack_bowls'': 25, ''stack_bowls_random'': 25, ''push_T'': 25, ''push_T_random'':
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+ 25, ''pack_objects_into_box'': 25, ''pack_objects_into_box_random'': 25, ''fold_clothes'':
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+ 25, ''fold_clothes_random'': 25, ''hang_mugs'': 25, ''hang_mugs_random'': 25,
1299
+ ''sweep_blocks'': 25, ''sweep_blocks_random'': 25, ''pour_liquid_into_cup'': 25,
1300
+ ''pour_liquid_into_cup_random'': 25, ''make_toast'': 25, ''make_toast_random'':
1301
+ 25, ''arrange_largest_number'': 25, ''arrange_largest_number_random'': 25, ''sort_nesting_dolls_by_size'':
1302
+ 25, ''sort_nesting_dolls_by_size_random'': 25, ''store_laptop_and_headphones'':
1303
+ 25, ''store_laptop_and_headphones_random'': 25, ''stack_blocks'': 25, ''stack_blocks_random'':
1304
+ 25}, ''_ROBODOJO_TRANSFORMS'': [{''type'': ''ProcessParquetInputs'', ''embodiment_id'':
1305
+ 31, ''parquet_keys'': [''observation.state'', ''timestamp'', ''actions'', ''info'',
1306
+ ''stats'', ''action_masks''], ''video_keys'': [''observation.images.cam_high'',
1307
+ ''observation.images.cam_left_wrist'', ''observation.images.cam_right_wrist''],
1308
+ ''name_mappings'': {''observation.state'': [''states''], ''actions'': [''actions'']}},
1309
+ {''type'': ''ResizeImages'', ''height'': 192, ''width'': 256}, {''type'': ''AugVideo'',
1310
+ ''rotation_range'': 0.0, ''brightness_range'': (0.7, 1.3), ''contrast_range'':
1311
+ (0.6, 1.4), ''crop_scale'': (0.95, 0.95), ''crop_ratio'': (1.0, 1.0), ''prob'':
1312
+ 1.0, ''saturation_range'': (0.5, 1.5), ''hue_delta'': 0.08}, {''type'': ''ProcessCosmos3Prompt'',
1313
+ ''tokenizer'': {''type'': ''PretrainedTokenizer'', ''model_path'': ''./checkpoints/Cosmos3-Nano/text_tokenizer'',
1314
+ ''model_max_length'': 4096, ''padding_side'': ''right'', ''trust_remote_code'':
1315
+ True}, ''max_len'': 512, ''cfg_dropout_rate'': 0.1, ''format_prompt_as_json'':
1316
+ True, ''action_metadata'': {''append_viewpoint'': False, ''viewpoint'': ''concat_view'',
1317
+ ''frame_window_size'': 33, ''conditioning_fps'': 25.0, ''video_height'': 320,
1318
+ ''video_width'': 256}}, {''type'': ''SimpleNormalizeImages''}, {''type'': ''NormalizeStatesAndActions'',
1319
+ ''action_dim'': 64, ''state_dim'': 64, ''state_key'': ''proprio'', ''action_key'':
1320
+ ''action'', ''state_norm_type'': ''none'', ''action_norm_type'': ''quantile''},
1321
+ {''type'': ''BuildCosmos3Sequence'', ''raw_action_dim'': 14, ''mode'': ''wam'',
1322
+ ''frame_window_size'': 33, ''prepend_state_to_action'': False, ''conditioning_fps'':
1323
+ 25.0}, {''type'': ''PrepareVideo'', ''num_views'': 3, ''frame_window_size'': 33,
1324
+ ''tile_direction'': ''top_bottom_pair'', ''top_view'': 0, ''bottom_views'': (1,
1325
+ 2), ''bottom_height_ratio'': 0.5}, {''type'': ''ResizeAndReflectPad'', ''height'':
1326
+ 320, ''width'': 256}], ''themis'': {''transport'': {''host'': ''127.0.0.1'', ''port'':
1327
+ 5555, ''timeout_s'': 30.0, ''image_keys'': [''cam_high'', ''cam_left_wrist'',
1328
+ ''cam_right_wrist''], ''state_keys'': [''states''], ''unnorm_key'': ''robodojo_arx_x5'',
1329
+ ''image_encoding'': ''rgb8'', ''report_service_name'': ''/fluxvla/report_evaluation''},
1330
+ ''runner'': {''type'': ''EvalRunner'', ''environment'': {''type'': ''RoboDojoEnvironment'',
1331
+ ''task_name'': ''all'', ''env_cfg_type'': ''arx_x5'', ''robodojo_root'': ''/root/projects/RoboDojo'',
1332
+ ''device_id'': 1, ''action_mode'': ''joint'', ''headless'': True, ''save_videos'':
1333
+ False}, ''model_client'': {''type'': ''FluxVLAZMQModelClient''}, ''evaluator'':
1334
+ {''type'': ''SuccessRateEvaluator''}, ''seed'': 0, ''episodes_per_task'': 50,
1335
+ ''episodes_per_task_overrides'': {''stack_bowls'': 25, ''stack_bowls_random'':
1336
+ 25, ''push_T'': 25, ''push_T_random'': 25, ''pack_objects_into_box'': 25, ''pack_objects_into_box_random'':
1337
+ 25, ''fold_clothes'': 25, ''fold_clothes_random'': 25, ''hang_mugs'': 25, ''hang_mugs_random'':
1338
+ 25, ''sweep_blocks'': 25, ''sweep_blocks_random'': 25, ''pour_liquid_into_cup'':
1339
+ 25, ''pour_liquid_into_cup_random'': 25, ''make_toast'': 25, ''make_toast_random'':
1340
