upload SmolVLA LIBERO fine-tuned checkpoints (incremental cache)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- smolvla_libero_10_full_finetune_bs64/checkpoints/step-057096-epoch-36-loss=0.2340.safetensors +3 -0
- smolvla_libero_10_full_finetune_bs64/config.json +315 -0
- smolvla_libero_10_full_finetune_bs64/config.yaml +239 -0
- smolvla_libero_10_full_finetune_bs64/dataset_statistics.json +104 -0
- smolvla_libero_10_full_finetune_bs64/tokenizer/added_tokens.json +130 -0
- smolvla_libero_10_full_finetune_bs64/tokenizer/merges.txt +0 -0
- smolvla_libero_10_full_finetune_bs64/tokenizer/merges.txt.metadata +3 -0
- smolvla_libero_10_full_finetune_bs64/tokenizer/special_tokens_map.json +39 -0
- smolvla_libero_10_full_finetune_bs64/tokenizer/tokenizer.json +0 -0
- smolvla_libero_10_full_finetune_bs64/tokenizer/tokenizer.json.metadata +3 -0
- smolvla_libero_10_full_finetune_bs64/tokenizer/tokenizer_config.json +1192 -0
- smolvla_libero_10_full_finetune_bs64/tokenizer/tokenizer_config.json.metadata +3 -0
- smolvla_libero_10_full_finetune_bs64/tokenizer/vocab.json +0 -0
- smolvla_libero_10_full_finetune_bs64/tokenizer/vocab.json.metadata +3 -0
- smolvla_libero_10_full_finetune_bs64/vlm_backbone_config.json +25 -0
- smolvla_libero_goal_full_finetune_bs64/checkpoints/step-029772-epoch-36-loss=0.1831.safetensors +3 -0
- smolvla_libero_goal_full_finetune_bs64/config.json +315 -0
- smolvla_libero_goal_full_finetune_bs64/config.yaml +239 -0
- smolvla_libero_goal_full_finetune_bs64/dataset_statistics.json +138 -0
- smolvla_libero_goal_full_finetune_bs64/tokenizer/added_tokens.json +130 -0
- smolvla_libero_goal_full_finetune_bs64/tokenizer/merges.txt +0 -0
- smolvla_libero_goal_full_finetune_bs64/tokenizer/merges.txt.metadata +3 -0
- smolvla_libero_goal_full_finetune_bs64/tokenizer/special_tokens_map.json +39 -0
- smolvla_libero_goal_full_finetune_bs64/tokenizer/tokenizer.json +0 -0
- smolvla_libero_goal_full_finetune_bs64/tokenizer/tokenizer.json.metadata +3 -0
- smolvla_libero_goal_full_finetune_bs64/tokenizer/tokenizer_config.json +1192 -0
- smolvla_libero_goal_full_finetune_bs64/tokenizer/tokenizer_config.json.metadata +3 -0
- smolvla_libero_goal_full_finetune_bs64/tokenizer/vocab.json +0 -0
- smolvla_libero_goal_full_finetune_bs64/tokenizer/vocab.json.metadata +3 -0
- smolvla_libero_goal_full_finetune_bs64/vlm_backbone_config.json +25 -0
- smolvla_libero_object_full_finetune_bs64/checkpoints/step-025128-epoch-24-loss=0.2583.safetensors +3 -0
- smolvla_libero_object_full_finetune_bs64/config.json +315 -0
- smolvla_libero_object_full_finetune_bs64/config.yaml +239 -0
- smolvla_libero_object_full_finetune_bs64/dataset_statistics.json +104 -0
- smolvla_libero_object_full_finetune_bs64/tokenizer/added_tokens.json +130 -0
- smolvla_libero_object_full_finetune_bs64/tokenizer/merges.txt +0 -0
- smolvla_libero_object_full_finetune_bs64/tokenizer/merges.txt.metadata +3 -0
- smolvla_libero_object_full_finetune_bs64/tokenizer/special_tokens_map.json +39 -0
- smolvla_libero_object_full_finetune_bs64/tokenizer/tokenizer.json +0 -0
- smolvla_libero_object_full_finetune_bs64/tokenizer/tokenizer.json.metadata +3 -0
- smolvla_libero_object_full_finetune_bs64/tokenizer/tokenizer_config.json +1192 -0
- smolvla_libero_object_full_finetune_bs64/tokenizer/tokenizer_config.json.metadata +3 -0
- smolvla_libero_object_full_finetune_bs64/tokenizer/vocab.json +0 -0
- smolvla_libero_object_full_finetune_bs64/tokenizer/vocab.json.metadata +3 -0
- smolvla_libero_object_full_finetune_bs64/vlm_backbone_config.json +25 -0
- smolvla_libero_spatial_full_finetune_bs64/checkpoints/step-029808-epoch-36-loss=0.1997.safetensors +3 -0
- smolvla_libero_spatial_full_finetune_bs64/config.json +315 -0
- smolvla_libero_spatial_full_finetune_bs64/config.yaml +239 -0
- smolvla_libero_spatial_full_finetune_bs64/dataset_statistics.json +104 -0
- smolvla_libero_spatial_full_finetune_bs64/tokenizer/added_tokens.json +130 -0
smolvla_libero_10_full_finetune_bs64/checkpoints/step-057096-epoch-36-loss=0.2340.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:03c02d9e2a2aa1c5f279d38d0366d88b47e88c0e46ec44277bef6ac242ec796e
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size 805540592
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smolvla_libero_10_full_finetune_bs64/config.json
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| 1 |
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{
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"eval": {
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"dataset": {
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"transforms": [
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{
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"img_keys": [
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| 9 |
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],
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"resize_size": 512,
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"type": "ProcessLiberoEvalInputs"
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| 12 |
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},
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{
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"image_resize_strategy": "letterbox",
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"input_sizes": [
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[
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| 19 |
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],
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[
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"letterbox_fill": [
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],
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"letterbox_pad_position": "top-left",
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"means": [
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[
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127.5
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],
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[
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127.5
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]
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],
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"stds": [
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127.5,
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[
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],
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"type": "TransformImage"
|
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},
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{
|
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"add_new_line": true,
|
| 61 |
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"tokenizer": {
|
| 62 |
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"model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
|
| 63 |
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"type": "PretrainedTokenizer"
|
| 64 |
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},
|
| 65 |
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"type": "LiberoPromptFromInputs",
|
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"use_conversation": false
|
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},
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{
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"gripper_key": "robot0_gripper_qpos",
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"norm_type": "mean_std",
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"out_key": "states",
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"quat_key": "robot0_eef_quat",
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"type": "LiberoProprioFromInputs"
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}
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],
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"type": "LiberoParquetEvalDataset"
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},
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"denormalize_action": {
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"action_dim": 7,
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| 82 |
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"norm_type": "mean_std",
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"type": "DenormalizeLiberoAction"
|
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},
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"eval_chunk_size": 10,
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| 86 |
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"model_family": "smolvla",
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| 87 |
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"num_steps_wait": 10,
|
| 88 |
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"num_trials_per_task": 50,
|
| 89 |
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"seed": 7,
|
| 90 |
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"task_suite_name": "libero_10",
|
| 91 |
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"type": "LiberoEvalRunner"
|
| 92 |
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},
|
| 93 |
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"model": {
|
| 94 |
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"action_in_proj": {
|
| 95 |
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"in_dim": 32,
|
| 96 |
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"out_dim": 720,
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| 97 |
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"type": "LinearProjector"
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| 98 |
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},
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| 99 |
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"action_out_proj": {
|
| 100 |
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"in_dim": 720,
|
| 101 |
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"out_dim": 32,
|
| 102 |
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"type": "LinearProjector"
|
| 103 |
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},
|
| 104 |
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"action_time_mlp_in": {
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| 105 |
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"in_dim": 1440,
|
| 106 |
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"out_dim": 720,
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| 107 |
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"type": "LinearProjector"
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| 108 |
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},
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"action_time_mlp_out": {
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"in_dim": 720,
|
| 111 |
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"out_dim": 720,
|
| 112 |
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"type": "LinearProjector"
|
| 113 |
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},
|
| 114 |
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"add_image_special_tokens": false,
|
| 115 |
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"chunk_size": 50,
|
| 116 |
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"freeze_vlm_backbone": true,
|
| 117 |
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"llm_expert": {
|
| 118 |
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"attention_bias": false,
|
| 119 |
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"attention_mode": "cross_attn",
|
| 120 |
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"head_dim": 64,
|
| 121 |
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"hidden_act": "silu",
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| 122 |
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"hidden_size": 720,
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"num_key_value_heads": 5,
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"rms_norm_eps": 1e-05,
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"self_attn_every_n_layers": 2,
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"torch_dtype": "bfloat16",
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| 131 |
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"type": "SmolVLMExpert",
|
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"vlm_kv_dim": 320,
|
| 133 |
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"vocab_size": 49280
|
| 134 |
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},
|
| 135 |
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"max_action_dim": 32,
|
| 136 |
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"name_mapping": {
|
| 137 |
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"action_in_proj.projector": "model.action_in_proj",
|
| 138 |
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"action_out_proj.projector": "model.action_out_proj",
|
| 139 |
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"action_time_mlp_in.projector": "model.action_time_mlp_in",
|
| 140 |
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"action_time_mlp_out.projector": "model.action_time_mlp_out",
|
| 141 |
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"llm_expert.expert": "model.vlm_with_expert.lm_expert",
|
| 142 |
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"state_proj.projector": "model.state_proj",
|
| 143 |
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"vlm_backbone.vlm": "model.vlm_with_expert.vlm.model"
|
| 144 |
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},
|
| 145 |
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"num_steps": 10,
|
| 146 |
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"ori_action_dim": 7,
|
| 147 |
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"pretrained_name_or_path": "./checkpoints/smolvla_base/model.safetensors",
|
| 148 |
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"state_proj": {
|
| 149 |
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"in_dim": 32,
|
| 150 |
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"out_dim": 960,
|
| 151 |
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"type": "LinearProjector"
|
| 152 |
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},
|
| 153 |
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"type": "SmolVLAFlowMatching",
|
| 154 |
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"vlm_backbone": {
|
| 155 |
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"num_vlm_layers": 16,
|
| 156 |
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"scale_factor": 4,
|
| 157 |
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"text_config": {
|
| 158 |
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"head_dim": 64,
|
| 159 |
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"hidden_act": "silu",
|
| 160 |
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"hidden_size": 960,
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| 161 |
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"intermediate_size": 2560,
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| 162 |
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"max_position_embeddings": 8192,
|
| 163 |
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"num_attention_heads": 15,
|
| 164 |
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"num_hidden_layers": 32,
|
| 165 |
+
"num_key_value_heads": 5,
|
| 166 |
+
"rms_norm_eps": 1e-05,
|
| 167 |
+
"vocab_size": 49280
|
| 168 |
+
},
|
| 169 |
+
"torch_dtype": "bfloat16",
|
| 170 |
+
"type": "SmolVLMBackbone",
|
| 171 |
+
"vision_config": {
|
| 172 |
+
"hidden_act": "gelu_pytorch_tanh",
|
| 173 |
+
"hidden_size": 768,
|
| 174 |
+
"image_size": 512,
|
| 175 |
+
"intermediate_size": 3072,
|
| 176 |
+
"layer_norm_eps": 1e-06,
|
| 177 |
+
"num_attention_heads": 12,
|
| 178 |
+
"num_hidden_layers": 12,
|
| 179 |
+
"patch_size": 16
|
| 180 |
+
}
|
| 181 |
+
}
|
| 182 |
+
},
|
| 183 |
+
"runner": {
|
| 184 |
+
"change_key_name": false,
|
| 185 |
+
"collator": {
|
| 186 |
+
"keys": [
|
| 187 |
+
"states",