+ 25, ''arrange_largest_number'': 25, ''arrange_largest_number_random'': 25, ''sort_nesting_dolls_by_size'':
1341
+ 25, ''sort_nesting_dolls_by_size_random'': 25, ''store_laptop_and_headphones'':
1342
+ 25, ''store_laptop_and_headphones_random'': 25, ''stack_blocks'': 25, ''stack_blocks_random'':
1343
+ 25}, ''max_episode_steps'': 2000, ''execute_horizon'': 32, ''stop_on_success'':
1344
+ True, ''parallel_workers'': 1, ''simulator_gpu_ids'': None, ''work_dir'': ''work_dirs/fluxthemis''},
1345
+ ''ros_server'': {''dataset_section'': ''eval'', ''evaluation_reporting'': {''result_output_dir'':
1346
+ ''work_dirs/fluxthemis'', ''report_kind'': ''robodojo''}, ''device'': ''cuda:0'',
1347
+ ''workers'': {''startup_timeout_s'': 900.0, ''request_timeout_s'': 120.0, ''lease_timeout_s'':
1348
+ 900.0}, ''mixed_precision_dtype'': ''bf16'', ''enable_mixed_precision'': True,
1349
+ ''model_outputs_environment_actions'': False, ''forward_seed'': False, ''denormalize_context'':
1350
+ {''task_suite_name'': ''robodojo_arx_x5''}}}}'
1351
+ change_key_name: false
1352
+ collator:
1353
+ keys:
1354
+ - images
1355
+ - states
1356
+ - actions
1357
+ - action_masks
1358
+ - img_masks
1359
+ - frame_masks
1360
+ - embodiment_ids
1361
+ - raw_action_dim
1362
+ - conditioning_fps
1363
+ - action_fps
1364
+ meta_keys:
1365
+ - text_token_ids
1366
+ - sequence_plan
1367
+ - task_description
1368
+ - stats
1369
+ - info
1370
+ - timestamp
1371
+ - viewpoint
1372
+ type: DictCollator
1373
+ enable_gradient_checkpointing: true
1374
+ enable_mixed_precision_training: true
1375
+ grad_accumulation_steps: 16
1376
+ lr_scheduler:
1377
+ cycle_length: 100000
1378
+ type: linear-warmup+linear-decay
1379
+ warmup_steps: 0
1380
+ max_grad_norm: 1
1381
+ max_keep_ckpts: 2
1382
+ max_steps: 10000
1383
+ metric:
1384
+ active_trackers:
1385
+ - jsonl
1386
+ - wandb
1387
+ grad_accumulation_steps: 16
1388
+ run_dir: /mnt/data/cpfs/users/jikun/wk_dir/robodojo/cosmos3_nano
1389
+ type: VLAMetric
1390
+ window_size: 1
1391
+ mixed_precision_dtype: bf16
1392
+ optimizer:
1393
+ betas:
1394
+ - 0.9
1395
+ - 0.99
1396
+ eps: 1e-08
1397
+ exclude_1d_from_weight_decay: false
1398
+ fused: true
1399
+ lr: 5e-05
1400
+ paramwise_learning_rate:
1401
+ action_in_proj.: 0.00025
1402
+ action_modality_embed: 0.00025
1403
+ action_out_proj.: 0.00025
1404
+ type: AdamW
1405
+ weight_decay: 0.05
1406
+ sampler: null
1407
+ save_iter_interval: 1000
1408
+ sharding_strategy: full-shard
1409
+ tokenizer:
1410
+ model_max_length: 4096
1411
+ model_path: ./checkpoints/Cosmos3-Nano/text_tokenizer
1412
+ padding_side: right
1413
+ trust_remote_code: true
1414
+ type: PretrainedTokenizer
1415
+ type: FSDPTrainRunner
1416
+ themis:
1417
+ ros_server:
1418
+ dataset_section: eval
1419
+ denormalize_context:
1420
+ task_suite_name: robodojo_arx_x5
1421
+ device: cuda:0
1422
+ enable_mixed_precision: true
1423
+ evaluation_reporting:
1424
+ report_kind: robodojo
1425
+ result_output_dir: work_dirs/fluxthemis
1426
+ forward_seed: false
1427
+ mixed_precision_dtype: bf16
1428
+ model_outputs_environment_actions: false
1429
+ workers:
1430
+ lease_timeout_s: 900
1431
+ request_timeout_s: 120
1432
+ startup_timeout_s: 900
1433
+ runner:
1434
+ environment:
1435
+ action_mode: joint
1436
+ device_id: 1
1437
+ env_cfg_type: arx_x5
1438
+ headless: true
1439
+ robodojo_root: /root/projects/RoboDojo
1440
+ save_videos: false
1441
+ task_name: all
1442
+ type: RoboDojoEnvironment
1443
+ episodes_per_task: 50
1444
+ episodes_per_task_overrides:
1445
+ arrange_largest_number: 25
1446
+ arrange_largest_number_random: 25
1447
+ fold_clothes: 25
1448
+ fold_clothes_random: 25
1449
+ hang_mugs: 25
1450
+ hang_mugs_random: 25
1451
+ make_toast: 25
1452
+ make_toast_random: 25
1453
+ pack_objects_into_box: 25
1454
+ pack_objects_into_box_random: 25
1455
+ pour_liquid_into_cup: 25
1456
+ pour_liquid_into_cup_random: 25
1457
+ push_T: 25
1458
+ push_T_random: 25
1459
+ sort_nesting_dolls_by_size: 25
1460
+ sort_nesting_dolls_by_size_random: 25
1461
+ stack_blocks: 25
1462
+ stack_blocks_random: 25
1463
+ stack_bowls: 25
1464
+ stack_bowls_random: 25
1465
+ store_laptop_and_headphones: 25
1466
+ store_laptop_and_headphones_random: 25
1467
+ sweep_blocks: 25
1468
+ sweep_blocks_random: 25
1469
+ evaluator:
1470
+ type: SuccessRateEvaluator
1471
+ execute_horizon: 32
1472
+ max_episode_steps: 2000
1473
+ model_client:
1474
+ type: FluxVLAZMQModelClient
1475
+ parallel_workers: 1
1476
+ seed: 0
1477
+ simulator_gpu_ids: null
1478
+ stop_on_success: true
1479
+ type: EvalRunner
1480
+ work_dir: work_dirs/fluxthemis
1481
+ transport:
1482
+ host: 127.0.0.1
1483
+ image_encoding: rgb8
1484
+ image_keys:
1485
+ - cam_high
1486
+ - cam_left_wrist
1487
+ - cam_right_wrist
1488
+ port: 5555
1489
+ report_service_name: /fluxvla/report_evaluation
1490
+ state_keys:
1491
+ - states
1492
+ timeout_s: 30
1493
+ unnorm_key: robodojo_arx_x5
1494
+ train_dataloader:
1495
+ dataset:
1496
+ datasets:
1497
+ action_key: action
1498
+ action_window_size: 32
1499
+ data_root_path:
1500
+ - ./datasets/RoboDojo_lerobot_v21_video
1501
+ frame_window_size: 33
1502
+ require_full_window: true
1503
+ statistic_name: robodojo_arx_x5
1504
+ transforms:
1505
+ - embodiment_id: 31
1506
+ name_mappings:
1507
+ actions:
1508
+ - actions
1509
+ observation.state:
1510
+ - states
1511
+ parquet_keys:
1512
+ - observation.state
1513
+ - timestamp
1514
+ - actions
1515
+ - info
1516
+ - stats
1517
+ - action_masks
1518
+ type: ProcessParquetInputs
1519
+ video_keys:
1520
+ - observation.images.cam_high
1521
+ - observation.images.cam_left_wrist
1522
+ - observation.images.cam_right_wrist
1523
+ - height: 192
1524
+ type: ResizeImages
1525
+ width: 256
1526
+ - brightness_range:
1527
+ - 0.7
1528
+ - 1.3
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+ contrast_range:
1530
+ - 0.6
1531
+ - 1.4
1532
+ crop_ratio:
1533
+ - 1
1534
+ - 1
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+ crop_scale:
1536
+ - 0.95
1537
+ - 0.95
1538
+ hue_delta: 0.08
1539
+ prob: 1
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+ rotation_range: 0
1541
+ saturation_range:
1542
+ - 0.5
1543
+ - 1.5
1544
+ type: AugVideo
1545
+ - action_metadata:
1546
+ append_viewpoint: false
1547
+ conditioning_fps: 25
1548
+ frame_window_size: 33
1549
+ video_height: 320
1550
+ video_width: 256
1551
+ viewpoint: concat_view
1552
+ cfg_dropout_rate: 0.1
1553
+ format_prompt_as_json: true
1554
+ max_len: 512
1555
+ tokenizer:
1556
+ model_max_length: 4096
1557
+ model_path: ./checkpoints/Cosmos3-Nano/text_tokenizer
1558
+ padding_side: right
1559
+ trust_remote_code: true
1560
+ type: PretrainedTokenizer
1561
+ type: ProcessCosmos3Prompt
1562
+ - type: SimpleNormalizeImages
1563
+ - action_dim: 64
1564
+ action_key: action
1565
+ action_norm_type: quantile
1566
+ state_dim: 64
1567
+ state_key: proprio
1568
+ state_norm_type: none
1569
+ type: NormalizeStatesAndActions
1570
+ - conditioning_fps: 25
1571
+ frame_window_size: 33
1572
+ mode: wam
1573
+ prepend_state_to_action: false
1574
+ raw_action_dim: 14
1575
+ type: BuildCosmos3Sequence
1576
+ - bottom_height_ratio: 0.5
1577
+ bottom_views:
1578
+ - 1
1579
+ - 2
1580
+ frame_window_size: 33
1581
+ num_views: 3
1582
+ tile_direction: top_bottom_pair
1583
+ top_view: 0
1584
+ type: PrepareVideo
1585
+ - height: 320
1586
+ type: ResizeAndReflectPad
1587
+ width: 256
1588
+ type: ParquetDataset
1589
+ use_delta: false
1590
+ window_start_idx: 0
1591
+ name_mappings:
1592
+ action:
1593
+ - action
1594
+ observation.state:
1595
+ - proprio
1596
+ reshuffle_each_epoch: true
1597
+ seed: 42
1598
+ statistic_keys:
1599
+ - observation.state
1600
+ - action
1601
+ - timestamp
1602
+ statistic_name: robodojo_arx_x5
1603
+ statistics_overrides:
1604
+ robodojo_arx_x5:
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+ action:
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+ q01:
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+ - -1.051365569829941
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+ - -3.5348887174584814e-14
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+ - 1.741881830823392e-16
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+ - 0
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+ - -0.4509398394823074
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+ - -2.5859282299029243e-14
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+ - 1.234041714549172e-16
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+ - -1.64055180311203