|
| 188 |
+
"timestamp",
|
| 189 |
+
"images",
|
| 190 |
+
"img_masks",
|
| 191 |
+
"lang_tokens",
|
| 192 |
+
"lang_masks",
|
| 193 |
+
"actions",
|
| 194 |
+
"action_masks"
|
| 195 |
+
],
|
| 196 |
+
"meta_keys": [
|
| 197 |
+
"task_description",
|
| 198 |
+
"prompt",
|
| 199 |
+
"info",
|
| 200 |
+
"stats"
|
| 201 |
+
],
|
| 202 |
+
"type": "DictCollator"
|
| 203 |
+
},
|
| 204 |
+
"enable_gradient_checkpointing": true,
|
| 205 |
+
"enable_mixed_precision_training": true,
|
| 206 |
+
"learning_rate": 0.0002,
|
| 207 |
+
"lr_scheduler_type": "linear-warmup+cosine-decay",
|
| 208 |
+
"max_epochs": 36,
|
| 209 |
+
"max_grad_norm": 10.0,
|
| 210 |
+
"metric": {
|
| 211 |
+
"active_trackers": [
|
| 212 |
+
"jsonl",
|
| 213 |
+
"tensorboard"
|
| 214 |
+
],
|
| 215 |
+
"grad_accumulation_steps": 1,
|
| 216 |
+
"run_dir": "work_dirs",
|
| 217 |
+
"type": "VLAMetric",
|
| 218 |
+
"window_size": 1
|
| 219 |
+
},
|
| 220 |
+
"mixed_precision_dtype": "bf16",
|
| 221 |
+
"sampler": null,
|
| 222 |
+
"sharding_strategy": "no-shard",
|
| 223 |
+
"tokenizer": {
|
| 224 |
+
"model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
|
| 225 |
+
"type": "PretrainedTokenizer"
|
| 226 |
+
},
|
| 227 |
+
"type": "FSDPTrainRunner",
|
| 228 |
+
"warmup_ratio": 0.03,
|
| 229 |
+
"weight_decay": 0.0
|
| 230 |
+
},
|
| 231 |
+
"train_dataloader": {
|
| 232 |
+
"dataset": {
|
| 233 |
+
"datasets": {
|
| 234 |
+
"action_key": "action",
|
| 235 |
+
"action_window_size": 50,
|
| 236 |
+
"data_root_path": "./datasets/libero_10_no_noops_lerobotv2.1",
|
| 237 |
+
"statistic_name": "libero_10_no_noops",
|
| 238 |
+
"transforms": [
|
| 239 |
+
{
|
| 240 |
+
"name_mappings": {
|
| 241 |
+
"actions": [
|
| 242 |
+
"actions"
|
| 243 |
+
],
|
| 244 |
+
"observation.state": [
|
| 245 |
+
"states"
|
| 246 |
+
]
|
| 247 |
+
},
|
| 248 |
+
"parquet_keys": [
|
| 249 |
+
"observation.state",
|
| 250 |
+
"timestamp",
|
| 251 |
+
"actions",
|
| 252 |
+
"info",
|
| 253 |
+
"stats",
|
| 254 |
+
"action_masks"
|
| 255 |
+
],
|
| 256 |
+
"type": "ProcessParquetInputs",
|
| 257 |
+
"video_keys": [
|
| 258 |
+
"observation.images.image",
|
| 259 |
+
"observation.images.wrist_image"
|
| 260 |
+
]
|
| 261 |
+
},
|
| 262 |
+
{
|
| 263 |
+
"add_new_line": true,
|
| 264 |
+
"type": "ParquetPrompter",
|
| 265 |
+
"use_conversation": false
|
| 266 |
+
},
|
| 267 |
+
{
|
| 268 |
+
"tokenizer": {
|
| 269 |
+
"model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
|
| 270 |
+
"type": "PretrainedTokenizer"
|
| 271 |
+
},
|
| 272 |
+
"type": "ProcessPrompts"
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"height": 512,
|
| 276 |
+
"pad_direction": "top-left",
|
| 277 |
+
"type": "ResizeImagesWithPad",
|
| 278 |
+
"width": 512
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"type": "SimpleNormalizeImages"
|
| 282 |
+
},
|
| 283 |
+
{
|
| 284 |
+
"action_dim": 32,
|
| 285 |
+
"action_key": "action",
|
| 286 |
+
"norm_type": "mean_std",
|
| 287 |
+
"state_dim": 32,
|
| 288 |
+
"state_key": "proprio",
|
| 289 |
+
"type": "NormalizeStatesAndActions"
|
| 290 |
+
}
|
| 291 |
+
],
|
| 292 |
+
"type": "ParquetDataset",
|
| 293 |
+
"use_delta": false,
|
| 294 |
+
"window_start_idx": 0
|
| 295 |
+
},
|
| 296 |
+
"name_mappings": {
|
| 297 |
+
"action": [
|
| 298 |
+
"action"
|
| 299 |
+
],
|
| 300 |
+
"observation.state": [
|
| 301 |
+
"proprio"
|
| 302 |
+
]
|
| 303 |
+
},
|
| 304 |
+
"statistic_keys": [
|
| 305 |
+
"observation.state",
|
| 306 |
+
"timestamp",
|
| 307 |
+
"action"
|
| 308 |
+
],
|
| 309 |
+
"statistic_name": "libero_10_no_noops",
|
| 310 |
+
"type": "DistributedRepeatingDataset"
|
| 311 |
+
},
|
| 312 |
+
"per_device_batch_size": 8,
|
| 313 |
+
"per_device_num_workers": 4
|
| 314 |
+
}
|
| 315 |
+
}
|
smolvla_libero_10_full_finetune_bs64/config.yaml
ADDED
|
@@ -0,0 +1,239 @@
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
|
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|
|
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|
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|
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|
|
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|
|
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|
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|
|
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|
|
|
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|
|
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|
|
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|
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|
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|
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|
|
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|
|
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|
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|
|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
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|
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|
|
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|
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|
|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
eval:
|
| 2 |
+
dataset:
|
| 3 |
+
transforms:
|
| 4 |
+
- img_keys:
|
| 5 |
+
- agentview_image
|
| 6 |
+
- robot0_eye_in_hand_image
|
| 7 |
+
resize_size: 512
|
| 8 |
+
type: ProcessLiberoEvalInputs
|
| 9 |
+
- image_resize_strategy: letterbox
|
| 10 |
+
input_sizes:
|
| 11 |
+
- - 3
|
| 12 |
+
- 512
|
| 13 |
+
- 512
|
| 14 |
+
- - 3
|
| 15 |
+
- 512
|
| 16 |
+
- 512
|
| 17 |
+
letterbox_fill:
|
| 18 |
+
- 0
|
| 19 |
+
- 0
|
| 20 |
+
- 0
|
| 21 |
+
letterbox_pad_position: top-left
|
| 22 |
+
means:
|
| 23 |
+
- - 127.5
|
| 24 |
+
- 127.5
|
| 25 |
+
- 127.5
|
| 26 |
+
- - 127.5
|
| 27 |
+
- 127.5
|
| 28 |
+
- 127.5
|
| 29 |
+
stds:
|
| 30 |
+
- - 127.5
|
| 31 |
+
- 127.5
|
| 32 |
+
- 127.5
|
| 33 |
+
- - 127.5
|
| 34 |
+
- 127.5
|
| 35 |
+
- 127.5
|
| 36 |
+
type: TransformImage
|
| 37 |
+
- add_new_line: true
|
| 38 |
+
tokenizer:
|
| 39 |
+
model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
|
| 40 |
+
type: PretrainedTokenizer
|
| 41 |
+
type: LiberoPromptFromInputs
|
| 42 |
+
use_conversation: false
|
| 43 |
+
- gripper_key: robot0_gripper_qpos
|
| 44 |
+
norm_type: mean_std
|
| 45 |
+
out_key: states
|
| 46 |
+
pos_key: robot0_eef_pos
|
| 47 |
+
quat_key: robot0_eef_quat
|
| 48 |
+
state_dim: 32
|
| 49 |
+
type: LiberoProprioFromInputs
|
| 50 |
+
type: LiberoParquetEvalDataset
|
| 51 |
+
denormalize_action:
|
| 52 |
+
action_dim: 7
|
| 53 |
+
norm_type: mean_std
|
| 54 |
+
type: DenormalizeLiberoAction
|
| 55 |
+
eval_chunk_size: 10
|
| 56 |
+
model_family: smolvla
|
| 57 |
+
num_steps_wait: 10
|
| 58 |
+
num_trials_per_task: 50
|
| 59 |
+
seed: 7
|
| 60 |
+
task_suite_name: libero_10
|
| 61 |
+
type: LiberoEvalRunner
|
| 62 |
+
model:
|
| 63 |
+
action_in_proj:
|
| 64 |
+
in_dim: 32
|
| 65 |
+
out_dim: 720
|
| 66 |
+
type: LinearProjector
|
| 67 |
+
action_out_proj:
|
| 68 |
+
in_dim: 720
|
| 69 |
+
out_dim: 32
|
| 70 |
+
type: LinearProjector
|
| 71 |
+
action_time_mlp_in:
|
| 72 |
+
in_dim: 1440
|
| 73 |
+
out_dim: 720
|
| 74 |
+
type: LinearProjector
|
| 75 |
+
action_time_mlp_out:
|
| 76 |
+
in_dim: 720
|
| 77 |
+
out_dim: 720
|
| 78 |
+
type: LinearProjector
|
| 79 |
+
add_image_special_tokens: false
|
| 80 |
+
chunk_size: 50
|
| 81 |
+
freeze_vlm_backbone: true
|
| 82 |
+
llm_expert:
|
| 83 |
+
attention_bias: false
|
| 84 |
+
attention_mode: cross_attn
|
| 85 |
+
head_dim: 64
|
| 86 |
+
hidden_act: silu
|
| 87 |
+
hidden_size: 720
|
| 88 |
+
intermediate_size: -1
|
| 89 |
+
max_position_embeddings: 8192
|
| 90 |
+
num_attention_heads: 15
|
| 91 |
+
num_hidden_layers: 16
|
| 92 |
+
num_key_value_heads: 5
|
| 93 |
+
rms_norm_eps: 1.0e-05
|
| 94 |
+
self_attn_every_n_layers: 2
|
| 95 |
+
torch_dtype: bfloat16
|
| 96 |
+
type: SmolVLMExpert
|
| 97 |
+
vlm_kv_dim: 320
|
| 98 |
+
vocab_size: 49280
|
| 99 |
+
max_action_dim: 32
|
| 100 |
+
name_mapping:
|
| 101 |
+
action_in_proj.projector: model.action_in_proj
|
| 102 |
+
action_out_proj.projector: model.action_out_proj
|
| 103 |
+
action_time_mlp_in.projector: model.action_time_mlp_in
|
| 104 |
+
action_time_mlp_out.projector: model.action_time_mlp_out
|
| 105 |
+
llm_expert.expert: model.vlm_with_expert.lm_expert
|
| 106 |
+
state_proj.projector: model.state_proj
|
| 107 |
+
vlm_backbone.vlm: model.vlm_with_expert.vlm.model
|
| 108 |
+
num_steps: 10
|
| 109 |
+
ori_action_dim: 7
|
| 110 |
+
pretrained_name_or_path: ./checkpoints/smolvla_base/model.safetensors
|
| 111 |
+
state_proj:
|
| 112 |
+
in_dim: 32
|
| 113 |
+
out_dim: 960
|
| 114 |
+
type: LinearProjector
|
| 115 |
+
type: SmolVLAFlowMatching
|
| 116 |
+
vlm_backbone:
|
| 117 |
+
num_vlm_layers: 16
|
| 118 |
+
scale_factor: 4
|
| 119 |
+
text_config:
|
| 120 |
+
head_dim: 64
|
| 121 |
+
hidden_act: silu
|
| 122 |
+
hidden_size: 960
|
| 123 |
+
intermediate_size: 2560
|
| 124 |
+
max_position_embeddings: 8192
|
| 125 |
+
num_attention_heads: 15
|
| 126 |
+
num_hidden_layers: 32
|
| 127 |
+
num_key_value_heads: 5
|
| 128 |
+
rms_norm_eps: 1.0e-05
|
| 129 |
+
vocab_size: 49280
|
| 130 |
+
torch_dtype: bfloat16
|
| 131 |
+
type: SmolVLMBackbone
|
| 132 |
+
vision_config:
|
| 133 |
+
hidden_act: gelu_pytorch_tanh
|
| 134 |
+
hidden_size: 768
|
| 135 |
+
image_size: 512
|
| 136 |
+
intermediate_size: 3072
|
| 137 |
+
layer_norm_eps: 1.0e-06
|
| 138 |
+
num_attention_heads: 12
|
| 139 |
+
num_hidden_layers: 12
|
| 140 |
+
patch_size: 16
|
| 141 |
+
runner:
|
| 142 |
+
change_key_name: false
|
| 143 |
+
collator:
|
| 144 |
+
keys:
|
| 145 |
+
- states
|
| 146 |
+
- timestamp
|
| 147 |
+
- images
|
| 148 |
+
- img_masks
|
| 149 |
+
- lang_tokens
|
| 150 |
+
- lang_masks
|
| 151 |
+
- actions
|
| 152 |
+
- action_masks
|
| 153 |
+
meta_keys:
|
| 154 |
+
- task_description
|
| 155 |
+
- prompt
|
| 156 |
+
- info
|
| 157 |
+
- stats
|
| 158 |
+
type: DictCollator
|
| 159 |
+
enable_gradient_checkpointing: true
|
| 160 |
+
enable_mixed_precision_training: true
|
| 161 |
+
learning_rate: 0.0002
|
| 162 |
+
lr_scheduler_type: linear-warmup+cosine-decay
|
| 163 |
+
max_epochs: 36
|
| 164 |
+
max_grad_norm: 10.0
|
| 165 |
+
metric:
|
| 166 |
+
active_trackers:
|
| 167 |
+
- jsonl
|
| 168 |
+
- tensorboard
|
| 169 |
+
grad_accumulation_steps: 1
|
| 170 |
+
run_dir: work_dirs
|
| 171 |
+
type: VLAMetric
|
| 172 |
+
window_size: 1
|
| 173 |
+
mixed_precision_dtype: bf16
|
| 174 |
+
sampler: null
|
| 175 |
+
sharding_strategy: no-shard
|
| 176 |
+
tokenizer:
|
| 177 |
+
model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
|
| 178 |
+
type: PretrainedTokenizer
|
| 179 |
+
type: FSDPTrainRunner
|
| 180 |
+
warmup_ratio: 0.03
|
| 181 |
+
weight_decay: 0.0
|
| 182 |
+
train_dataloader:
|
| 183 |
+
dataset:
|
| 184 |
+
datasets:
|
| 185 |
+
action_key: action
|
| 186 |
+
action_window_size: 50
|
| 187 |
+
data_root_path: ./datasets/libero_10_no_noops_lerobotv2.1
|
| 188 |
+
statistic_name: libero_10_no_noops
|
| 189 |
+
transforms:
|
| 190 |
+
- name_mappings:
|
| 191 |
+
actions:
|
| 192 |
+
- actions
|
| 193 |
+
observation.state:
|
| 194 |
+
- states
|
| 195 |
+
parquet_keys:
|
| 196 |
+
- observation.state
|
| 197 |
+
- timestamp
|
| 198 |
+
- actions
|
| 199 |
+
- info
|
| 200 |
+
- stats
|
| 201 |
+
- action_masks
|
| 202 |
+
type: ProcessParquetInputs
|
| 203 |
+
video_keys:
|
| 204 |
+
- observation.images.image
|
| 205 |
+
- observation.images.wrist_image
|
| 206 |
+
- add_new_line: true
|
| 207 |
+
type: ParquetPrompter
|
| 208 |
+
use_conversation: false
|
| 209 |
+
- tokenizer:
|
| 210 |
+
model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
|
| 211 |
+
type: PretrainedTokenizer
|
| 212 |
+
type: ProcessPrompts
|
| 213 |
+
- height: 512
|
| 214 |
+
pad_direction: top-left
|
| 215 |
+
type: ResizeImagesWithPad
|
| 216 |
+
width: 512
|
| 217 |
+
- type: SimpleNormalizeImages
|
| 218 |
+
- action_dim: 32
|
| 219 |
+
action_key: action
|
| 220 |
+
norm_type: mean_std
|
| 221 |
+
state_dim: 32
|
| 222 |
+
state_key: proprio
|
| 223 |
+
type: NormalizeStatesAndActions
|
| 224 |
+
type: ParquetDataset
|
| 225 |
+
use_delta: false
|
| 226 |
+
window_start_idx: 0
|
| 227 |
+
name_mappings:
|
| 228 |
+
action:
|
| 229 |
+
- action
|
| 230 |
+
observation.state:
|
| 231 |
+
- proprio
|
| 232 |
+
statistic_keys:
|
| 233 |
+
- observation.state
|
| 234 |
+
- timestamp
|
| 235 |
+
- action
|
| 236 |
+
statistic_name: libero_10_no_noops
|
| 237 |
+
type: DistributedRepeatingDataset
|
| 238 |
+
per_device_batch_size: 8
|
| 239 |
+
per_device_num_workers: 4
|
smolvla_libero_10_full_finetune_bs64/dataset_statistics.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"libero_10_no_noops": {
|
| 3 |
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|
| 4 |
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|
| 5 |
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| 14 |
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| 15 |
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|
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| 24 |
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|
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| 47 |
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|
| 48 |
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| 49 |
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|
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"min": [
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|
| 103 |
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|
| 104 |
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|
smolvla_libero_10_full_finetune_bs64/tokenizer/added_tokens.json
ADDED
|
@@ -0,0 +1,130 @@
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
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|
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|
| 85 |
+
"<|reserved_special_token_49|>": 49240,
|
| 86 |
+
"<|reserved_special_token_4|>": 49195,
|
| 87 |
+
"<|reserved_special_token_50|>": 49241,
|
| 88 |
+
"<|reserved_special_token_51|>": 49242,
|
| 89 |
+
"<|reserved_special_token_52|>": 49243,
|
| 90 |
+
"<|reserved_special_token_53|>": 49244,
|
| 91 |
+
"<|reserved_special_token_54|>": 49245,
|
| 92 |
+
"<|reserved_special_token_55|>": 49246,
|
| 93 |
+
"<|reserved_special_token_56|>": 49247,
|
| 94 |
+
"<|reserved_special_token_57|>": 49248,
|
| 95 |
+
"<|reserved_special_token_58|>": 49249,
|
| 96 |
+
"<|reserved_special_token_59|>": 49250,
|
| 97 |
+
"<|reserved_special_token_5|>": 49196,
|
| 98 |
+
"<|reserved_special_token_60|>": 49251,
|
| 99 |
+
"<|reserved_special_token_61|>": 49252,
|
| 100 |
+
"<|reserved_special_token_62|>": 49253,
|
| 101 |
+
"<|reserved_special_token_63|>": 49254,
|
| 102 |
+
"<|reserved_special_token_64|>": 49255,
|
| 103 |
+
"<|reserved_special_token_65|>": 49256,
|
| 104 |
+
"<|reserved_special_token_66|>": 49257,
|
| 105 |
+
"<|reserved_special_token_67|>": 49258,
|
| 106 |
+
"<|reserved_special_token_68|>": 49259,
|
| 107 |
+
"<|reserved_special_token_69|>": 49260,
|
| 108 |
+
"<|reserved_special_token_6|>": 49197,
|
| 109 |
+
"<|reserved_special_token_70|>": 49261,
|
| 110 |
+
"<|reserved_special_token_71|>": 49262,
|
| 111 |
+
"<|reserved_special_token_72|>": 49263,
|
| 112 |
+
"<|reserved_special_token_73|>": 49264,
|
| 113 |
+
"<|reserved_special_token_74|>": 49265,
|
| 114 |
+
"<|reserved_special_token_75|>": 49266,
|
| 115 |
+
"<|reserved_special_token_76|>": 49267,
|
| 116 |
+
"<|reserved_special_token_77|>": 49268,
|
| 117 |
+
"<|reserved_special_token_78|>": 49269,
|
| 118 |
+
"<|reserved_special_token_79|>": 49270,
|
| 119 |
+
"<|reserved_special_token_7|>": 49198,
|
| 120 |
+
"<|reserved_special_token_80|>": 49271,
|
| 121 |
+
"<|reserved_special_token_81|>": 49272,
|
| 122 |
+
"<|reserved_special_token_82|>": 49273,
|
| 123 |
+
"<|reserved_special_token_83|>": 49274,
|
| 124 |
+
"<|reserved_special_token_84|>": 49275,
|
| 125 |
+
"<|reserved_special_token_85|>": 49276,
|
| 126 |
+
"<|reserved_special_token_86|>": 49277,
|
| 127 |
+
"<|reserved_special_token_87|>": 49278,
|
| 128 |
+
"<|reserved_special_token_8|>": 49199,
|
| 129 |
+
"<|reserved_special_token_9|>": 49200
|
| 130 |
+
}
|
smolvla_libero_10_full_finetune_bs64/tokenizer/merges.txt
ADDED
|
The diff for this file is too large to render.