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+ - -1.2633746123313903
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+ - -1.7645285475254058
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+ - 0
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+ q99:
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+ - 0.5431358617544174
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+ - 2.495765209197998
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+ - 2.492974226474762
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+ - 1.3241519677639007
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+ - 1.0814965963363647
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+ - 2.3470158338546754
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+ - 1.141731116771698
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+ - 0.5208872479200363
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+ - 1.489715996980667
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+ - 1
1636
+ type: DistributedRepeatingDataset
1637
+ per_device_batch_size: 8
1638
+ per_device_num_workers: 4
1639
+ prefetch_factor: 1
1640
+
cosmos3_nano_robodojo_full_finetune_bs2048/dataset_statistics.json ADDED
@@ -0,0 +1,186 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
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+ ]
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+ },
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+ "timestamp": {
170
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+ ],
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+ ],
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+ ],
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+ "max": [
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+ ],
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+ "q01": null,
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+ }
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+ }
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+ }
cosmos3_nano_robodojo_full_finetune_bs2048/tokenizer/added_tokens.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "</think>": 151668,
3
+ "</tool_call>": 151658,
4
+ "</tool_response>": 151666,
5
+ "<think>": 151667,
6
+ "<tool_call>": 151657,
7
+ "<tool_response>": 151665,
8
+ "<|box_end|>": 151649,
9
+ "<|box_start|>": 151648,
10
+ "<|endoftext|>": 151643,
11
+ "<|file_sep|>": 151664,
12
+ "<|fim_middle|>": 151660,
13
+ "<|fim_pad|>": 151662,
14
+ "<|fim_prefix|>": 151659,
15
+ "<|fim_suffix|>": 151661,
16
+ "<|im_end|>": 151645,
17
+ "<|im_start|>": 151644,
18
+ "<|image_pad|>": 151655,
19
+ "<|object_ref_end|>": 151647,
20
+ "<|object_ref_start|>": 151646,
21
+ "<|quad_end|>": 151651,
22
+ "<|quad_start|>": 151650,
23
+ "<|repo_name|>": 151663,
24
+ "<|video_pad|>": 151656,
25
+ "<|vision_end|>": 151653,
26
+ "<|vision_pad|>": 151654,
27
+ "<|vision_start|>": 151652
28
+ }
cosmos3_nano_robodojo_full_finetune_bs2048/tokenizer/chat_template.jinja ADDED
@@ -0,0 +1,120 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {%- if tools %}
2
+ {{- '<|im_start|>system\n' }}
3
+ {%- if messages[0].role == 'system' %}
4
+ {%- if messages[0].content is string %}
5
+ {{- messages[0].content }}
6
+ {%- else %}
7
+ {%- for content in messages[0].content %}
8
+ {%- if 'text' in content %}
9
+ {{- content.text }}
10
+ {%- endif %}
11
+ {%- endfor %}
12
+ {%- endif %}
13
+ {{- '\n\n' }}
14
+ {%- endif %}
15
+ {{- "# Tools\n\nYou may call one or more functions to assist with the user query.\n\nYou are provided with function signatures within <tools></tools> XML tags:\n<tools>" }}
16
+ {%- for tool in tools %}
17
+ {{- "\n" }}
18
+ {{- tool | tojson }}
19
+ {%- endfor %}
20
+ {{- "\n</tools>\n\nFor each function call, return a json object with function name and arguments within <tool_call></tool_call> XML tags:\n<tool_call>\n{\"name\": <function-name>, \"arguments\": <args-json-object>}\n</tool_call><|im_end|>\n" }}
21
+ {%- else %}
22
+ {%- if messages[0].role == 'system' %}
23
+ {{- '<|im_start|>system\n' }}
24
+ {%- if messages[0].content is string %}
25
+ {{- messages[0].content }}
26
+ {%- else %}
27
+ {%- for content in messages[0].content %}
28
+ {%- if 'text' in content %}
29
+ {{- content.text }}
30
+ {%- endif %}
31
+ {%- endfor %}
32
+ {%- endif %}
33
+ {{- '<|im_end|>\n' }}
34
+ {%- endif %}
35
+ {%- endif %}
36
+ {%- set image_count = namespace(value=0) %}
37
+ {%- set video_count = namespace(value=0) %}
38
+ {%- for message in messages %}
39
+ {%- if message.role == "user" %}
40
+ {{- '<|im_start|>' + message.role + '\n' }}
41
+ {%- if message.content is string %}
42
+ {{- message.content }}
43
+ {%- else %}
44
+ {%- for content in message.content %}
45
+ {%- if content.type == 'image' or 'image' in content or 'image_url' in content %}
46
+ {%- set image_count.value = image_count.value + 1 %}
47
+ {%- if add_vision_id %}Picture {{ image_count.value }}: {% endif -%}
48
+ <|vision_start|><|image_pad|><|vision_end|>
49
+ {%- elif content.type == 'video' or 'video' in content %}
50
+ {%- set video_count.value = video_count.value + 1 %}
51
+ {%- if add_vision_id %}Video {{ video_count.value }}: {% endif -%}
52
+ <|vision_start|><|video_pad|><|vision_end|>
53
+ {%- elif 'text' in content %}
54
+ {{- content.text }}
55
+ {%- endif %}
56
+ {%- endfor %}
57
+ {%- endif %}
58
+ {{- '<|im_end|>\n' }}
59
+ {%- elif message.role == "assistant" %}
60
+ {{- '<|im_start|>' + message.role + '\n' }}
61
+ {%- if message.content is string %}
62
+ {{- message.content }}
63
+ {%- else %}
64
+ {%- for content_item in message.content %}
65
+ {%- if 'text' in content_item %}
66
+ {{- content_item.text }}
67
+ {%- endif %}
68
+ {%- endfor %}
69
+ {%- endif %}
70
+ {%- if message.tool_calls %}
71
+ {%- for tool_call in message.tool_calls %}
72
+ {%- if (loop.first and message.content) or (not loop.first) %}
73
+ {{- '\n' }}
74
+ {%- endif %}
75
+ {%- if tool_call.function %}
76
+ {%- set tool_call = tool_call.function %}
77
+ {%- endif %}
78
+ {{- '<tool_call>\n{"name": "' }}
79
+ {{- tool_call.name }}
80
+ {{- '", "arguments": ' }}
81
+ {%- if tool_call.arguments is string %}
82
+ {{- tool_call.arguments }}
83
+ {%- else %}
84
+ {{- tool_call.arguments | tojson }}
85
+ {%- endif %}
86
+ {{- '}\n</tool_call>' }}
87
+ {%- endfor %}
88
+ {%- endif %}
89
+ {{- '<|im_end|>\n' }}
90
+ {%- elif message.role == "tool" %}
91
+ {%- if loop.first or (messages[loop.index0 - 1].role != "tool") %}
92
+ {{- '<|im_start|>user' }}
93
+ {%- endif %}
94
+ {{- '\n<tool_response>\n' }}
95
+ {%- if message.content is string %}
96
+ {{- message.content }}
97
+ {%- else %}
98
+ {%- for content in message.content %}
99
+ {%- if content.type == 'image' or 'image' in content or 'image_url' in content %}
100
+ {%- set image_count.value = image_count.value + 1 %}
101
+ {%- if add_vision_id %}Picture {{ image_count.value }}: {% endif -%}
102
+ <|vision_start|><|image_pad|><|vision_end|>
103
+ {%- elif content.type == 'video' or 'video' in content %}
104
+ {%- set video_count.value = video_count.value + 1 %}
105
+ {%- if add_vision_id %}Video {{ video_count.value }}: {% endif -%}
106
+ <|vision_start|><|video_pad|><|vision_end|>
107
+ {%- elif 'text' in content %}
108
+ {{- content.text }}
109
+ {%- endif %}
110
+ {%- endfor %}
111
+ {%- endif %}
112
+ {{- '\n</tool_response>' }}
113
+ {%- if loop.last or (messages[loop.index0 + 1].role != "tool") %}
114
+ {{- '<|im_end|>\n' }}
115
+ {%- endif %}
116
+ {%- endif %}
117
+ {%- endfor %}
118
+ {%- if add_generation_prompt %}
119
+ {{- '<|im_start|>assistant\n' }}
120
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dit4dit_robodojo_full_finetune_bs128/config.yaml ADDED
@@ -0,0 +1,494 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ _ROBODOJO_DATA_ROOT: /mnt/data/cpfs/users/jikun/robodojo/RoboDojo_lerobot_v21_video
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+ _ROBODOJO_EPISODE_OVERRIDES:
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+ arrange_largest_number: 25
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+ arrange_largest_number_random: 25
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+ fold_clothes: 25
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+ fold_clothes_random: 25
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+ hang_mugs: 25
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+ hang_mugs_random: 25
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+ make_toast: 25