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|
|
|
smolvla_libero_10_full_finetune_bs64/tokenizer/merges.txt.metadata
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
7b375e1b73b11138ff12fe22c8f2822d8fe03467
|
| 2 |
+
69503b13f727ba3812b6803e97442a6de05ef5eb
|
| 3 |
+
1775642998.823851
|
smolvla_libero_10_full_finetune_bs64/tokenizer/special_tokens_map.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"additional_special_tokens": [
|
| 3 |
+
"<fake_token_around_image>",
|
| 4 |
+
"<image>",
|
| 5 |
+
"<end_of_utterance>"
|
| 6 |
+
],
|
| 7 |
+
"bos_token": {
|
| 8 |
+
"content": "<|im_start|>",
|
| 9 |
+
"lstrip": false,
|
| 10 |
+
"normalized": false,
|
| 11 |
+
"rstrip": false,
|
| 12 |
+
"single_word": false
|
| 13 |
+
},
|
| 14 |
+
"end_of_utterance_token": "<end_of_utterance>",
|
| 15 |
+
"eos_token": {
|
| 16 |
+
"content": "<end_of_utterance>",
|
| 17 |
+
"lstrip": false,
|
| 18 |
+
"normalized": false,
|
| 19 |
+
"rstrip": false,
|
| 20 |
+
"single_word": false
|
| 21 |
+
},
|
| 22 |
+
"fake_image_token": "<fake_token_around_image>",
|
| 23 |
+
"global_image_token": "<global-img>",
|
| 24 |
+
"image_token": "<image>",
|
| 25 |
+
"pad_token": {
|
| 26 |
+
"content": "<|im_end|>",
|
| 27 |
+
"lstrip": false,
|
| 28 |
+
"normalized": false,
|
| 29 |
+
"rstrip": false,
|
| 30 |
+
"single_word": false
|
| 31 |
+
},
|
| 32 |
+
"unk_token": {
|
| 33 |
+
"content": "<|endoftext|>",
|
| 34 |
+
"lstrip": false,
|
| 35 |
+
"normalized": false,
|
| 36 |
+
"rstrip": false,
|
| 37 |
+
"single_word": false
|
| 38 |
+
}
|
| 39 |
+
}
|
smolvla_libero_10_full_finetune_bs64/tokenizer/tokenizer.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
smolvla_libero_10_full_finetune_bs64/tokenizer/tokenizer.json.metadata
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
7b375e1b73b11138ff12fe22c8f2822d8fe03467
|
| 2 |
+
a4005d1cf3170a31600a5c96f95768166cbc2b28
|
| 3 |
+
1775643468.342801
|
smolvla_libero_10_full_finetune_bs64/tokenizer/tokenizer_config.json
ADDED
|
@@ -0,0 +1,1192 @@
|
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|
| 1 |
+
{
|
| 2 |
+
"add_prefix_space": false,
|
| 3 |
+
"added_tokens_decoder": {
|
| 4 |
+
"0": {
|
| 5 |
+
"content": "<|endoftext|>",
|
| 6 |
+
"lstrip": false,
|
| 7 |
+
"normalized": false,
|
| 8 |
+
"rstrip": false,
|
| 9 |
+
"single_word": false,
|
| 10 |
+
"special": true
|
| 11 |
+
},
|
| 12 |
+
"1": {
|
| 13 |
+
"content": "<|im_start|>",
|
| 14 |
+
"lstrip": false,
|
| 15 |
+
"normalized": false,
|
| 16 |
+
"rstrip": false,
|
| 17 |
+
"single_word": false,
|
| 18 |
+
"special": true
|
| 19 |
+
},
|
| 20 |
+
"2": {
|
| 21 |
+
"content": "<|im_end|>",
|
| 22 |
+
"lstrip": false,
|
| 23 |
+
"normalized": false,
|
| 24 |
+
"rstrip": false,
|
| 25 |
+
"single_word": false,
|
| 26 |
+
"special": true
|
| 27 |
+
},
|
| 28 |
+
"3": {
|
| 29 |
+
"content": "<repo_name>",
|
| 30 |
+
"lstrip": false,
|
| 31 |
+
"normalized": false,
|
| 32 |
+
"rstrip": false,
|
| 33 |
+
"single_word": false,
|
| 34 |
+
"special": true
|
| 35 |
+
},
|
| 36 |
+
"4": {
|
| 37 |
+
"content": "<reponame>",
|
| 38 |
+
"lstrip": false,
|
| 39 |
+
"normalized": false,
|
| 40 |
+
"rstrip": false,
|
| 41 |
+
"single_word": false,
|
| 42 |
+
"special": true
|
| 43 |
+
},
|
| 44 |
+
"5": {
|
| 45 |
+
"content": "<file_sep>",
|
| 46 |
+
"lstrip": false,
|
| 47 |
+
"normalized": false,
|
| 48 |
+
"rstrip": false,
|
| 49 |
+
"single_word": false,
|
| 50 |
+
"special": true
|
| 51 |
+
},
|
| 52 |
+
"6": {
|
| 53 |
+
"content": "<filename>",
|
| 54 |
+
"lstrip": false,
|
| 55 |
+
"normalized": false,
|
| 56 |
+
"rstrip": false,
|
| 57 |
+
"single_word": false,
|
| 58 |
+
"special": true
|
| 59 |
+
},
|
| 60 |
+
"7": {
|
| 61 |
+
"content": "<gh_stars>",
|
| 62 |
+
"lstrip": false,
|
| 63 |
+
"normalized": false,
|
| 64 |
+
"rstrip": false,
|
| 65 |
+
"single_word": false,
|
| 66 |
+
"special": true
|
| 67 |
+
},
|
| 68 |
+
"8": {
|
| 69 |
+
"content": "<issue_start>",
|
| 70 |
+
"lstrip": false,
|
| 71 |
+
"normalized": false,
|
| 72 |
+
"rstrip": false,
|
| 73 |
+
"single_word": false,
|
| 74 |
+
"special": true
|
| 75 |
+
},
|
| 76 |
+
"9": {
|
| 77 |
+
"content": "<issue_comment>",
|
| 78 |
+
"lstrip": false,
|
| 79 |
+
"normalized": false,
|
| 80 |
+
"rstrip": false,
|
| 81 |
+
"single_word": false,
|
| 82 |
+
"special": true
|
| 83 |
+
},
|
| 84 |
+
"10": {
|
| 85 |
+
"content": "<issue_closed>",
|
| 86 |
+
"lstrip": false,
|
| 87 |
+
"normalized": false,
|
| 88 |
+
"rstrip": false,
|
| 89 |
+
"single_word": false,
|
| 90 |
+
"special": true
|
| 91 |
+
},
|
| 92 |
+
"11": {
|
| 93 |
+
"content": "<jupyter_start>",
|
| 94 |
+
"lstrip": false,
|
| 95 |
+
"normalized": false,
|
| 96 |
+
"rstrip": false,
|
| 97 |
+
"single_word": false,
|
| 98 |
+
"special": true
|
| 99 |
+
},
|
| 100 |
+
"12": {
|
| 101 |
+
"content": "<jupyter_text>",
|
| 102 |
+
"lstrip": false,
|
| 103 |
+
"normalized": false,
|
| 104 |
+
"rstrip": false,
|
| 105 |
+
"single_word": false,
|
| 106 |
+
"special": true
|
| 107 |
+
},
|
| 108 |
+
"13": {
|
| 109 |
+
"content": "<jupyter_code>",
|
| 110 |
+
"lstrip": false,
|
| 111 |
+
"normalized": false,
|
| 112 |
+
"rstrip": false,
|
| 113 |
+
"single_word": false,
|
| 114 |
+
"special": true
|
| 115 |
+
},
|
| 116 |
+
"14": {
|
| 117 |
+
"content": "<jupyter_output>",
|
| 118 |
+
"lstrip": false,
|
| 119 |
+
"normalized": false,
|
| 120 |
+
"rstrip": false,
|
| 121 |
+
"single_word": false,
|
| 122 |
+
"special": true
|
| 123 |
+
},
|
| 124 |
+
"15": {
|
| 125 |
+
"content": "<jupyter_script>",
|
| 126 |
+
"lstrip": false,
|
| 127 |
+
"normalized": false,
|
| 128 |
+
"rstrip": false,
|
| 129 |
+
"single_word": false,
|
| 130 |
+
"special": true
|
| 131 |
+
},
|
| 132 |
+
"16": {
|
| 133 |
+
"content": "<empty_output>",
|
| 134 |
+
"lstrip": false,
|
| 135 |
+
"normalized": false,
|
| 136 |
+
"rstrip": false,
|
| 137 |
+
"single_word": false,
|
| 138 |
+
"special": true
|
| 139 |
+
},
|
| 140 |
+
"49152": {
|
| 141 |
+
"content": "<global-img>",
|
| 142 |
+
"lstrip": false,
|
| 143 |
+
"normalized": false,
|
| 144 |
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| 145 |
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| 146 |
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|
| 147 |
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| 148 |
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|
| 149 |
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|
| 150 |
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| 154 |
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|
| 155 |
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| 156 |
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|
| 157 |
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|
| 158 |
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| 162 |
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|
| 163 |
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| 164 |
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|
| 165 |
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|
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| 170 |
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|
| 171 |
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| 172 |
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|
| 173 |
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|
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| 178 |
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|
| 179 |
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| 180 |
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|
| 181 |
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|
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|
| 187 |
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| 188 |
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|
| 189 |
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|
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| 418 |
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},
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| 446 |
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| 450 |
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| 458 |
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| 466 |
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| 469 |
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| 474 |
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| 476 |
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| 477 |
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| 479 |
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| 482 |
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| 483 |
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| 484 |
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| 485 |
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| 486 |
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| 487 |
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| 488 |
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| 489 |
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| 490 |
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| 491 |
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| 492 |
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| 493 |
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| 496 |
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| 498 |
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| 499 |
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| 500 |
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| 501 |
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| 502 |
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| 506 |
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| 507 |
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|
| 508 |
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|
| 509 |
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| 510 |
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| 511 |
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| 512 |
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| 513 |
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| 514 |
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| 515 |
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|
| 516 |
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| 517 |
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| 518 |
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| 519 |
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| 520 |
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| 521 |
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| 522 |
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| 523 |
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|
| 524 |
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|
| 525 |
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|
| 526 |
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| 527 |
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|
| 528 |
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| 529 |
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| 530 |
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| 531 |
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|
| 532 |
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|
| 533 |
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| 534 |
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| 535 |
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|
| 536 |
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| 537 |
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| 538 |
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| 539 |
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|
| 540 |
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|
| 541 |
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|
| 542 |
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| 543 |
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|
| 544 |
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|
| 545 |
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| 546 |
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| 547 |
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|
| 548 |
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|
| 549 |
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|
| 550 |
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| 551 |
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|
| 552 |
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| 553 |
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| 554 |
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| 555 |
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},
|
| 556 |
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| 557 |
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| 558 |
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| 559 |
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| 560 |
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| 561 |
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| 562 |
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|
| 563 |
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},
|
| 564 |
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| 565 |
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| 566 |
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| 567 |
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| 568 |
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| 569 |
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| 570 |
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|
| 571 |
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},
|
| 572 |
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|
| 573 |
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"content": "<|reserved_special_token_15|>",
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| 574 |
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|
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|
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|
smolvla_libero_10_full_finetune_bs64/tokenizer/tokenizer_config.json.metadata
ADDED
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smolvla_libero_10_full_finetune_bs64/tokenizer/vocab.json
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smolvla_libero_10_full_finetune_bs64/tokenizer/vocab.json.metadata
ADDED
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smolvla_libero_10_full_finetune_bs64/vlm_backbone_config.json
ADDED
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@@ -0,0 +1,25 @@
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{
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|
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|
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"head_dim": 64,
|
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"hidden_act": "silu",
|
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"hidden_size": 960,
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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"rope_scaling": null,
|
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"transformers_version": "4.53.2",
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"use_cache": true,
|
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"vocab_size": 49280
|
| 25 |
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|
smolvla_libero_goal_full_finetune_bs64/checkpoints/step-029772-epoch-36-loss=0.1831.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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smolvla_libero_goal_full_finetune_bs64/config.json
ADDED
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"eval": {
|
| 3 |
+
"dataset": {
|
| 4 |
+
"transforms": [
|
| 5 |
+
{
|
| 6 |
+
"img_keys": [
|
| 7 |
+
"agentview_image",
|
| 8 |
+
"robot0_eye_in_hand_image"
|
| 9 |
+
],
|
| 10 |
+
"resize_size": 512,
|
| 11 |
+
"type": "ProcessLiberoEvalInputs"
|
| 12 |
+
},
|
| 13 |
+
{
|
| 14 |
+
"image_resize_strategy": "letterbox",
|
| 15 |
+
"input_sizes": [
|
| 16 |
+
[
|
| 17 |
+
3,
|
| 18 |
+
512,
|
| 19 |
+
512
|
| 20 |
+
],
|
| 21 |
+
[
|
| 22 |
+
3,
|
| 23 |
+
512,
|
| 24 |
+
512
|
| 25 |
+
]
|
| 26 |
+
],
|
| 27 |
+
"letterbox_fill": [
|
| 28 |
+
0,
|
| 29 |
+
0,
|
| 30 |
+
0
|
| 31 |
+
],
|
| 32 |
+
"letterbox_pad_position": "top-left",
|
| 33 |
+
"means": [
|
| 34 |
+
[
|
| 35 |
+
127.5,
|
| 36 |
+
127.5,
|
| 37 |
+
127.5
|
| 38 |
+
],
|
| 39 |
+
[
|
| 40 |
+
127.5,
|
| 41 |
+
127.5,
|
| 42 |
+
127.5
|
| 43 |
+
]
|
| 44 |
+
],
|
| 45 |
+
"stds": [
|
| 46 |
+
[
|
| 47 |
+
127.5,
|
| 48 |
+
127.5,
|
| 49 |
+
127.5
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
127.5,
|
| 53 |
+
127.5,
|
| 54 |
+
127.5
|
| 55 |
+
]
|
| 56 |
+
],
|
| 57 |
+
"type": "TransformImage"
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"add_new_line": true,
|
| 61 |
+
"tokenizer": {
|
| 62 |
+