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+ make_toast_random: 25
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+ pack_objects_into_box: 25
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+ pack_objects_into_box_random: 25
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+ pour_liquid_into_cup: 25
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+ pour_liquid_into_cup_random: 25
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+ push_T: 25
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+ push_T_random: 25
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+ sort_nesting_dolls_by_size: 25
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+ sort_nesting_dolls_by_size_random: 25
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+ stack_blocks: 25
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+ stack_blocks_random: 25
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+ stack_bowls: 25
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+ stack_bowls_random: 25
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+ store_laptop_and_headphones: 25
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+ store_laptop_and_headphones_random: 25
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+ sweep_blocks: 25
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+ sweep_blocks_random: 25
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+ _ROBODOJO_GENERALIZATION_BASE_TASKS:
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+ - stack_bowls
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+ - push_T
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+ - pack_objects_into_box
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+ - fold_clothes
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+ - hang_mugs
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+ - sweep_blocks
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+ - pour_liquid_into_cup
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+ - make_toast
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+ - arrange_largest_number
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+ - sort_nesting_dolls_by_size
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+ - store_laptop_and_headphones
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+ - stack_blocks
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+ _action_dim: 16
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+ _action_horizon: 16
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+ _camera_keys:
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+ - cam_high
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+ - cam_left_wrist
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+ - cam_right_wrist
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+ _cosmos_base_model: ./checkpoints/Cosmos-Predict2.5-2B
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+ model_path: ./checkpoints/Cosmos-Predict2.5-2B/tokenizer
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+ type: PretrainedTokenizer
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+ _frame_sample_stride: 2
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+ _frame_window_size: 9
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+ _grad_accumulation_steps: 4
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+ _image_size: 224
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+ _ori_action_dim: 14
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+ _prompt:
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+ type: PretrainedTokenizer
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+ type: ProcessCosmos25Prompt
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+ height: 224
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+ scale_divisor: 255.0
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+ type: ResizeImages
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+ _state_dim: 32
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+ expand_axis: 0
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+ type: PrepareVideo
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+ transforms:
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+ - img_keys:
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+ - cam_high
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+ - cam_left_wrist
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+ - cam_right_wrist
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+ type: ProcessEvalInputs
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+ remove_input_key: true
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+ type: PretrainedTokenizer
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+ type: ProcessCosmos25Prompt
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+ key: pixel_values
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+ width: 224
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+ type: PrepareVideo
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+ expand_axis: 0
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+ keys:
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+ type: RoboDojoEvalDataset
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+ denormalize_action:
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+ action_dim: 14
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+ clip_normalized_action: true
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+ norm_type: min_max
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+ statistic_name: robodojo_arx_x5
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+ type: DenormalizePrivateAction
131
+ model_family: dit4dit
132
+ num_trials_per_task: 50
133
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+ arrange_largest_number: 25
135
+ arrange_largest_number_random: 25
136
+ fold_clothes: 25
137
+ fold_clothes_random: 25
138
+ hang_mugs: 25
139
+ hang_mugs_random: 25
140
+ make_toast: 25
141
+ make_toast_random: 25
142
+ pack_objects_into_box: 25
143
+ pack_objects_into_box_random: 25
144
+ pour_liquid_into_cup: 25
145
+ pour_liquid_into_cup_random: 25
146
+ push_T: 25
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149
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150
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151
+ stack_blocks_random: 25
152
+ stack_bowls: 25
153
+ stack_bowls_random: 25
154
+ store_laptop_and_headphones: 25
155
+ store_laptop_and_headphones_random: 25
156
+ sweep_blocks: 25
157
+ sweep_blocks_random: 25
158
+ report_kind: robodojo
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160
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161
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162
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+ detach_hidden_states: true
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+ flow_matching_time_distribution: uniform
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+ frozen_submodules:
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+ "per_device_num_workers": 8
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+ "val_dataloader": null
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+ }
fastwam_robodojo_full_finetune_bs32/config.yaml ADDED
@@ -0,0 +1,880 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ _ROBODOJO_DATA_ROOT: ./datasets/RoboDojo_lerobot_v21_video
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+ _ROBODOJO_EPISODE_OVERRIDES:
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+ hang_mugs_random: 25
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+ make_toast: 25
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+ store_laptop_and_headphones: 25
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+ store_laptop_and_headphones_random: 25
25
+ sweep_blocks: 25
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+ sweep_blocks_random: 25
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+ - store_laptop_and_headphones
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+ _action_window_size: 32
227
+ _ckpt_root: ./checkpoints
228
+ _data_root_paths:
229
+ - datasets/libero_spatial_no_noops_lerobotv2.1
230
+ - datasets/libero_object_no_noops_lerobotv2.1
231
+ - datasets/libero_goal_no_noops_lerobotv2.1
232
+ - datasets/libero_10_no_noops_lerobotv2.1
233
+ _frame_sample_stride: 4
234
+ _frame_window_size: 9
235
+ _statistic_name: robodojo_arx_x5
236
+ _text_prompt_template: 'A video recorded from a robot''s point of view executing the