"model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
|
| 63 |
+
"type": "PretrainedTokenizer"
|
| 64 |
+
},
|
| 65 |
+
"type": "LiberoPromptFromInputs",
|
| 66 |
+
"use_conversation": false
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"gripper_key": "robot0_gripper_qpos",
|
| 70 |
+
"norm_type": "mean_std",
|
| 71 |
+
"out_key": "states",
|
| 72 |
+
"pos_key": "robot0_eef_pos",
|
| 73 |
+
"quat_key": "robot0_eef_quat",
|
| 74 |
+
"state_dim": 32,
|
| 75 |
+
"type": "LiberoProprioFromInputs"
|
| 76 |
+
}
|
| 77 |
+
],
|
| 78 |
+
"type": "LiberoParquetEvalDataset"
|
| 79 |
+
},
|
| 80 |
+
"denormalize_action": {
|
| 81 |
+
"action_dim": 7,
|
| 82 |
+
"norm_type": "mean_std",
|
| 83 |
+
"type": "DenormalizeLiberoAction"
|
| 84 |
+
},
|
| 85 |
+
"eval_chunk_size": 10,
|
| 86 |
+
"model_family": "smolvla",
|
| 87 |
+
"num_steps_wait": 10,
|
| 88 |
+
"num_trials_per_task": 50,
|
| 89 |
+
"seed": 7,
|
| 90 |
+
"task_suite_name": "libero_goal",
|
| 91 |
+
"type": "LiberoEvalRunner"
|
| 92 |
+
},
|
| 93 |
+
"model": {
|
| 94 |
+
"action_in_proj": {
|
| 95 |
+
"in_dim": 32,
|
| 96 |
+
"out_dim": 720,
|
| 97 |
+
"type": "LinearProjector"
|
| 98 |
+
},
|
| 99 |
+
"action_out_proj": {
|
| 100 |
+
"in_dim": 720,
|
| 101 |
+
"out_dim": 32,
|
| 102 |
+
"type": "LinearProjector"
|
| 103 |
+
},
|
| 104 |
+
"action_time_mlp_in": {
|
| 105 |
+
"in_dim": 1440,
|
| 106 |
+
"out_dim": 720,
|
| 107 |
+
"type": "LinearProjector"
|
| 108 |
+
},
|
| 109 |
+
"action_time_mlp_out": {
|
| 110 |
+
"in_dim": 720,
|
| 111 |
+
"out_dim": 720,
|
| 112 |
+
"type": "LinearProjector"
|
| 113 |
+
},
|
| 114 |
+
"add_image_special_tokens": false,
|
| 115 |
+
"chunk_size": 50,
|
| 116 |
+
"freeze_vlm_backbone": true,
|
| 117 |
+
"llm_expert": {
|
| 118 |
+
"attention_bias": false,
|
| 119 |
+
"attention_mode": "cross_attn",
|
| 120 |
+
"head_dim": 64,
|
| 121 |
+
"hidden_act": "silu",
|
| 122 |
+
"hidden_size": 720,
|
| 123 |
+
"intermediate_size": -1,
|
| 124 |
+
"max_position_embeddings": 8192,
|
| 125 |
+
"num_attention_heads": 15,
|
| 126 |
+
"num_hidden_layers": 16,
|
| 127 |
+
"num_key_value_heads": 5,
|
| 128 |
+
"rms_norm_eps": 1e-05,
|
| 129 |
+
"self_attn_every_n_layers": 2,
|
| 130 |
+
"torch_dtype": "bfloat16",
|
| 131 |
+
"type": "SmolVLMExpert",
|
| 132 |
+
"vlm_kv_dim": 320,
|
| 133 |
+
"vocab_size": 49280
|
| 134 |
+
},
|
| 135 |
+
"max_action_dim": 32,
|
| 136 |
+
"name_mapping": {
|
| 137 |
+
"action_in_proj.projector": "model.action_in_proj",
|
| 138 |
+
"action_out_proj.projector": "model.action_out_proj",
|
| 139 |
+
"action_time_mlp_in.projector": "model.action_time_mlp_in",
|
| 140 |
+
"action_time_mlp_out.projector": "model.action_time_mlp_out",
|
| 141 |
+
"llm_expert.expert": "model.vlm_with_expert.lm_expert",
|
| 142 |
+
"state_proj.projector": "model.state_proj",
|
| 143 |
+
"vlm_backbone.vlm": "model.vlm_with_expert.vlm.model"
|
| 144 |
+
},
|
| 145 |
+
"num_steps": 10,
|
| 146 |
+
"ori_action_dim": 7,
|
| 147 |
+
"pretrained_name_or_path": "./checkpoints/smolvla_base/model.safetensors",
|
| 148 |
+
"state_proj": {
|
| 149 |
+
"in_dim": 32,
|
| 150 |
+
"out_dim": 960,
|
| 151 |
+
"type": "LinearProjector"
|
| 152 |
+
},
|
| 153 |
+
"type": "SmolVLAFlowMatching",
|
| 154 |
+
"vlm_backbone": {
|
| 155 |
+
"num_vlm_layers": 16,
|
| 156 |
+
"scale_factor": 4,
|
| 157 |
+
"text_config": {
|
| 158 |
+
"head_dim": 64,
|
| 159 |
+
"hidden_act": "silu",
|
| 160 |
+
"hidden_size": 960,
|
| 161 |
+
"intermediate_size": 2560,
|
| 162 |
+
"max_position_embeddings": 8192,
|
| 163 |
+
"num_attention_heads": 15,
|
| 164 |
+
"num_hidden_layers": 32,
|
| 165 |
+
"num_key_value_heads": 5,
|
| 166 |
+
"rms_norm_eps": 1e-05,
|
| 167 |
+
"vocab_size": 49280
|
| 168 |
+
},
|
| 169 |
+
"torch_dtype": "bfloat16",
|
| 170 |
+
"type": "SmolVLMBackbone",
|
| 171 |
+
"vision_config": {
|
| 172 |
+
"hidden_act": "gelu_pytorch_tanh",
|
| 173 |
+
"hidden_size": 768,
|
| 174 |
+
"image_size": 512,
|
| 175 |
+
"intermediate_size": 3072,
|
| 176 |
+
"layer_norm_eps": 1e-06,
|
| 177 |
+
"num_attention_heads": 12,
|
| 178 |
+
"num_hidden_layers": 12,
|
| 179 |
+
"patch_size": 16
|
| 180 |
+
}
|
| 181 |
+
}
|
| 182 |
+
},
|
| 183 |
+
"runner": {
|
| 184 |
+
"change_key_name": false,
|
| 185 |
+
"collator": {
|
| 186 |
+
"keys": [
|
| 187 |
+
"states",
|
| 188 |
+
"timestamp",
|
| 189 |
+
"images",
|
| 190 |
+
"img_masks",
|
| 191 |
+
"lang_tokens",
|
| 192 |
+
"lang_masks",
|
| 193 |
+
"actions",
|
| 194 |
+
"action_masks"
|
| 195 |
+
],
|
| 196 |
+
"meta_keys": [
|
| 197 |
+
"task_description",
|
| 198 |
+
"prompt",
|
| 199 |
+
"info",
|
| 200 |
+
"stats"
|
| 201 |
+
],
|
| 202 |
+
"type": "DictCollator"
|
| 203 |
+
},
|
| 204 |
+
"enable_gradient_checkpointing": true,
|
| 205 |
+
"enable_mixed_precision_training": true,
|
| 206 |
+
"learning_rate": 0.0002,
|
| 207 |
+
"lr_scheduler_type": "linear-warmup+cosine-decay",
|
| 208 |
+
"max_epochs": 36,
|
| 209 |
+
"max_grad_norm": 10.0,
|
| 210 |
+
"metric": {
|
| 211 |
+
"active_trackers": [
|
| 212 |
+
"jsonl",
|
| 213 |
+
"tensorboard"
|
| 214 |
+
],
|
| 215 |
+
"grad_accumulation_steps": 1,
|
| 216 |
+
"run_dir": "work_dirs",
|
| 217 |
+
"type": "VLAMetric",
|
| 218 |
+
"window_size": 1
|
| 219 |
+
},
|
| 220 |
+
"mixed_precision_dtype": "bf16",
|
| 221 |
+
"sampler": null,
|
| 222 |
+
"sharding_strategy": "no-shard",
|
| 223 |
+
"tokenizer": {
|
| 224 |
+
"model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
|
| 225 |
+
"type": "PretrainedTokenizer"
|
| 226 |
+
},
|
| 227 |
+
"type": "FSDPTrainRunner",
|
| 228 |
+
"warmup_ratio": 0.03,
|
| 229 |
+
"weight_decay": 0.0
|
| 230 |
+
},
|
| 231 |
+
"train_dataloader": {
|
| 232 |
+
"dataset": {
|
| 233 |
+
"datasets": {
|
| 234 |
+
"action_key": "action",
|
| 235 |
+
"action_window_size": 50,
|
| 236 |
+
"data_root_path": "./datasets/libero_goal_no_noops_lerobotv2.1",
|
| 237 |
+
"statistic_name": "libero_goal_no_noops",
|
| 238 |
+
"transforms": [
|
| 239 |
+
{
|
| 240 |
+
"name_mappings": {
|
| 241 |
+
"actions": [
|
| 242 |
+
"actions"
|
| 243 |
+
],
|
| 244 |
+
"observation.state": [
|
| 245 |
+
"states"
|
| 246 |
+
]
|
| 247 |
+
},
|
| 248 |
+
"parquet_keys": [
|
| 249 |
+
"observation.state",
|
| 250 |
+
"timestamp",
|
| 251 |
+
"actions",
|
| 252 |
+
"info",
|
| 253 |
+
"stats",
|
| 254 |
+
"action_masks"
|
| 255 |
+
],
|
| 256 |
+
"type": "ProcessParquetInputs",
|
| 257 |
+
"video_keys": [
|
| 258 |
+
"observation.images.image",
|
| 259 |
+
"observation.images.wrist_image"
|
| 260 |
+
]
|
| 261 |
+
},
|
| 262 |
+
{
|
| 263 |
+
"add_new_line": true,
|
| 264 |
+
"type": "ParquetPrompter",
|
| 265 |
+
"use_conversation": false
|
| 266 |
+
},
|
| 267 |
+
{
|
| 268 |
+
"tokenizer": {
|
| 269 |
+
"model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
|
| 270 |
+
"type": "PretrainedTokenizer"
|
| 271 |
+
},
|
| 272 |
+
"type": "ProcessPrompts"
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"height": 512,
|
| 276 |
+
"pad_direction": "top-left",
|
| 277 |
+
"type": "ResizeImagesWithPad",
|
| 278 |
+
"width": 512
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"type": "SimpleNormalizeImages"
|
| 282 |
+
},
|
| 283 |
+
{
|
| 284 |
+
"action_dim": 32,
|
| 285 |
+
"action_key": "action",
|
| 286 |
+
"norm_type": "mean_std",
|
| 287 |
+
"state_dim": 32,
|
| 288 |
+
"state_key": "proprio",
|
| 289 |
+
"type": "NormalizeStatesAndActions"
|
| 290 |
+
}
|
| 291 |
+
],
|
| 292 |
+
"type": "ParquetDataset",
|
| 293 |
+
"use_delta": false,
|
| 294 |
+
"window_start_idx": 0
|
| 295 |
+
},
|
| 296 |
+
"name_mappings": {
|
| 297 |
+
"action": [
|
| 298 |
+
"action"
|
| 299 |
+
],
|
| 300 |
+
"observation.state": [
|
| 301 |
+
"proprio"
|
| 302 |
+
]
|
| 303 |
+
},
|
| 304 |
+
"statistic_keys": [
|
| 305 |
+
"observation.state",
|
| 306 |
+
"timestamp",
|
| 307 |
+
"action"
|
| 308 |
+
],
|
| 309 |
+
"statistic_name": "libero_goal_no_noops",
|
| 310 |
+
"type": "DistributedRepeatingDataset"
|
| 311 |
+
},
|
| 312 |
+
"per_device_batch_size": 8,
|
| 313 |
+
"per_device_num_workers": 4
|
| 314 |
+
}
|
| 315 |
+
}
|
smolvla_libero_goal_full_finetune_bs64/config.yaml
ADDED
|
@@ -0,0 +1,239 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
eval:
|
| 2 |
+
dataset:
|
| 3 |
+
transforms:
|
| 4 |
+
- img_keys:
|
| 5 |
+
- agentview_image
|
| 6 |
+
- robot0_eye_in_hand_image
|
| 7 |
+
resize_size: 512
|
| 8 |
+
type: ProcessLiberoEvalInputs
|
| 9 |
+
- image_resize_strategy: letterbox
|
| 10 |
+
input_sizes:
|
| 11 |
+
- - 3
|
| 12 |
+
- 512
|
| 13 |
+
- 512
|
| 14 |
+
- - 3
|
| 15 |
+
- 512
|
| 16 |
+
- 512
|
| 17 |
+
letterbox_fill:
|
| 18 |
+
- 0
|
| 19 |
+
- 0
|
| 20 |
+
- 0
|
| 21 |
+
letterbox_pad_position: top-left
|
| 22 |
+
means:
|
| 23 |
+
- - 127.5
|
| 24 |
+
- 127.5
|
| 25 |
+
- 127.5
|
| 26 |
+
- - 127.5
|
| 27 |
+
- 127.5
|
| 28 |
+
- 127.5
|
| 29 |
+
stds:
|
| 30 |
+
- - 127.5
|
| 31 |
+
- 127.5
|
| 32 |
+
- 127.5
|
| 33 |
+
- - 127.5
|
| 34 |
+
- 127.5
|
| 35 |
+
- 127.5
|
| 36 |
+
type: TransformImage
|
| 37 |
+
- add_new_line: true
|
| 38 |
+
tokenizer:
|
| 39 |
+
model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
|
| 40 |
+
type: PretrainedTokenizer
|
| 41 |
+
type: LiberoPromptFromInputs
|
| 42 |
+
use_conversation: false
|
| 43 |
+
- gripper_key: robot0_gripper_qpos
|
| 44 |
+
norm_type: mean_std
|
| 45 |
+
out_key: states
|
| 46 |
+
pos_key: robot0_eef_pos
|
| 47 |
+
quat_key: robot0_eef_quat
|
| 48 |
+
state_dim: 32
|
| 49 |
+
type: LiberoProprioFromInputs
|
| 50 |
+
type: LiberoParquetEvalDataset
|
| 51 |
+
denormalize_action:
|
| 52 |
+
action_dim: 7
|
| 53 |
+
norm_type: mean_std
|
| 54 |
+
type: DenormalizeLiberoAction
|
| 55 |
+
eval_chunk_size: 10
|
| 56 |
+
model_family: smolvla
|
| 57 |
+
num_steps_wait: 10
|
| 58 |
+
num_trials_per_task: 50
|
| 59 |
+
seed: 7
|
| 60 |
+
task_suite_name: libero_goal
|
| 61 |
+
type: LiberoEvalRunner
|
| 62 |
+
model:
|
| 63 |
+
action_in_proj:
|
| 64 |
+
in_dim: 32
|
| 65 |
+
out_dim: 720
|
| 66 |
+
type: LinearProjector
|
| 67 |
+
action_out_proj:
|
| 68 |
+
in_dim: 720
|
| 69 |
+
out_dim: 32
|
| 70 |
+
type: LinearProjector
|
| 71 |
+
action_time_mlp_in:
|
| 72 |
+
in_dim: 1440
|
| 73 |
+
out_dim: 720
|
| 74 |
+
type: LinearProjector
|
| 75 |
+
action_time_mlp_out:
|
| 76 |
+
in_dim: 720
|
| 77 |
+
out_dim: 720
|
| 78 |
+
type: LinearProjector
|
| 79 |
+
add_image_special_tokens: false
|
| 80 |
+
chunk_size: 50
|
| 81 |
+
freeze_vlm_backbone: true
|
| 82 |
+
llm_expert:
|
| 83 |
+
attention_bias: false
|
| 84 |
+
attention_mode: cross_attn
|
| 85 |
+
head_dim: 64
|
| 86 |
+
hidden_act: silu
|
| 87 |
+
hidden_size: 720
|
| 88 |
+
intermediate_size: -1
|
| 89 |
+
max_position_embeddings: 8192
|
| 90 |
+
num_attention_heads: 15
|
| 91 |
+
num_hidden_layers: 16
|
| 92 |
+
num_key_value_heads: 5
|
| 93 |
+
rms_norm_eps: 1.0e-05
|
| 94 |
+
self_attn_every_n_layers: 2
|
| 95 |
+
torch_dtype: bfloat16
|
| 96 |
+
type: SmolVLMExpert
|
| 97 |
+
vlm_kv_dim: 320
|
| 98 |
+
vocab_size: 49280
|
| 99 |
+
max_action_dim: 32
|
| 100 |
+
name_mapping:
|
| 101 |
+
action_in_proj.projector: model.action_in_proj
|
| 102 |
+
action_out_proj.projector: model.action_out_proj
|
| 103 |
+
action_time_mlp_in.projector: model.action_time_mlp_in
|
| 104 |
+
action_time_mlp_out.projector: model.action_time_mlp_out
|
| 105 |
+
llm_expert.expert: model.vlm_with_expert.lm_expert
|
| 106 |
+
state_proj.projector: model.state_proj
|
| 107 |
+
vlm_backbone.vlm: model.vlm_with_expert.vlm.model
|
| 108 |
+
num_steps: 10
|
| 109 |
+
ori_action_dim: 7
|
| 110 |
+
pretrained_name_or_path: ./checkpoints/smolvla_base/model.safetensors
|
| 111 |
+
state_proj:
|
| 112 |
+
in_dim: 32
|
| 113 |
+
out_dim: 960
|
| 114 |
+
type: LinearProjector
|
| 115 |
+
type: SmolVLAFlowMatching
|
| 116 |
+
vlm_backbone:
|
| 117 |
+
num_vlm_layers: 16
|
| 118 |
+
scale_factor: 4
|
| 119 |
+
text_config:
|
| 120 |
+
head_dim: 64
|
| 121 |
+
hidden_act: silu
|
| 122 |
+
hidden_size: 960
|
| 123 |
+
intermediate_size: 2560
|
| 124 |
+
max_position_embeddings: 8192
|
| 125 |
+
num_attention_heads: 15
|
| 126 |
+
num_hidden_layers: 32
|
| 127 |
+
num_key_value_heads: 5
|
| 128 |
+
rms_norm_eps: 1.0e-05
|
| 129 |
+
vocab_size: 49280
|
| 130 |
+
torch_dtype: bfloat16
|
| 131 |
+
type: SmolVLMBackbone
|
| 132 |
+
vision_config:
|
| 133 |
+
hidden_act: gelu_pytorch_tanh
|
| 134 |
+
hidden_size: 768
|
| 135 |
+
image_size: 512
|
| 136 |
+
intermediate_size: 3072
|
| 137 |
+
layer_norm_eps: 1.0e-06
|
| 138 |
+
num_attention_heads: 12
|
| 139 |
+
num_hidden_layers: 12
|
| 140 |
+
patch_size: 16
|
| 141 |
+
runner:
|
| 142 |
+
change_key_name: false
|
| 143 |
+
collator:
|
| 144 |
+
keys:
|
| 145 |
+
- states
|
| 146 |
+
- timestamp
|
| 147 |
+
- images
|
| 148 |
+
- img_masks
|
| 149 |
+
- lang_tokens
|
| 150 |
+
- lang_masks
|
| 151 |
+
- actions
|
| 152 |
+
- action_masks
|
| 153 |
+
meta_keys:
|
| 154 |
+
- task_description
|
| 155 |
+
- prompt
|
| 156 |
+
- info
|
| 157 |
+
- stats
|
| 158 |
+
type: DictCollator
|
| 159 |
+
enable_gradient_checkpointing: true
|
| 160 |
+
enable_mixed_precision_training: true
|
| 161 |
+
learning_rate: 0.0002
|
| 162 |
+
lr_scheduler_type: linear-warmup+cosine-decay
|
| 163 |
+
max_epochs: 36
|
| 164 |
+
max_grad_norm: 10.0
|
| 165 |
+
metric:
|
| 166 |
+
active_trackers:
|
| 167 |
+
- jsonl
|
| 168 |
+
- tensorboard
|
| 169 |
+
grad_accumulation_steps: 1
|
| 170 |
+
run_dir: work_dirs
|
| 171 |
+
type: VLAMetric
|
| 172 |
+
window_size: 1
|
| 173 |
+
mixed_precision_dtype: bf16
|
| 174 |
+
sampler: null
|
| 175 |
+
sharding_strategy: no-shard
|
| 176 |
+
tokenizer:
|
| 177 |
+
model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
|
| 178 |
+
type: PretrainedTokenizer
|
| 179 |
+
type: FSDPTrainRunner
|
| 180 |
+
warmup_ratio: 0.03
|
| 181 |
+
weight_decay: 0.0
|
| 182 |
+
train_dataloader:
|
| 183 |
+
dataset:
|
| 184 |
+
datasets:
|
| 185 |
+
action_key: action
|
| 186 |
+
action_window_size: 50
|
| 187 |
+
data_root_path: ./datasets/libero_goal_no_noops_lerobotv2.1
|
| 188 |
+
statistic_name: libero_goal_no_noops
|
| 189 |
+
transforms:
|
| 190 |
+
- name_mappings:
|
| 191 |
+
actions:
|
| 192 |
+
- actions
|
| 193 |
+
observation.state:
|
| 194 |
+
- states
|
| 195 |
+
parquet_keys:
|
| 196 |
+
- observation.state
|
| 197 |
+
- timestamp
|
| 198 |
+
- actions
|
| 199 |
+
- info
|
| 200 |
+
- stats
|
| 201 |
+
- action_masks
|
| 202 |
+
type: ProcessParquetInputs
|
| 203 |
+
video_keys:
|
| 204 |
+
- observation.images.image
|
| 205 |
+
- observation.images.wrist_image
|
| 206 |
+
- add_new_line: true
|
| 207 |
+
type: ParquetPrompter
|
| 208 |
+
use_conversation: false
|
| 209 |
+
- tokenizer:
|
| 210 |
+
model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
|
| 211 |
+
type: PretrainedTokenizer
|
| 212 |
+
type: ProcessPrompts
|
| 213 |
+
- height: 512
|
| 214 |
+
pad_direction: top-left
|
| 215 |
+
type: ResizeImagesWithPad
|
| 216 |
+
width: 512
|
| 217 |
+
- type: SimpleNormalizeImages
|
| 218 |
+
- action_dim: 32
|
| 219 |
+
action_key: action
|
| 220 |
+
norm_type: mean_std
|
| 221 |
+
state_dim: 32
|
| 222 |
+
state_key: proprio
|
| 223 |
+
type: NormalizeStatesAndActions
|
| 224 |
+
type: ParquetDataset
|
| 225 |
+
use_delta: false
|
| 226 |
+
window_start_idx: 0
|
| 227 |
+
name_mappings:
|
| 228 |
+
action:
|
| 229 |
+
- action
|
| 230 |
+
observation.state:
|
| 231 |
+
- proprio
|
| 232 |
+
statistic_keys:
|
| 233 |
+
- observation.state
|
| 234 |
+
- timestamp
|
| 235 |
+
- action
|
| 236 |
+
statistic_name: libero_goal_no_noops
|
| 237 |
+
type: DistributedRepeatingDataset
|
| 238 |
+
per_device_batch_size: 8
|
| 239 |
+
per_device_num_workers: 4
|
smolvla_libero_goal_full_finetune_bs64/dataset_statistics.json
ADDED
|
@@ -0,0 +1,138 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"libero_goal_no_noops": {
|
| 3 |
+
"proprio": {
|
| 4 |
+
"mean": [
|
| 5 |
+
-0.09891432758878499,
|
| 6 |
+
0.01489584178884142,
|
| 7 |
+
1.067322519907531,
|
| 8 |
+
2.8289916028867363,
|
| 9 |
+
0.31907902813946676,
|
| 10 |
+
-0.2782741362135122,
|
| 11 |
+
0.02821884616217808,
|
| 12 |
+
-0.02719759491844234
|
| 13 |
+
],
|
| 14 |
+
"std": [
|
| 15 |
+
0.04140466877133655,
|
| 16 |
+
0.04117920944028847,
|
| 17 |
+
0.037538661473221754,
|
| 18 |
+
0.1955033740750787,
|
| 19 |
+
0.2574273555156476,
|
| 20 |
+
0.12620857483432396,
|
| 21 |
+
0.0053229405182870755,
|
| 22 |
+
0.005316267734440966
|
| 23 |
+
],
|
| 24 |
+
"min": [
|
| 25 |
+
-0.46141287684440613,
|
| 26 |
+
-0.30136311054229736,
|
| 27 |
+
0.9083037972450256,
|
| 28 |
+
1.002794623374939,
|
| 29 |
+
-1.0517308712005615,
|
| 30 |
+
-1.5227035284042358,
|
| 31 |
+
-0.0021671096328645945,
|
| 32 |
+
-0.042015016078948975
|
| 33 |
+
],
|
| 34 |
+
"max": [
|
| 35 |
+
0.13241106271743774,
|
| 36 |
+
0.3271525800228119,
|
| 37 |
+
1.472778081893921,
|
| 38 |
+
3.4731650352478027,
|
| 39 |
+
2.676265239715576,
|
| 40 |
+
0.6698114275932312,
|
| 41 |
+
0.04232141748070717,
|
| 42 |
+
0.001021005678921938
|
| 43 |
+
],
|
| 44 |
+
"q01": [
|
| 45 |
+
-0.22800911694063627,
|
| 46 |
+
-0.10299188974829282,
|
| 47 |
+
0.9455820491176684,
|
| 48 |
+
2.608259821258135,
|
| 49 |
+
-0.18011099436472794,
|
| 50 |
+
-0.5618953405895196,
|
| 51 |
+
0.012391739034799726,
|
| 52 |
+
-0.039969403267763146
|
| 53 |
+
],
|
| 54 |
+
"q99": [
|
| 55 |
+
-0.01061282617817482,
|
| 56 |
+
0.11139527808191847,
|
| 57 |
+
1.2117906450921032,
|
| 58 |
+
3.168615021869246,
|
| 59 |
+
0.6706572281431679,
|
| 60 |
+
0.05441701961452796,
|
| 61 |
+
0.04007683324960615,
|
| 62 |
+
-0.009863127064877238
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
"timestamp": {
|
| 66 |
+
"mean": [
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|
| 137 |
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|
| 138 |
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}
|
smolvla_libero_goal_full_finetune_bs64/tokenizer/added_tokens.json
ADDED
|
@@ -0,0 +1,130 @@
|
|
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|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"<end_of_utterance>": 49279,
|
| 3 |
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"<fake_token_around_image>": 49189,
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
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|
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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"<|reserved_special_token_14|>": 49205,
|
| 48 |
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"<|reserved_special_token_15|>": 49206,
|
| 49 |
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"<|reserved_special_token_16|>": 49207,
|
| 50 |
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"<|reserved_special_token_17|>": 49208,
|
| 51 |
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|
| 52 |
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|
| 53 |
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"<|reserved_special_token_1|>": 49192,
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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"<|reserved_special_token_23|>": 49214,
|
| 58 |
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"<|reserved_special_token_24|>": 49215,
|
| 59 |
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"<|reserved_special_token_25|>": 49216,
|
| 60 |
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"<|reserved_special_token_26|>": 49217,
|
| 61 |
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"<|reserved_special_token_27|>": 49218,
|
| 62 |
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"<|reserved_special_token_28|>": 49219,
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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"<|reserved_special_token_34|>": 49225,
|
| 70 |
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"<|reserved_special_token_35|>": 49226,
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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"<|reserved_special_token_5|>": 49196,
|
| 98 |
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|
| 99 |
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|
| 100 |
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"<|reserved_special_token_62|>": 49253,
|
| 101 |
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"<|reserved_special_token_63|>": 49254,
|
| 102 |
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|
| 103 |
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"<|reserved_special_token_65|>": 49256,
|
| 104 |
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"<|reserved_special_token_66|>": 49257,
|
| 105 |
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"<|reserved_special_token_67|>": 49258,
|
| 106 |
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"<|reserved_special_token_68|>": 49259,
|
| 107 |
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"<|reserved_special_token_69|>": 49260,
|
| 108 |
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"<|reserved_special_token_6|>": 49197,
|
| 109 |
+
"<|reserved_special_token_70|>": 49261,
|
| 110 |
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"<|reserved_special_token_71|>": 49262,
|
| 111 |
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"<|reserved_special_token_72|>": 49263,
|
| 112 |
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"<|reserved_special_token_73|>": 49264,
|
| 113 |
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"<|reserved_special_token_74|>": 49265,
|
| 114 |
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"<|reserved_special_token_75|>": 49266,
|
| 115 |
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"<|reserved_special_token_76|>": 49267,
|
| 116 |
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"<|reserved_special_token_77|>": 49268,
|
| 117 |
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"<|reserved_special_token_78|>": 49269,
|
| 118 |
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"<|reserved_special_token_79|>": 49270,
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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"<|reserved_special_token_82|>": 49273,
|
| 123 |
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"<|reserved_special_token_83|>": 49274,
|
| 124 |
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"<|reserved_special_token_84|>": 49275,
|
| 125 |
+
"<|reserved_special_token_85|>": 49276,
|
| 126 |
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"<|reserved_special_token_86|>": 49277,
|
| 127 |
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"<|reserved_special_token_87|>": 49278,
|
| 128 |
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"<|reserved_special_token_8|>": 49199,
|
| 129 |
+
"<|reserved_special_token_9|>": 49200
|
| 130 |
+
}
|
smolvla_libero_goal_full_finetune_bs64/tokenizer/merges.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
smolvla_libero_goal_full_finetune_bs64/tokenizer/merges.txt.metadata
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
7b375e1b73b11138ff12fe22c8f2822d8fe03467
|
| 2 |
+
69503b13f727ba3812b6803e97442a6de05ef5eb
|
| 3 |
+
1775642998.823851
|
smolvla_libero_goal_full_finetune_bs64/tokenizer/special_tokens_map.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"additional_special_tokens": [
|
| 3 |
+
"<fake_token_around_image>",
|
| 4 |
+
"<image>",
|
| 5 |
+
"<end_of_utterance>"
|
| 6 |
+
],
|
| 7 |
+
"bos_token": {
|
| 8 |
+
"content": "<|im_start|>",
|
| 9 |
+
"lstrip": false,
|
| 10 |
+
"normalized": false,
|
| 11 |
+
"rstrip": false,
|
| 12 |
+
"single_word": false
|
| 13 |
+
},
|
| 14 |
+
"end_of_utterance_token": "<end_of_utterance>",
|
| 15 |
+
"eos_token": {
|
| 16 |
+
"content": "<end_of_utterance>",
|
| 17 |
+
"lstrip": false,
|
| 18 |
+
"normalized": false,
|
| 19 |
+
"rstrip": false,
|
| 20 |
+
"single_word": false
|
| 21 |
+
},
|
| 22 |
+
"fake_image_token": "<fake_token_around_image>",
|
| 23 |
+
"global_image_token": "<global-img>",
|
| 24 |
+
"image_token": "<image>",
|
| 25 |
+
"pad_token": {
|
| 26 |
+
"content": "<|im_end|>",
|
| 27 |
+
"lstrip": false,
|
| 28 |
+
"normalized": false,
|
| 29 |
+
"rstrip": false,
|
| 30 |
+
"single_word": false
|
| 31 |
+
},
|
| 32 |
+
"unk_token": {
|
| 33 |
+
"content": "<|endoftext|>",
|
| 34 |
+
"lstrip": false,
|
| 35 |
+
"normalized": false,
|
| 36 |
+
"rstrip": false,
|
| 37 |
+
"single_word": false
|
| 38 |
+
}
|
| 39 |
+
}
|
smolvla_libero_goal_full_finetune_bs64/tokenizer/tokenizer.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
smolvla_libero_goal_full_finetune_bs64/tokenizer/tokenizer.json.metadata
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
7b375e1b73b11138ff12fe22c8f2822d8fe03467
|
| 2 |
+
a4005d1cf3170a31600a5c96f95768166cbc2b28
|
| 3 |
+
1775643468.342801
|
smolvla_libero_goal_full_finetune_bs64/tokenizer/tokenizer_config.json
ADDED
|
@@ -0,0 +1,1192 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
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| 1 |
+
{
|
| 2 |
+
"add_prefix_space": false,
|
| 3 |
+
"added_tokens_decoder": {
|
| 4 |
+
"0": {
|
| 5 |
+
"content": "<|endoftext|>",
|
| 6 |
+
"lstrip": false,
|
| 7 |
+
"normalized": false,
|
| 8 |
+
"rstrip": false,
|
| 9 |
+
"single_word": false,
|
| 10 |
+
"special": true
|
| 11 |
+
},
|
| 12 |
+
"1": {
|
| 13 |
+
"content": "<|im_start|>",
|
| 14 |
+
"lstrip": false,
|
| 15 |
+
"normalized": false,
|
| 16 |
+
"rstrip": false,
|
| 17 |
+
"single_word": false,
|
| 18 |
+
"special": true
|
| 19 |
+
},
|
| 20 |
+
"2": {
|
| 21 |
+
"content": "<|im_end|>",
|
| 22 |
+
"lstrip": false,
|
| 23 |
+
"normalized": false,
|
| 24 |
+
"rstrip": false,
|
| 25 |
+
"single_word": false,
|
| 26 |
+
"special": true
|
| 27 |
+
},
|
| 28 |
+
"3": {
|
| 29 |
+
"content": "<repo_name>",
|
| 30 |
+
"lstrip": false,
|
| 31 |
+
"normalized": false,
|
| 32 |
+
"rstrip": false,
|
| 33 |
+
"single_word": false,
|
| 34 |
+
"special": true
|
| 35 |
+
},
|
| 36 |
+
"4": {
|
| 37 |
+
"content": "<reponame>",
|
| 38 |
+
"lstrip": false,
|
| 39 |
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"normalized": false,
|
| 40 |
+
"rstrip": false,
|
| 41 |
+
"single_word": false,
|
| 42 |
+
"special": true
|
| 43 |
+
},
|
| 44 |
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"5": {
|
| 45 |
+
"content": "<file_sep>",
|
| 46 |
+
"lstrip": false,
|
| 47 |
+
"normalized": false,
|
| 48 |
+
"rstrip": false,
|
| 49 |
+
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|
| 50 |
+
"special": true
|
| 51 |
+
},
|
| 52 |
+
"6": {
|
| 53 |
+
"content": "<filename>",
|
| 54 |
+
"lstrip": false,
|
| 55 |
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"normalized": false,
|
| 56 |
+
"rstrip": false,
|
| 57 |
+
"single_word": false,
|
| 58 |
+
"special": true
|
| 59 |
+
},
|
| 60 |
+
"7": {
|
| 61 |
+
"content": "<gh_stars>",
|
| 62 |
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|
| 63 |
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|
| 64 |
+
"rstrip": false,
|
| 65 |
+
"single_word": false,
|
| 66 |
+
"special": true
|
| 67 |
+
},
|
| 68 |
+
"8": {
|
| 69 |
+
"content": "<issue_start>",
|
| 70 |
+
"lstrip": false,
|
| 71 |
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"normalized": false,
|
| 72 |
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"rstrip": false,
|
| 73 |
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"single_word": false,
|
| 74 |
+
"special": true
|
| 75 |
+
},
|
| 76 |
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"9": {
|
| 77 |
+
"content": "<issue_comment>",
|
| 78 |
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"lstrip": false,
|
| 79 |
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"normalized": false,
|
| 80 |
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"rstrip": false,
|
| 81 |
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|
| 82 |
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"special": true
|
| 83 |
+
},
|
| 84 |
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"10": {
|
| 85 |
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"content": "<issue_closed>",
|
| 86 |
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"lstrip": false,
|
| 87 |
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"normalized": false,
|
| 88 |
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"rstrip": false,
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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"11": {
|
| 93 |
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"content": "<jupyter_start>",
|
| 94 |
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|
| 95 |
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|
| 96 |
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"rstrip": false,
|
| 97 |
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"single_word": false,
|
| 98 |
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"special": true
|
| 99 |
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},
|
| 100 |
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"12": {
|
| 101 |
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"content": "<jupyter_text>",
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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"special": true
|
| 107 |
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|
| 108 |
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"13": {
|
| 109 |
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"content": "<jupyter_code>",
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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"14": {
|
| 117 |
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"content": "<jupyter_output>",
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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"content": "<jupyter_script>",
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
+
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|
| 137 |
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|
| 138 |
+
"special": true
|
| 139 |
+
},
|
| 140 |
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"49152": {
|
| 141 |
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"content": "<global-img>",
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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"content": "<row_1_col_1>",
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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"special": true
|
| 155 |
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},
|
| 156 |
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"49154": {
|
| 157 |
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"content": "<row_1_col_2>",
|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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},
|
| 164 |
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"49155": {
|
| 165 |
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"content": "<row_1_col_3>",
|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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| 170 |
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| 171 |
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| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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},
|
| 180 |
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"49157": {
|
| 181 |
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"content": "<row_1_col_5>",
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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"49158": {
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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},
|
| 196 |
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"49159": {
|
| 197 |
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"content": "<row_2_col_1>",
|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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"special": true
|
| 203 |
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},
|
| 204 |
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"49160": {
|
| 205 |
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"content": "<row_2_col_2>",
|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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| 226 |
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| 227 |
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| 228 |
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| 229 |
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| 230 |
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| 231 |
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| 232 |
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| 233 |
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| 234 |
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| 235 |
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| 236 |
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|
| 237 |
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| 238 |
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| 242 |
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| 243 |
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| 244 |
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|
| 245 |
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| 246 |
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| 247 |
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| 254 |
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| 258 |
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| 261 |
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| 262 |
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| 263 |
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| 264 |
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| 266 |
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| 274 |
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| 275 |
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| 276 |
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| 277 |
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| 278 |
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| 279 |