237
+ following instruction: {task}'
238
+ _tokenizer: ./checkpoints/fastwam_base_full/tokenizer
239
+ eval:
240
+ dataset:
241
+ state_dtype: fp32
242
+ transforms:
243
+ - img_keys:
244
+ - cam_high
245
+ - cam_left_wrist
246
+ - cam_right_wrist
247
+ type: ProcessEvalInputs
248
+ - image_resize_strategy: resize-naive
249
+ input_sizes:
250
+ - - 3
251
+ - 224
252
+ - 224
253
+ - - 3
254
+ - 224
255
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256
+ - - 3
257
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259
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261
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274
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277
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278
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279
+ type: TransformImage
280
+ - norm_type: min_max
281
+ stat_key: proprio
282
+ state_dim: 14
283
+ type: StateFromInputs
284
+ - max_len: 128
285
+ prompt_template: 'A video recorded from a robot''s point of view executing the
286
+ following instruction: {task}'
287
+ tokenizer:
288
+ model_path: ./checkpoints/fastwam_base_full/tokenizer
289
+ type: PretrainedTokenizer
290
+ type: LiberoPromptFromInputs
291
+ use_conversation: false
292
+ - combine_view_masks: true
293
+ frame_window_size: 1
294
+ num_views: 3
295
+ tile_direction: horizontal
296
+ type: PrepareVideo
297
+ type: RoboDojoEvalDataset
298
+ denormalize_action:
299
+ action_dim: 14
300
+ norm_type: min_max
301
+ statistic_name: robodojo_arx_x5
302
+ type: DenormalizePrivateAction
303
+ model_family: fastwam
304
+ num_trials_per_task: 50
305
+ num_trials_per_task_overrides:
306
+ arrange_largest_number: 25
307
+ arrange_largest_number_random: 25
308
+ fold_clothes: 25
309
+ fold_clothes_random: 25
310
+ hang_mugs: 25
311
+ hang_mugs_random: 25
312
+ make_toast: 25
313
+ make_toast_random: 25
314
+ pack_objects_into_box: 25
315
+ pack_objects_into_box_random: 25
316
+ pour_liquid_into_cup: 25
317
+ pour_liquid_into_cup_random: 25
318
+ push_T: 25
319
+ push_T_random: 25
320
+ sort_nesting_dolls_by_size: 25
321
+ sort_nesting_dolls_by_size_random: 25
322
+ stack_blocks: 25
323
+ stack_blocks_random: 25
324
+ stack_bowls: 25
325
+ stack_bowls_random: 25
326
+ store_laptop_and_headphones: 25
327
+ store_laptop_and_headphones_random: 25
328
+ sweep_blocks: 25
329
+ sweep_blocks_random: 25
330
+ report_kind: robodojo
331
+ task_suite_name: robodojo
332
+ eval_dataset: null
333
+ inference_model:
334
+ action_horizon: 32
335
+ action_norm_type: min_max
336
+ frame_window_size: 9
337
+ mot_checkpoint_mixed_attn: true
338
+ num_inference_steps: 10
339
+ num_views: 3
340
+ pretrained_name_or_path: ./checkpoints/fastwam_base_full/fastwam_base_full.safetensors
341
+ pretrained_skip_prefixes:
342
+ - vla_head.mot.mixtures.action.action_encoder.
343
+ - vla_head.mot.mixtures.action.head.
344
+ - vla_head.proprio_encoder.
345
+ proprio_dim: 14
346
+ torch_dtype: bf16
347
+ type: FastWAMVLA
348
+ vla_head:
349
+ action_dit_config:
350
+ action_dim: 14
351
+ attn_head_dim: 128
352
+ eps: 1.0e-06
353
+ ffn_dim: 4096
354
+ freq_dim: 256
355
+ hidden_dim: 1024
356
+ num_heads: 24
357
+ num_layers: 30
358
+ text_dim: 4096
359
+ use_gradient_checkpointing: true
360
+ action_scheduler:
361
+ infer_shift: 5.0
362
+ num_train_timesteps: 1000
363
+ train_shift: 5.0
364
+ loss:
365
+ lambda_action: 1.0
366
+ lambda_video: 1.0
367
+ type: FastWAMHead
368
+ video_dit_config:
369
+ action_conditioned: false
370
+ action_dim: 14
371
+ action_group_causal_mask_mode: group_diagonal
372
+ attn_head_dim: 128
373
+ eps: 1.0e-06
374
+ ffn_dim: 14336
375
+ freq_dim: 256
376
+ fuse_vae_embedding_in_latents: true
377
+ has_image_input: false
378
+ hidden_dim: 3072
379
+ in_dim: 48
380
+ num_heads: 24
381
+ num_layers: 30
382
+ out_dim: 48
383
+ patch_size:
384
+ - 1
385
+ - 2
386
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+ require_clip_embedding: false
388
+ require_vae_embedding: false
389
+ seperated_timestep: true
390
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fastwam_robodojo_full_finetune_bs32/dataset_statistics.json ADDED
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