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| 281 |
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| 282 |
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| 283 |
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| 284 |
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|
| 285 |
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| 286 |
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| 290 |
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| 291 |
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| 292 |
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| 293 |
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| 294 |
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| 306 |
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| 1149 |
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"content": "<|reserved_special_token_87|>",
|
| 1150 |
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|
| 1151 |
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"normalized": false,
|
| 1152 |
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"rstrip": false,
|
| 1153 |
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"single_word": false,
|
| 1154 |
+
"special": true
|
| 1155 |
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},
|
| 1156 |
+
"49279": {
|
| 1157 |
+
"content": "<end_of_utterance>",
|
| 1158 |
+
"lstrip": false,
|
| 1159 |
+
"normalized": false,
|
| 1160 |
+
"rstrip": false,
|
| 1161 |
+
"single_word": false,
|
| 1162 |
+
"special": true
|
| 1163 |
+
}
|
| 1164 |
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},
|
| 1165 |
+
"additional_special_tokens": [
|
| 1166 |
+
"<fake_token_around_image>",
|
| 1167 |
+
"<image>",
|
| 1168 |
+
"<end_of_utterance>"
|
| 1169 |
+
],
|
| 1170 |
+
"bos_token": "<|im_start|>",
|
| 1171 |
+
"chat_template": "<|im_start|>{% for message in messages %}{{message['role'] | capitalize}}{% if message['content'][0]['type'] == 'image' %}{{':'}}{% else %}{{': '}}{% endif %}{% for line in message['content'] %}{% if line['type'] == 'text' %}{{line['text']}}{% elif line['type'] == 'image' %}{{ '<image>' }}{% endif %}{% endfor %}<end_of_utterance>\n{% endfor %}{% if add_generation_prompt %}{{ 'Assistant:' }}{% endif %}",
|
| 1172 |
+
"clean_up_tokenization_spaces": false,
|
| 1173 |
+
"end_of_utterance_token": "<end_of_utterance>",
|
| 1174 |
+
"eos_token": "<end_of_utterance>",
|
| 1175 |
+
"extra_special_tokens": {
|
| 1176 |
+
"end_of_utterance_token": "<end_of_utterance>",
|
| 1177 |
+
"fake_image_token": "<fake_token_around_image>",
|
| 1178 |
+
"global_image_token": "<global-img>",
|
| 1179 |
+
"image_token": "<image>"
|
| 1180 |
+
},
|
| 1181 |
+
"fake_image_token": "<fake_token_around_image>",
|
| 1182 |
+
"global_image_token": "<global-img>",
|
| 1183 |
+
"image_token": "<image>",
|
| 1184 |
+
"legacy": false,
|
| 1185 |
+
"model_max_length": 8192,
|
| 1186 |
+
"pad_token": "<|im_end|>",
|
| 1187 |
+
"processor_class": "SmolVLMProcessor",
|
| 1188 |
+
"tokenizer_class": "GPT2Tokenizer",
|
| 1189 |
+
"truncation_side": "left",
|
| 1190 |
+
"unk_token": "<|endoftext|>",
|
| 1191 |
+
"vocab_size": 49152
|
| 1192 |
+
}
|
smolvla_libero_goal_full_finetune_bs64/tokenizer/tokenizer_config.json.metadata
ADDED
|
@@ -0,0 +1,3 @@
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|
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| 1 |
+
7b375e1b73b11138ff12fe22c8f2822d8fe03467
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| 2 |
+
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|
| 3 |
+
1775643386.4143414
|
smolvla_libero_goal_full_finetune_bs64/tokenizer/vocab.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
smolvla_libero_goal_full_finetune_bs64/tokenizer/vocab.json.metadata
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
7b375e1b73b11138ff12fe22c8f2822d8fe03467
|
| 2 |
+
0ad5ecc2035b7031b88afb544ee95e2d49baa484
|
| 3 |
+
1775643391.6237829
|
smolvla_libero_goal_full_finetune_bs64/vlm_backbone_config.json
ADDED
|
@@ -0,0 +1,25 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"attention_bias": false,
|
| 3 |
+
"attention_dropout": 0.0,
|
| 4 |
+
"bos_token_id": 1,
|
| 5 |
+
"eos_token_id": 2,
|
| 6 |
+
"head_dim": 64,
|
| 7 |
+
"hidden_act": "silu",
|
| 8 |
+
"hidden_size": 960,
|
| 9 |
+
"initializer_range": 0.02,
|
| 10 |
+
"intermediate_size": 2560,
|
| 11 |
+
"max_position_embeddings": 8192,
|
| 12 |
+
"mlp_bias": false,
|
| 13 |
+
"model_type": "llama",
|
| 14 |
+
"num_attention_heads": 15,
|
| 15 |
+
"num_hidden_layers": 32,
|
| 16 |
+
"num_key_value_heads": 5,
|
| 17 |
+
"pretraining_tp": 1,
|
| 18 |
+
"rms_norm_eps": 1e-05,
|
| 19 |
+
"rope_scaling": null,
|
| 20 |
+
"rope_theta": 10000.0,
|
| 21 |
+
"tie_word_embeddings": false,
|
| 22 |
+
"transformers_version": "4.53.2",
|
| 23 |
+
"use_cache": true,
|
| 24 |
+
"vocab_size": 49280
|
| 25 |
+
}
|
smolvla_libero_object_full_finetune_bs64/checkpoints/step-025128-epoch-24-loss=0.2583.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:2a6c7f2333eb21d19b0330fc28d245850bf959ccd136b738c3be159a0cb63fad
|
| 3 |
+
size 805540592
|
smolvla_libero_object_full_finetune_bs64/config.json
ADDED
|
@@ -0,0 +1,315 @@
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|
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|
|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"eval": {
|
| 3 |
+
"dataset": {
|
| 4 |
+
"transforms": [
|
| 5 |
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{
|
| 6 |
+
"img_keys": [
|
| 7 |
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"agentview_image",
|
| 8 |
+
"robot0_eye_in_hand_image"
|
| 9 |
+
],
|
| 10 |
+
"resize_size": 512,
|
| 11 |
+
"type": "ProcessLiberoEvalInputs"
|
| 12 |
+
},
|
| 13 |
+
{
|
| 14 |
+
"image_resize_strategy": "letterbox",
|
| 15 |
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"input_sizes": [
|
| 16 |
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[
|
| 17 |
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|
| 18 |
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512,
|
| 19 |
+
512
|
| 20 |
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],
|
| 21 |
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[
|
| 22 |
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|
| 23 |
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|
| 24 |
+
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|
| 25 |
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]
|
| 26 |
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],
|
| 27 |
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"letterbox_fill": [
|
| 28 |
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|
| 29 |
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|
| 30 |
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0
|
| 31 |
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],
|
| 32 |
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"letterbox_pad_position": "top-left",
|
| 33 |
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"means": [
|
| 34 |
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[
|
| 35 |
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|
| 36 |
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|
| 37 |
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127.5
|
| 38 |
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],
|
| 39 |
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[
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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]
|
| 44 |
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],
|
| 45 |
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"stds": [
|
| 46 |
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[
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| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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],
|
| 51 |
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[
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| 52 |
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127.5,
|
| 53 |
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127.5,
|
| 54 |
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127.5
|
| 55 |
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]
|
| 56 |
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],
|
| 57 |
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"type": "TransformImage"
|
| 58 |
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},
|
| 59 |
+
{
|
| 60 |
+
"add_new_line": true,
|
| 61 |
+
"tokenizer": {
|
| 62 |
+
"model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
|
| 63 |
+
"type": "PretrainedTokenizer"
|
| 64 |
+
},
|
| 65 |
+
"type": "LiberoPromptFromInputs",
|
| 66 |
+
"use_conversation": false
|
| 67 |
+
},
|
| 68 |
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{
|
| 69 |
+
"gripper_key": "robot0_gripper_qpos",
|
| 70 |
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"norm_type": "mean_std",
|
| 71 |
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"out_key": "states",
|
| 72 |
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"pos_key": "robot0_eef_pos",
|
| 73 |
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"quat_key": "robot0_eef_quat",
|
| 74 |
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"state_dim": 32,
|
| 75 |
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"type": "LiberoProprioFromInputs"
|
| 76 |
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}
|
| 77 |
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],
|
| 78 |
+
"type": "LiberoParquetEvalDataset"
|
| 79 |
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},
|
| 80 |
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"denormalize_action": {
|
| 81 |
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"action_dim": 7,
|
| 82 |
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"norm_type": "mean_std",
|
| 83 |
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"type": "DenormalizeLiberoAction"
|
| 84 |
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},
|
| 85 |
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"eval_chunk_size": 10,
|
| 86 |
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"model_family": "smolvla",
|
| 87 |
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"num_steps_wait": 10,
|
| 88 |
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"num_trials_per_task": 50,
|
| 89 |
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"seed": 7,
|
| 90 |
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"task_suite_name": "libero_object",
|
| 91 |
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"type": "LiberoEvalRunner"
|
| 92 |
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},
|
| 93 |
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"model": {
|
| 94 |
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"action_in_proj": {
|
| 95 |
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"in_dim": 32,
|
| 96 |
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"out_dim": 720,
|
| 97 |
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"type": "LinearProjector"
|
| 98 |
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|
| 99 |
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"action_out_proj": {
|
| 100 |
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"in_dim": 720,
|
| 101 |
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"out_dim": 32,
|
| 102 |
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"type": "LinearProjector"
|
| 103 |
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},
|
| 104 |
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"action_time_mlp_in": {
|
| 105 |
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"in_dim": 1440,
|
| 106 |
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"out_dim": 720,
|
| 107 |
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"type": "LinearProjector"
|
| 108 |
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},
|
| 109 |
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|
| 110 |
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"in_dim": 720,
|
| 111 |
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"out_dim": 720,
|
| 112 |
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"type": "LinearProjector"
|
| 113 |
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},
|
| 114 |
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"add_image_special_tokens": false,
|
| 115 |
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"chunk_size": 50,
|
| 116 |
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"freeze_vlm_backbone": true,
|
| 117 |
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"llm_expert": {
|
| 118 |
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"attention_bias": false,
|
| 119 |
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"attention_mode": "cross_attn",
|
| 120 |
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"head_dim": 64,
|
| 121 |
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"hidden_act": "silu",
|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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"type": "SmolVLMExpert",
|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"action_in_proj.projector": "model.action_in_proj",
|
| 138 |
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|
| 139 |
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"action_time_mlp_in.projector": "model.action_time_mlp_in",
|
| 140 |
+
"action_time_mlp_out.projector": "model.action_time_mlp_out",
|
| 141 |
+
"llm_expert.expert": "model.vlm_with_expert.lm_expert",
|
| 142 |
+
"state_proj.projector": "model.state_proj",
|
| 143 |
+
"vlm_backbone.vlm": "model.vlm_with_expert.vlm.model"
|
| 144 |
+
},
|
| 145 |
+
"num_steps": 10,
|
| 146 |
+
"ori_action_dim": 7,
|
| 147 |
+
"pretrained_name_or_path": "./checkpoints/smolvla_base/model.safetensors",
|
| 148 |
+
"state_proj": {
|
| 149 |
+
"in_dim": 32,
|
| 150 |
+
"out_dim": 960,
|
| 151 |
+
"type": "LinearProjector"
|
| 152 |
+
},
|
| 153 |
+
"type": "SmolVLAFlowMatching",
|
| 154 |
+
"vlm_backbone": {
|
| 155 |
+
"num_vlm_layers": 16,
|
| 156 |
+
"scale_factor": 4,
|
| 157 |
+
"text_config": {
|
| 158 |
+
"head_dim": 64,
|
| 159 |
+
"hidden_act": "silu",
|
| 160 |
+
"hidden_size": 960,
|
| 161 |
+
"intermediate_size": 2560,
|
| 162 |
+
"max_position_embeddings": 8192,
|
| 163 |
+
"num_attention_heads": 15,
|
| 164 |
+
"num_hidden_layers": 32,
|
| 165 |
+
"num_key_value_heads": 5,
|
| 166 |
+
"rms_norm_eps": 1e-05,
|
| 167 |
+
"vocab_size": 49280
|
| 168 |
+
},
|
| 169 |
+
"torch_dtype": "bfloat16",
|
| 170 |
+
"type": "SmolVLMBackbone",
|
| 171 |
+
"vision_config": {
|
| 172 |
+
"hidden_act": "gelu_pytorch_tanh",
|
| 173 |
+
"hidden_size": 768,
|
| 174 |
+
"image_size": 512,
|
| 175 |
+
"intermediate_size": 3072,
|
| 176 |
+
"layer_norm_eps": 1e-06,
|
| 177 |
+
"num_attention_heads": 12,
|
| 178 |
+
"num_hidden_layers": 12,
|
| 179 |
+
"patch_size": 16
|
| 180 |
+
}
|
| 181 |
+
}
|
| 182 |
+
},
|
| 183 |
+
"runner": {
|
| 184 |
+
"change_key_name": false,
|
| 185 |
+
"collator": {
|
| 186 |
+
"keys": [
|
| 187 |
+
"states",
|
| 188 |
+
"timestamp",
|
| 189 |
+
"images",
|
| 190 |
+
"img_masks",
|
| 191 |
+
"lang_tokens",
|
| 192 |
+
"lang_masks",
|
| 193 |
+
"actions",
|
| 194 |
+
"action_masks"
|
| 195 |
+
],
|
| 196 |
+
"meta_keys": [
|
| 197 |
+
"task_description",
|
| 198 |
+
"prompt",
|
| 199 |
+
"info",
|
| 200 |
+
"stats"
|
| 201 |
+
],
|
| 202 |
+
"type": "DictCollator"
|
| 203 |
+
},
|
| 204 |
+
"enable_gradient_checkpointing": true,
|
| 205 |
+
"enable_mixed_precision_training": true,
|
| 206 |
+
"learning_rate": 0.0002,
|
| 207 |
+
"lr_scheduler_type": "linear-warmup+cosine-decay",
|
| 208 |
+
"max_epochs": 24,
|
| 209 |
+
"max_grad_norm": 10.0,
|
| 210 |
+
"metric": {
|
| 211 |
+
"active_trackers": [
|
| 212 |
+
"jsonl",
|
| 213 |
+
"tensorboard"
|
| 214 |
+
],
|
| 215 |
+
"grad_accumulation_steps": 1,
|
| 216 |
+
"run_dir": "work_dirs",
|
| 217 |
+
"type": "VLAMetric",
|
| 218 |
+
"window_size": 1
|
| 219 |
+
},
|
| 220 |
+
"mixed_precision_dtype": "bf16",
|
| 221 |
+
"sampler": null,
|
| 222 |
+
"sharding_strategy": "no-shard",
|
| 223 |
+
"tokenizer": {
|
| 224 |
+
"model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
|
| 225 |
+
"type": "PretrainedTokenizer"
|
| 226 |
+
},
|
| 227 |
+
"type": "FSDPTrainRunner",
|
| 228 |
+
"warmup_ratio": 0.03,
|
| 229 |
+
"weight_decay": 0.0
|
| 230 |
+
},
|
| 231 |
+
"train_dataloader": {
|
| 232 |
+
"dataset": {
|
| 233 |
+
"datasets": {
|
| 234 |
+
"action_key": "action",
|
| 235 |
+
"action_window_size": 50,
|
| 236 |
+
"data_root_path": "./datasets/libero_object_no_noops_lerobotv2.1",
|
| 237 |
+
"statistic_name": "libero_object_no_noops",
|
| 238 |
+
"transforms": [
|
| 239 |
+
{
|
| 240 |
+
"name_mappings": {
|
| 241 |
+
"actions": [
|
| 242 |
+
"actions"
|
| 243 |
+
],
|
| 244 |
+
"observation.state": [
|
| 245 |
+
"states"
|
| 246 |
+
]
|
| 247 |
+
},
|
| 248 |
+
"parquet_keys": [
|
| 249 |
+
"observation.state",
|
| 250 |
+
"timestamp",
|
| 251 |
+
"actions",
|
| 252 |
+
"info",
|
| 253 |
+
"stats",
|
| 254 |
+
"action_masks"
|
| 255 |
+
],
|
| 256 |
+
"type": "ProcessParquetInputs",
|
| 257 |
+
"video_keys": [
|
| 258 |
+
"observation.images.image",
|
| 259 |
+
"observation.images.wrist_image"
|
| 260 |
+
]
|
| 261 |
+
},
|
| 262 |
+
{
|
| 263 |
+
"add_new_line": true,
|
| 264 |
+
"type": "ParquetPrompter",
|
| 265 |
+
"use_conversation": false
|
| 266 |
+
},
|
| 267 |
+
{
|
| 268 |
+
"tokenizer": {
|
| 269 |
+
"model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
|
| 270 |
+
"type": "PretrainedTokenizer"
|
| 271 |
+
},
|
| 272 |
+
"type": "ProcessPrompts"
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"height": 512,
|
| 276 |
+
"pad_direction": "top-left",
|
| 277 |
+
"type": "ResizeImagesWithPad",
|
| 278 |
+
"width": 512
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"type": "SimpleNormalizeImages"
|
| 282 |
+
},
|
| 283 |
+
{
|
| 284 |
+
"action_dim": 32,
|
| 285 |
+
"action_key": "action",
|
| 286 |
+
"norm_type": "mean_std",
|
| 287 |
+
"state_dim": 32,
|
| 288 |
+
"state_key": "proprio",
|
| 289 |
+
"type": "NormalizeStatesAndActions"
|
| 290 |
+
}
|
| 291 |
+
],
|
| 292 |
+
"type": "ParquetDataset",
|
| 293 |
+
"use_delta": false,
|
| 294 |
+
"window_start_idx": 0
|
| 295 |
+
},
|
| 296 |
+
"name_mappings": {
|
| 297 |
+
"action": [
|
| 298 |
+
"action"
|
| 299 |
+
],
|
| 300 |
+
"observation.state": [
|
| 301 |
+
"proprio"
|
| 302 |
+
]
|
| 303 |
+
},
|
| 304 |
+
"statistic_keys": [
|
| 305 |
+
"observation.state",
|
| 306 |
+
"timestamp",
|
| 307 |
+
"action"
|
| 308 |
+
],
|
| 309 |
+
"statistic_name": "libero_object_no_noops",
|
| 310 |
+
"type": "DistributedRepeatingDataset"
|
| 311 |
+
},
|
| 312 |
+
"per_device_batch_size": 8,
|
| 313 |
+
"per_device_num_workers": 4
|
| 314 |
+
}
|
| 315 |
+
}
|
smolvla_libero_object_full_finetune_bs64/config.yaml
ADDED
|
@@ -0,0 +1,239 @@
|
|
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|
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|
|
|
|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
eval:
|
| 2 |
+
dataset:
|
| 3 |
+
transforms:
|
| 4 |
+
- img_keys:
|
| 5 |
+
- agentview_image
|
| 6 |
+
- robot0_eye_in_hand_image
|
| 7 |
+
resize_size: 512
|
| 8 |
+
type: ProcessLiberoEvalInputs
|
| 9 |
+
- image_resize_strategy: letterbox
|
| 10 |
+
input_sizes:
|
| 11 |
+
- - 3
|
| 12 |
+
- 512
|
| 13 |
+
- 512
|
| 14 |
+
- - 3
|
| 15 |
+
- 512
|
| 16 |
+
- 512
|
| 17 |
+
letterbox_fill:
|
| 18 |
+
- 0
|
| 19 |
+
- 0
|
| 20 |
+
- 0
|
| 21 |
+
letterbox_pad_position: top-left
|
| 22 |
+
means:
|
| 23 |
+
- - 127.5
|
| 24 |
+
- 127.5
|
| 25 |
+
- 127.5
|
| 26 |
+
- - 127.5
|
| 27 |
+
- 127.5
|
| 28 |
+
- 127.5
|
| 29 |
+
stds:
|
| 30 |
+
- - 127.5
|
| 31 |
+
- 127.5
|
| 32 |
+
- 127.5
|
| 33 |
+
- - 127.5
|
| 34 |
+
- 127.5
|
| 35 |
+
- 127.5
|
| 36 |
+
type: TransformImage
|
| 37 |
+
- add_new_line: true
|
| 38 |
+
tokenizer:
|
| 39 |
+
model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
|
| 40 |
+
type: PretrainedTokenizer
|
| 41 |
+
type: LiberoPromptFromInputs
|
| 42 |
+
use_conversation: false
|
| 43 |
+
- gripper_key: robot0_gripper_qpos
|
| 44 |
+
norm_type: mean_std
|
| 45 |
+
out_key: states
|
| 46 |
+
pos_key: robot0_eef_pos
|
| 47 |
+
quat_key: robot0_eef_quat
|
| 48 |
+
state_dim: 32
|
| 49 |
+
type: LiberoProprioFromInputs
|
| 50 |
+
type: LiberoParquetEvalDataset
|
| 51 |
+
denormalize_action:
|
| 52 |
+
action_dim: 7
|
| 53 |
+
norm_type: mean_std
|
| 54 |
+
type: DenormalizeLiberoAction
|
| 55 |
+
eval_chunk_size: 10
|
| 56 |
+
model_family: smolvla
|
| 57 |
+
num_steps_wait: 10
|
| 58 |
+
num_trials_per_task: 50
|
| 59 |
+
seed: 7
|
| 60 |
+
task_suite_name: libero_object
|
| 61 |
+
type: LiberoEvalRunner
|
| 62 |
+
model:
|
| 63 |
+
action_in_proj:
|
| 64 |
+
in_dim: 32
|
| 65 |
+
out_dim: 720
|
| 66 |
+
type: LinearProjector
|
| 67 |
+
action_out_proj:
|
| 68 |
+
in_dim: 720
|
| 69 |
+
out_dim: 32
|
| 70 |
+
type: LinearProjector
|
| 71 |
+
action_time_mlp_in:
|
| 72 |
+
in_dim: 1440
|
| 73 |
+
out_dim: 720
|
| 74 |
+
type: LinearProjector
|
| 75 |
+
action_time_mlp_out:
|
| 76 |
+
in_dim: 720
|
| 77 |
+
out_dim: 720
|
| 78 |
+
type: LinearProjector
|
| 79 |
+
add_image_special_tokens: false
|
| 80 |
+
chunk_size: 50
|
| 81 |
+
freeze_vlm_backbone: true
|
| 82 |
+
llm_expert:
|
| 83 |
+
attention_bias: false
|
| 84 |
+
attention_mode: cross_attn
|
| 85 |
+
head_dim: 64
|
| 86 |
+
hidden_act: silu
|
| 87 |
+
hidden_size: 720
|
| 88 |
+
intermediate_size: -1
|
| 89 |
+
max_position_embeddings: 8192
|
| 90 |
+
num_attention_heads: 15
|
| 91 |
+
num_hidden_layers: 16
|
| 92 |
+
num_key_value_heads: 5
|
| 93 |
+
rms_norm_eps: 1.0e-05
|
| 94 |
+
self_attn_every_n_layers: 2
|
| 95 |
+
torch_dtype: bfloat16
|
| 96 |
+
type: SmolVLMExpert
|
| 97 |
+
vlm_kv_dim: 320
|
| 98 |
+
vocab_size: 49280
|
| 99 |
+
max_action_dim: 32
|
| 100 |
+
name_mapping:
|
| 101 |
+
action_in_proj.projector: model.action_in_proj
|
| 102 |
+
action_out_proj.projector: model.action_out_proj
|
| 103 |
+
action_time_mlp_in.projector: model.action_time_mlp_in
|
| 104 |
+
action_time_mlp_out.projector: model.action_time_mlp_out
|
| 105 |
+
llm_expert.expert: model.vlm_with_expert.lm_expert
|
| 106 |
+
state_proj.projector: model.state_proj
|
| 107 |
+
vlm_backbone.vlm: model.vlm_with_expert.vlm.model
|
| 108 |
+
num_steps: 10
|
| 109 |
+
ori_action_dim: 7
|
| 110 |
+
pretrained_name_or_path: ./checkpoints/smolvla_base/model.safetensors
|
| 111 |
+
state_proj:
|
| 112 |
+
in_dim: 32
|
| 113 |
+
out_dim: 960
|
| 114 |
+
type: LinearProjector
|
| 115 |
+
type: SmolVLAFlowMatching
|
| 116 |
+
vlm_backbone:
|
| 117 |
+
num_vlm_layers: 16
|
| 118 |
+
scale_factor: 4
|
| 119 |
+
text_config:
|
| 120 |
+
head_dim: 64
|
| 121 |
+
hidden_act: silu
|
| 122 |
+
hidden_size: 960
|
| 123 |
+
intermediate_size: 2560
|
| 124 |
+
max_position_embeddings: 8192
|
| 125 |
+
num_attention_heads: 15
|
| 126 |
+
num_hidden_layers: 32
|
| 127 |
+
num_key_value_heads: 5
|
| 128 |
+
rms_norm_eps: 1.0e-05
|
| 129 |
+
vocab_size: 49280
|
| 130 |
+
torch_dtype: bfloat16
|
| 131 |
+
type: SmolVLMBackbone
|
| 132 |
+
vision_config:
|
| 133 |
+
hidden_act: gelu_pytorch_tanh
|
| 134 |
+
hidden_size: 768
|
| 135 |
+
image_size: 512
|
| 136 |
+
intermediate_size: 3072
|
| 137 |
+
layer_norm_eps: 1.0e-06
|
| 138 |
+
num_attention_heads: 12
|
| 139 |
+
num_hidden_layers: 12
|
| 140 |
+
patch_size: 16
|
| 141 |
+
runner:
|
| 142 |
+
change_key_name: false
|
| 143 |
+
collator:
|
| 144 |
+
keys:
|
| 145 |
+
- states
|
| 146 |
+
- timestamp
|
| 147 |
+
- images
|
| 148 |
+
- img_masks
|
| 149 |
+
- lang_tokens
|
| 150 |
+
- lang_masks
|
| 151 |
+
- actions
|
| 152 |
+
- action_masks
|
| 153 |
+
meta_keys:
|
| 154 |
+
- task_description
|
| 155 |
+
- prompt
|
| 156 |
+
- info
|
| 157 |
+
- stats
|
| 158 |
+
type: DictCollator
|
| 159 |
+
enable_gradient_checkpointing: true
|
| 160 |
+
enable_mixed_precision_training: true
|
| 161 |
+
learning_rate: 0.0002
|
| 162 |
+
lr_scheduler_type: linear-warmup+cosine-decay
|
| 163 |
+
max_epochs: 24
|
| 164 |
+
max_grad_norm: 10.0
|
| 165 |
+
metric:
|
| 166 |
+
active_trackers:
|
| 167 |
+
- jsonl
|
| 168 |
+
- tensorboard
|
| 169 |
+
grad_accumulation_steps: 1
|
| 170 |
+
run_dir: work_dirs
|
| 171 |
+
type: VLAMetric
|
| 172 |
+
window_size: 1
|
| 173 |
+
mixed_precision_dtype: bf16
|
| 174 |
+
sampler: null
|
| 175 |
+
sharding_strategy: no-shard
|
| 176 |
+
tokenizer:
|
| 177 |
+
model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
|
| 178 |
+
type: PretrainedTokenizer
|
| 179 |
+
type: FSDPTrainRunner
|
| 180 |
+
warmup_ratio: 0.03
|
| 181 |
+
weight_decay: 0.0
|
| 182 |
+
train_dataloader:
|
| 183 |
+
dataset:
|
| 184 |
+
datasets:
|
| 185 |
+
action_key: action
|
| 186 |
+
action_window_size: 50
|
| 187 |
+
data_root_path: ./datasets/libero_object_no_noops_lerobotv2.1
|
| 188 |
+
statistic_name: libero_object_no_noops
|
| 189 |
+
transforms:
|
| 190 |
+
- name_mappings:
|
| 191 |
+
actions:
|
| 192 |
+
- actions
|
| 193 |
+
observation.state:
|
| 194 |
+
- states
|
| 195 |
+
parquet_keys:
|
| 196 |
+
- observation.state
|
| 197 |
+
- timestamp
|
| 198 |
+
- actions
|
| 199 |
+
- info
|
| 200 |
+
- stats
|
| 201 |
+
- action_masks
|
| 202 |
+
type: ProcessParquetInputs
|
| 203 |
+
video_keys:
|
| 204 |
+
- observation.images.image
|
| 205 |
+
- observation.images.wrist_image
|
| 206 |
+
- add_new_line: true
|
| 207 |
+
type: ParquetPrompter
|
| 208 |
+
use_conversation: false
|
| 209 |
+
- tokenizer:
|
| 210 |
+
model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
|
| 211 |
+
type: PretrainedTokenizer
|
| 212 |
+
type: ProcessPrompts
|
| 213 |
+
- height: 512
|
| 214 |
+
pad_direction: top-left
|
| 215 |
+
type: ResizeImagesWithPad
|
| 216 |
+
width: 512
|
| 217 |
+
- type: SimpleNormalizeImages
|
| 218 |
+
- action_dim: 32
|
| 219 |
+
action_key: action
|
| 220 |
+
norm_type: mean_std
|
| 221 |
+
state_dim: 32
|
| 222 |
+
state_key: proprio
|
| 223 |
+
type: NormalizeStatesAndActions
|
| 224 |
+
type: ParquetDataset
|
| 225 |
+
use_delta: false
|
| 226 |
+
window_start_idx: 0
|
| 227 |
+
name_mappings:
|
| 228 |
+
action:
|
| 229 |
+
- action
|
| 230 |
+
observation.state:
|
| 231 |
+
- proprio
|
| 232 |
+
statistic_keys:
|
| 233 |
+
- observation.state
|
| 234 |
+
- timestamp
|
| 235 |
+
- action
|
| 236 |
+
statistic_name: libero_object_no_noops
|
| 237 |
+
type: DistributedRepeatingDataset
|
| 238 |
+
per_device_batch_size: 8
|
| 239 |
+
per_device_num_workers: 4
|
smolvla_libero_object_full_finetune_bs64/dataset_statistics.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"libero_object_no_noops": {
|
| 3 |
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|
| 4 |
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|
| 5 |
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| 14 |
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| 15 |
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| 47 |
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| 48 |
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| 49 |
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|
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|
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|
| 103 |
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|
| 104 |
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|
smolvla_libero_object_full_finetune_bs64/tokenizer/added_tokens.json
ADDED
|
@@ -0,0 +1,130 @@
|
|
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|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
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|
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|
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|
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|
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|
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|
| 21 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 35 |
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|
| 36 |
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|
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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"<|reserved_special_token_17|>": 49208,
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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"<|reserved_special_token_26|>": 49217,
|
| 61 |
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"<|reserved_special_token_27|>": 49218,
|
| 62 |
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"<|reserved_special_token_28|>": 49219,
|
| 63 |
+
"<|reserved_special_token_29|>": 49220,
|
| 64 |
+
"<|reserved_special_token_2|>": 49193,
|
| 65 |
+
"<|reserved_special_token_30|>": 49221,
|
| 66 |
+
"<|reserved_special_token_31|>": 49222,
|
| 67 |
+
"<|reserved_special_token_32|>": 49223,
|
| 68 |
+
"<|reserved_special_token_33|>": 49224,
|
| 69 |
+
"<|reserved_special_token_34|>": 49225,
|
| 70 |
+
"<|reserved_special_token_35|>": 49226,
|
| 71 |
+
"<|reserved_special_token_36|>": 49227,
|
| 72 |
+
"<|reserved_special_token_37|>": 49228,
|
| 73 |
+
"<|reserved_special_token_38|>": 49229,
|
| 74 |
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"<|reserved_special_token_39|>": 49230,
|
| 75 |
+
"<|reserved_special_token_3|>": 49194,
|
| 76 |
+
"<|reserved_special_token_40|>": 49231,
|
| 77 |
+
"<|reserved_special_token_41|>": 49232,
|
| 78 |
+
"<|reserved_special_token_42|>": 49233,
|
| 79 |
+
"<|reserved_special_token_43|>": 49234,
|
| 80 |
+
"<|reserved_special_token_44|>": 49235,
|
| 81 |
+
"<|reserved_special_token_45|>": 49236,
|
| 82 |
+
"<|reserved_special_token_46|>": 49237,
|
| 83 |
+
"<|reserved_special_token_47|>": 49238,
|
| 84 |
+
"<|reserved_special_token_48|>": 49239,
|
| 85 |
+
"<|reserved_special_token_49|>": 49240,
|
| 86 |
+
"<|reserved_special_token_4|>": 49195,
|
| 87 |
+
"<|reserved_special_token_50|>": 49241,
|
| 88 |
+
"<|reserved_special_token_51|>": 49242,
|
| 89 |
+
"<|reserved_special_token_52|>": 49243,
|
| 90 |
+
"<|reserved_special_token_53|>": 49244,
|
| 91 |
+
"<|reserved_special_token_54|>": 49245,
|
| 92 |
+
"<|reserved_special_token_55|>": 49246,
|
| 93 |
+
"<|reserved_special_token_56|>": 49247,
|
| 94 |
+
"<|reserved_special_token_57|>": 49248,
|
| 95 |
+
"<|reserved_special_token_58|>": 49249,
|
| 96 |
+
"<|reserved_special_token_59|>": 49250,
|
| 97 |
+
"<|reserved_special_token_5|>": 49196,
|
| 98 |
+
"<|reserved_special_token_60|>": 49251,
|
| 99 |
+
"<|reserved_special_token_61|>": 49252,
|
| 100 |
+
"<|reserved_special_token_62|>": 49253,
|
| 101 |
+
"<|reserved_special_token_63|>": 49254,
|
| 102 |
+
"<|reserved_special_token_64|>": 49255,
|
| 103 |
+
"<|reserved_special_token_65|>": 49256,
|
| 104 |
+
"<|reserved_special_token_66|>": 49257,
|
| 105 |
+
"<|reserved_special_token_67|>": 49258,
|
| 106 |
+
"<|reserved_special_token_68|>": 49259,
|
| 107 |
+
"<|reserved_special_token_69|>": 49260,
|
| 108 |
+
"<|reserved_special_token_6|>": 49197,
|
| 109 |
+
"<|reserved_special_token_70|>": 49261,
|
| 110 |
+
"<|reserved_special_token_71|>": 49262,
|
| 111 |
+
"<|reserved_special_token_72|>": 49263,
|
| 112 |
+
"<|reserved_special_token_73|>": 49264,
|
| 113 |
+
"<|reserved_special_token_74|>": 49265,
|
| 114 |
+
"<|reserved_special_token_75|>": 49266,
|
| 115 |
+
"<|reserved_special_token_76|>": 49267,
|
| 116 |
+
"<|reserved_special_token_77|>": 49268,
|
| 117 |
+
"<|reserved_special_token_78|>": 49269,
|
| 118 |
+
"<|reserved_special_token_79|>": 49270,
|
| 119 |
+
"<|reserved_special_token_7|>": 49198,
|
| 120 |
+
"<|reserved_special_token_80|>": 49271,
|
| 121 |
+
"<|reserved_special_token_81|>": 49272,
|
| 122 |
+
"<|reserved_special_token_82|>": 49273,
|
| 123 |
+
"<|reserved_special_token_83|>": 49274,
|
| 124 |
+
"<|reserved_special_token_84|>": 49275,
|
| 125 |
+
"<|reserved_special_token_85|>": 49276,
|
| 126 |
+
"<|reserved_special_token_86|>": 49277,
|
| 127 |
+
"<|reserved_special_token_87|>": 49278,
|
| 128 |
+
"<|reserved_special_token_8|>": 49199,
|
| 129 |
+
"<|reserved_special_token_9|>": 49200
|
| 130 |
+
}
|
smolvla_libero_object_full_finetune_bs64/tokenizer/merges.txt
ADDED
|
The diff for this file is too large to render.
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|
|
|
smolvla_libero_object_full_finetune_bs64/tokenizer/merges.txt.metadata
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
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|
|
|
|
| 1 |
+
7b375e1b73b11138ff12fe22c8f2822d8fe03467
|
| 2 |
+
69503b13f727ba3812b6803e97442a6de05ef5eb
|
| 3 |
+
1775642998.823851
|
smolvla_libero_object_full_finetune_bs64/tokenizer/special_tokens_map.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"additional_special_tokens": [
|
| 3 |
+
"<fake_token_around_image>",
|
| 4 |
+
"<image>",
|
| 5 |
+
"<end_of_utterance>"
|
| 6 |
+
],
|
| 7 |
+
"bos_token": {
|
| 8 |
+
"content": "<|im_start|>",
|
| 9 |
+
"lstrip": false,
|
| 10 |
+
"normalized": false,
|
| 11 |
+
"rstrip": false,
|
| 12 |
+
"single_word": false
|
| 13 |
+
},
|
| 14 |
+
"end_of_utterance_token": "<end_of_utterance>",
|
| 15 |
+
"eos_token": {
|
| 16 |
+
"content": "<end_of_utterance>",
|
| 17 |
+
"lstrip": false,
|
| 18 |
+
"normalized": false,
|
| 19 |
+
"rstrip": false,
|
| 20 |
+
"single_word": false
|
| 21 |
+
},
|
| 22 |
+
"fake_image_token": "<fake_token_around_image>",
|
| 23 |
+
"global_image_token": "<global-img>",
|
| 24 |
+
"image_token": "<image>",
|
| 25 |
+
"pad_token": {
|
| 26 |
+
"content": "<|im_end|>",
|
| 27 |
+
"lstrip": false,
|
| 28 |
+
"normalized": false,
|
| 29 |
+
"rstrip": false,
|
| 30 |
+
"single_word": false
|
| 31 |
+
},
|
| 32 |
+
"unk_token": {
|
| 33 |
+
"content": "<|endoftext|>",
|
| 34 |
+
"lstrip": false,
|
| 35 |
+
"normalized": false,
|
| 36 |
+
"rstrip": false,
|
| 37 |
+
"single_word": false
|
| 38 |
+
}
|
| 39 |
+
}
|
smolvla_libero_object_full_finetune_bs64/tokenizer/tokenizer.json
ADDED
|
The diff for this file is too large to render.
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|
|
|
smolvla_libero_object_full_finetune_bs64/tokenizer/tokenizer.json.metadata
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
7b375e1b73b11138ff12fe22c8f2822d8fe03467
|
| 2 |
+
a4005d1cf3170a31600a5c96f95768166cbc2b28
|
| 3 |
+
1775643468.342801
|
smolvla_libero_object_full_finetune_bs64/tokenizer/tokenizer_config.json
ADDED
|
@@ -0,0 +1,1192 @@
|
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|
| 1 |
+
{
|
| 2 |
+
"add_prefix_space": false,
|
| 3 |
+
"added_tokens_decoder": {
|
| 4 |
+
"0": {
|
| 5 |
+
"content": "<|endoftext|>",
|
| 6 |
+
"lstrip": false,
|
| 7 |
+
"normalized": false,
|
| 8 |
+
"rstrip": false,
|
| 9 |
+
"single_word": false,
|
| 10 |
+
"special": true
|
| 11 |
+
},
|
| 12 |
+
"1": {
|
| 13 |
+
"content": "<|im_start|>",
|
| 14 |
+
"lstrip": false,
|
| 15 |
+
"normalized": false,
|
| 16 |
+
"rstrip": false,
|
| 17 |
+
"single_word": false,
|
| 18 |
+
"special": true
|
| 19 |
+
},
|
| 20 |
+
"2": {
|
| 21 |
+
"content": "<|im_end|>",
|
| 22 |
+
"lstrip": false,
|
| 23 |
+
"normalized": false,
|
| 24 |
+
"rstrip": false,
|
| 25 |
+
"single_word": false,
|
| 26 |
+
"special": true
|
| 27 |
+
},
|
| 28 |
+
"3": {
|
| 29 |
+
"content": "<repo_name>",
|
| 30 |
+
"lstrip": false,
|
| 31 |
+
"normalized": false,
|
| 32 |
+
"rstrip": false,
|
| 33 |
+
"single_word": false,
|
| 34 |
+
"special": true
|
| 35 |
+
},
|
| 36 |
+
"4": {
|
| 37 |
+
"content": "<reponame>",
|
| 38 |
+
"lstrip": false,
|
| 39 |
+
"normalized": false,
|
| 40 |
+
"rstrip": false,
|
| 41 |
+
"single_word": false,
|
| 42 |
+
"special": true
|
| 43 |
+
},
|
| 44 |
+
"5": {
|
| 45 |
+
"content": "<file_sep>",
|
| 46 |
+
"lstrip": false,
|
| 47 |
+
"normalized": false,
|
| 48 |
+
"rstrip": false,
|
| 49 |
+
"single_word": false,
|
| 50 |
+
"special": true
|
| 51 |
+
},
|
| 52 |
+
"6": {
|
| 53 |
+
"content": "<filename>",
|
| 54 |
+
"lstrip": false,
|
| 55 |
+
"normalized": false,
|
| 56 |
+
"rstrip": false,
|
| 57 |
+
"single_word": false,
|
| 58 |
+
"special": true
|
| 59 |
+
},
|
| 60 |
+
"7": {
|
| 61 |
+
"content": "<gh_stars>",
|
| 62 |
+
"lstrip": false,
|
| 63 |
+
"normalized": false,
|
| 64 |
+
"rstrip": false,
|
| 65 |
+
"single_word": false,
|
| 66 |
+
"special": true
|
| 67 |
+
},
|
| 68 |
+
"8": {
|
| 69 |
+
"content": "<issue_start>",
|
| 70 |
+
"lstrip": false,
|
| 71 |
+
"normalized": false,
|
| 72 |
+
"rstrip": false,
|
| 73 |
+
"single_word": false,
|
| 74 |
+
"special": true
|
| 75 |
+
},
|
| 76 |
+
"9": {
|
| 77 |
+
"content": "<issue_comment>",
|
| 78 |
+
"lstrip": false,
|
| 79 |
+
"normalized": false,
|
| 80 |
+
"rstrip": false,
|
| 81 |
+
"single_word": false,
|
| 82 |
+
"special": true
|
| 83 |
+
},
|
| 84 |
+
"10": {
|
| 85 |
+
"content": "<issue_closed>",
|
| 86 |
+
"lstrip": false,
|
| 87 |
+
"normalized": false,
|
| 88 |
+
"rstrip": false,
|
| 89 |
+
"single_word": false,
|
| 90 |
+
"special": true
|
| 91 |
+
},
|
| 92 |
+
"11": {
|
| 93 |
+
"content": "<jupyter_start>",
|
| 94 |
+
"lstrip": false,
|
| 95 |
+
"normalized": false,
|
| 96 |
+
"rstrip": false,
|
| 97 |
+
"single_word": false,
|
| 98 |
+
"special": true
|
| 99 |
+
},
|
| 100 |
+
"12": {
|
| 101 |
+
"content": "<jupyter_text>",
|
| 102 |
+
"lstrip": false,
|
| 103 |
+
"normalized": false,
|
| 104 |
+
"rstrip": false,
|
| 105 |
+
"single_word": false,
|
| 106 |
+
"special": true
|
| 107 |
+
},
|
| 108 |
+
"13": {
|
| 109 |
+
"content": "<jupyter_code>",
|
| 110 |
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| 114 |
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| 122 |
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| 123 |
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| 125 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 139 |
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| 141 |
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| 146 |
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| 526 |
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| 533 |
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| 539 |
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| 541 |
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| 542 |
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|
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|
smolvla_libero_object_full_finetune_bs64/tokenizer/tokenizer_config.json.metadata
ADDED
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smolvla_libero_object_full_finetune_bs64/tokenizer/vocab.json
ADDED
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smolvla_libero_object_full_finetune_bs64/tokenizer/vocab.json.metadata
ADDED
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smolvla_libero_object_full_finetune_bs64/vlm_backbone_config.json
ADDED
|
@@ -0,0 +1,25 @@
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{
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|
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|
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|
| 7 |
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"hidden_act": "silu",
|
| 8 |
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"hidden_size": 960,
|
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|
| 10 |
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"intermediate_size": 2560,
|
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|
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|
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|
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|
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|
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|
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|
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"rope_scaling": null,
|
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"use_cache": true,
|
| 24 |
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"vocab_size": 49280
|
| 25 |
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}
|
smolvla_libero_spatial_full_finetune_bs64/checkpoints/step-029808-epoch-36-loss=0.1997.safetensors
ADDED
|
@@ -0,0 +1,3 @@
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smolvla_libero_spatial_full_finetune_bs64/config.json
ADDED
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"eval": {
|
| 3 |
+
"dataset": {
|
| 4 |
+
"transforms": [
|
| 5 |
+
{
|
| 6 |
+
"img_keys": [
|
| 7 |
+
"agentview_image",
|
| 8 |
+
"robot0_eye_in_hand_image"
|
| 9 |
+
],
|
| 10 |
+
"resize_size": 512,
|
| 11 |
+
"type": "ProcessLiberoEvalInputs"
|
| 12 |
+
},
|
| 13 |
+
{
|
| 14 |
+
"image_resize_strategy": "letterbox",
|
| 15 |
+
"input_sizes": [
|
| 16 |
+
[
|
| 17 |
+
3,
|
| 18 |
+
512,
|
| 19 |
+
512
|
| 20 |
+
],
|
| 21 |
+
[
|
| 22 |
+
3,
|
| 23 |
+
512,
|
| 24 |
+
512
|
| 25 |
+
]
|
| 26 |
+
],
|
| 27 |
+
"letterbox_fill": [
|
| 28 |
+
0,
|
| 29 |
+
0,
|
| 30 |
+
0
|
| 31 |
+
],
|
| 32 |
+
"letterbox_pad_position": "top-left",
|
| 33 |
+
"means": [
|
| 34 |
+
[
|
| 35 |
+
127.5,
|
| 36 |
+
127.5,
|
| 37 |
+
127.5
|
| 38 |
+
],
|
| 39 |
+
[
|
| 40 |
+
127.5,
|
| 41 |
+
127.5,
|
| 42 |
+
127.5
|
| 43 |
+
]
|
| 44 |
+
],
|
| 45 |
+
"stds": [
|
| 46 |
+
[
|
| 47 |
+
127.5,
|
| 48 |
+
127.5,
|
| 49 |
+
127.5
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
127.5,
|
| 53 |
+
127.5,
|
| 54 |
+
127.5
|
| 55 |
+
]
|
| 56 |
+
],
|
| 57 |
+
"type": "TransformImage"
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"add_new_line": true,
|
| 61 |
+
"tokenizer": {
|
| 62 |
+
"model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
|
| 63 |
+
"type": "PretrainedTokenizer"
|
| 64 |
+
},
|
| 65 |
+
"type": "LiberoPromptFromInputs",
|
| 66 |
+
"use_conversation": false
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"gripper_key": "robot0_gripper_qpos",
|
| 70 |
+
"norm_type": "mean_std",
|
| 71 |
+
"out_key": "states",
|
| 72 |
+
"pos_key": "robot0_eef_pos",
|
| 73 |
+
"quat_key": "robot0_eef_quat",
|
| 74 |
+
"state_dim": 32,
|
| 75 |
+
"type": "LiberoProprioFromInputs"
|
| 76 |
+
}
|
| 77 |
+
],
|
| 78 |
+
"type": "LiberoParquetEvalDataset"
|
| 79 |
+
},
|
| 80 |
+
"denormalize_action": {
|
| 81 |
+
"action_dim": 7,
|
| 82 |
+
"norm_type": "mean_std",
|
| 83 |
+
"type": "DenormalizeLiberoAction"
|
| 84 |
+
},
|
| 85 |
+
"eval_chunk_size": 10,
|
| 86 |
+
"model_family": "smolvla",
|
| 87 |
+
"num_steps_wait": 10,
|
| 88 |
+
"num_trials_per_task": 50,
|
| 89 |
+
"seed": 7,
|
| 90 |
+
"task_suite_name": "libero_spatial",
|
| 91 |
+
"type": "LiberoEvalRunner"
|
| 92 |
+
},
|
| 93 |
+
"model": {
|
| 94 |
+
"action_in_proj": {
|
| 95 |
+
"in_dim": 32,
|
| 96 |
+
"out_dim": 720,
|
| 97 |
+
"type": "LinearProjector"
|
| 98 |
+
},
|
| 99 |
+
"action_out_proj": {
|
| 100 |
+
"in_dim": 720,
|
| 101 |
+
"out_dim": 32,
|
| 102 |
+
"type": "LinearProjector"
|
| 103 |
+
},
|
| 104 |
+
"action_time_mlp_in": {
|
| 105 |
+
"in_dim": 1440,
|
| 106 |
+
"out_dim": 720,
|
| 107 |
+
"type": "LinearProjector"
|
| 108 |
+
},
|
| 109 |
+
"action_time_mlp_out": {
|
| 110 |
+
"in_dim": 720,
|
| 111 |
+
"out_dim": 720,
|
| 112 |
+
"type": "LinearProjector"
|
| 113 |
+
},
|
| 114 |
+
"add_image_special_tokens": false,
|
| 115 |
+
"chunk_size": 50,
|
| 116 |
+
"freeze_vlm_backbone": true,
|
| 117 |
+
"llm_expert": {
|
| 118 |
+
"attention_bias": false,
|
| 119 |
+
"attention_mode": "cross_attn",
|
| 120 |
+
"head_dim": 64,
|
| 121 |
+
"hidden_act": "silu",
|
| 122 |
+
"hidden_size": 720,
|
| 123 |
+
"intermediate_size": -1,
|
| 124 |
+
"max_position_embeddings": 8192,
|
| 125 |
+
"num_attention_heads": 15,
|
| 126 |
+
"num_hidden_layers": 16,
|
| 127 |
+
"num_key_value_heads": 5,
|
| 128 |
+
"rms_norm_eps": 1e-05,
|
| 129 |
+
"self_attn_every_n_layers": 2,
|
| 130 |
+
"torch_dtype": "bfloat16",
|
| 131 |
+
"type": "SmolVLMExpert",
|
| 132 |
+
"vlm_kv_dim": 320,
|
| 133 |
+
"vocab_size": 49280
|
| 134 |
+
},
|
| 135 |
+
"max_action_dim": 32,
|
| 136 |
+
"name_mapping": {
|
| 137 |
+
"action_in_proj.projector": "model.action_in_proj",
|
| 138 |
+
"action_out_proj.projector": "model.action_out_proj",
|
| 139 |
+
"action_time_mlp_in.projector": "model.action_time_mlp_in",
|
| 140 |
+
"action_time_mlp_out.projector": "model.action_time_mlp_out",
|
| 141 |
+
"llm_expert.expert": "model.vlm_with_expert.lm_expert",
|
| 142 |
+
"state_proj.projector": "model.state_proj",
|
| 143 |
+
"vlm_backbone.vlm": "model.vlm_with_expert.vlm.model"
|
| 144 |
+
},
|
| 145 |
+
"num_steps": 10,
|
| 146 |
+
"ori_action_dim": 7,
|
| 147 |
+
"pretrained_name_or_path": "./checkpoints/smolvla_base/model.safetensors",
|
| 148 |
+
"state_proj": {
|
| 149 |
+
"in_dim": 32,
|
| 150 |
+
"out_dim": 960,
|
| 151 |
+
"type": "LinearProjector"
|
| 152 |
+
},
|
| 153 |
+
"type": "SmolVLAFlowMatching",
|
| 154 |
+
"vlm_backbone": {
|
| 155 |
+
"num_vlm_layers": 16,
|
| 156 |
+
"scale_factor": 4,
|
| 157 |
+
"text_config": {
|
| 158 |
+
"head_dim": 64,
|
| 159 |
+
"hidden_act": "silu",
|
| 160 |
+
"hidden_size": 960,
|
| 161 |
+
"intermediate_size": 2560,
|
| 162 |
+
"max_position_embeddings": 8192,
|
| 163 |
+
"num_attention_heads": 15,
|
| 164 |
+
"num_hidden_layers": 32,
|
| 165 |
+
"num_key_value_heads": 5,
|
| 166 |
+
"rms_norm_eps": 1e-05,
|
| 167 |
+
"vocab_size": 49280
|
| 168 |
+
},
|
| 169 |
+
"torch_dtype": "bfloat16",
|
| 170 |
+
"type": "SmolVLMBackbone",
|
| 171 |
+
"vision_config": {
|
| 172 |
+
"hidden_act": "gelu_pytorch_tanh",
|
| 173 |
+
"hidden_size": 768,
|
| 174 |
+
"image_size": 512,
|
| 175 |
+
"intermediate_size": 3072,
|
| 176 |
+
"layer_norm_eps": 1e-06,
|
| 177 |
+
"num_attention_heads": 12,
|
| 178 |
+
"num_hidden_layers": 12,
|
| 179 |
+
"patch_size": 16
|
| 180 |
+
}
|
| 181 |
+
}
|
| 182 |
+
},
|
| 183 |
+
"runner": {
|
| 184 |
+
"change_key_name": false,
|
| 185 |
+
"collator": {
|
| 186 |
+
"keys": [
|
| 187 |
+
"states",
|
| 188 |
+
"timestamp",
|
| 189 |
+
"images",
|
| 190 |
+
"img_masks",
|
| 191 |
+
"lang_tokens",
|
| 192 |
+
"lang_masks",
|
| 193 |
+
"actions",
|
| 194 |
+
"action_masks"
|
| 195 |
+
],
|
| 196 |
+
"meta_keys": [
|
| 197 |
+
"task_description",
|
| 198 |
+
"prompt",
|
| 199 |
+
"info",
|
| 200 |
+
"stats"
|
| 201 |
+
],
|
| 202 |
+
"type": "DictCollator"
|
| 203 |
+
},
|
| 204 |
+
"enable_gradient_checkpointing": true,
|
| 205 |
+
"enable_mixed_precision_training": true,
|
| 206 |
+
"learning_rate": 0.0002,
|
| 207 |
+
"lr_scheduler_type": "linear-warmup+cosine-decay",
|
| 208 |
+
"max_epochs": 36,
|
| 209 |
+
"max_grad_norm": 10.0,
|
| 210 |
+
"metric": {
|
| 211 |
+
"active_trackers": [
|
| 212 |
+
"jsonl",
|
| 213 |
+
"tensorboard"
|
| 214 |
+
],
|
| 215 |
+
"grad_accumulation_steps": 1,
|
| 216 |
+
"run_dir": "work_dirs",
|
| 217 |
+
"type": "VLAMetric",
|
| 218 |
+
"window_size": 1
|
| 219 |
+
},
|
| 220 |
+
"mixed_precision_dtype": "bf16",
|
| 221 |
+
"sampler": null,
|
| 222 |
+
"sharding_strategy": "no-shard",
|
| 223 |
+
"tokenizer": {
|
| 224 |
+
"model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
|
| 225 |
+
"type": "PretrainedTokenizer"
|
| 226 |
+
},
|
| 227 |
+
"type": "FSDPTrainRunner",
|
| 228 |
+
"warmup_ratio": 0.03,
|
| 229 |
+
"weight_decay": 0.0
|
| 230 |
+
},
|
| 231 |
+
"train_dataloader": {
|
| 232 |
+
"dataset": {
|
| 233 |
+
"datasets": {
|
| 234 |
+
"action_key": "action",
|
| 235 |
+
"action_window_size": 50,
|
| 236 |
+
"data_root_path": "./datasets/libero_spatial_no_noops_lerobotv2.1",
|
| 237 |
+
"statistic_name": "libero_spatial_no_noops",
|
| 238 |
+
"transforms": [
|
| 239 |
+
{
|
| 240 |
+
"name_mappings": {
|
| 241 |
+
"actions": [
|
| 242 |
+
"actions"
|
| 243 |
+
],
|
| 244 |
+
"observation.state": [
|
| 245 |
+
"states"
|
| 246 |
+
]
|
| 247 |
+
},
|
| 248 |
+
"parquet_keys": [
|
| 249 |
+
"observation.state",
|
| 250 |
+
"timestamp",
|
| 251 |
+
"actions",
|
| 252 |
+
"info",
|
| 253 |
+
"stats",
|
| 254 |
+
"action_masks"
|
| 255 |
+
],
|
| 256 |
+
"type": "ProcessParquetInputs",
|
| 257 |
+
"video_keys": [
|
| 258 |
+
"observation.images.image",
|
| 259 |
+
"observation.images.wrist_image"
|
| 260 |
+
]
|
| 261 |
+
},
|
| 262 |
+
{
|
| 263 |
+
"add_new_line": true,
|
| 264 |
+
"type": "ParquetPrompter",
|
| 265 |
+
"use_conversation": false
|
| 266 |
+
},
|
| 267 |
+
{
|
| 268 |
+
"tokenizer": {
|
| 269 |
+
"model_path": "./checkpoints/SmolVLM2-500M-Video-Instruct",
|
| 270 |
+
"type": "PretrainedTokenizer"
|
| 271 |
+
},
|
| 272 |
+
"type": "ProcessPrompts"
|
| 273 |
+
},
|
| 274 |
+
{
|
| 275 |
+
"height": 512,
|
| 276 |
+
"pad_direction": "top-left",
|
| 277 |
+
"type": "ResizeImagesWithPad",
|
| 278 |
+
"width": 512
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"type": "SimpleNormalizeImages"
|
| 282 |
+
},
|
| 283 |
+
{
|
| 284 |
+
"action_dim": 32,
|
| 285 |
+
"action_key": "action",
|
| 286 |
+
"norm_type": "mean_std",
|
| 287 |
+
"state_dim": 32,
|
| 288 |
+
"state_key": "proprio",
|
| 289 |
+
"type": "NormalizeStatesAndActions"
|
| 290 |
+
}
|
| 291 |
+
],
|
| 292 |
+
"type": "ParquetDataset",
|
| 293 |
+
"use_delta": false,
|
| 294 |
+
"window_start_idx": 0
|
| 295 |
+
},
|
| 296 |
+
"name_mappings": {
|
| 297 |
+
"action": [
|
| 298 |
+
"action"
|
| 299 |
+
],
|
| 300 |
+
"observation.state": [
|
| 301 |
+
"proprio"
|
| 302 |
+
]
|
| 303 |
+
},
|
| 304 |
+
"statistic_keys": [
|
| 305 |
+
"observation.state",
|
| 306 |
+
"timestamp",
|
| 307 |
+
"action"
|
| 308 |
+
],
|
| 309 |
+
"statistic_name": "libero_spatial_no_noops",
|
| 310 |
+
"type": "DistributedRepeatingDataset"
|
| 311 |
+
},
|
| 312 |
+
"per_device_batch_size": 8,
|
| 313 |
+
"per_device_num_workers": 4
|
| 314 |
+
}
|
| 315 |
+
}
|
smolvla_libero_spatial_full_finetune_bs64/config.yaml
ADDED
|
@@ -0,0 +1,239 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
| 1 |
+
eval:
|
| 2 |
+
dataset:
|
| 3 |
+
transforms:
|
| 4 |
+
- img_keys:
|
| 5 |
+
- agentview_image
|
| 6 |
+
- robot0_eye_in_hand_image
|
| 7 |
+
resize_size: 512
|
| 8 |
+
type: ProcessLiberoEvalInputs
|
| 9 |
+
- image_resize_strategy: letterbox
|
| 10 |
+
input_sizes:
|
| 11 |
+
- - 3
|
| 12 |
+
- 512
|
| 13 |
+
- 512
|
| 14 |
+
- - 3
|
| 15 |
+
- 512
|
| 16 |
+
- 512
|
| 17 |
+
letterbox_fill:
|
| 18 |
+
- 0
|
| 19 |
+
- 0
|
| 20 |
+
- 0
|
| 21 |
+
letterbox_pad_position: top-left
|
| 22 |
+
means:
|
| 23 |
+
- - 127.5
|
| 24 |
+
- 127.5
|
| 25 |
+
- 127.5
|
| 26 |
+
- - 127.5
|
| 27 |
+
- 127.5
|
| 28 |
+
- 127.5
|
| 29 |
+
stds:
|
| 30 |
+
- - 127.5
|
| 31 |
+
- 127.5
|
| 32 |
+
- 127.5
|
| 33 |
+
- - 127.5
|
| 34 |
+
- 127.5
|
| 35 |
+
- 127.5
|
| 36 |
+
type: TransformImage
|
| 37 |
+
- add_new_line: true
|
| 38 |
+
tokenizer:
|
| 39 |
+
model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
|
| 40 |
+
type: PretrainedTokenizer
|
| 41 |
+
type: LiberoPromptFromInputs
|
| 42 |
+
use_conversation: false
|
| 43 |
+
- gripper_key: robot0_gripper_qpos
|
| 44 |
+
norm_type: mean_std
|
| 45 |
+
out_key: states
|
| 46 |
+
pos_key: robot0_eef_pos
|
| 47 |
+
quat_key: robot0_eef_quat
|
| 48 |
+
state_dim: 32
|
| 49 |
+
type: LiberoProprioFromInputs
|
| 50 |
+
type: LiberoParquetEvalDataset
|
| 51 |
+
denormalize_action:
|
| 52 |
+
action_dim: 7
|
| 53 |
+
norm_type: mean_std
|
| 54 |
+
type: DenormalizeLiberoAction
|
| 55 |
+
eval_chunk_size: 10
|
| 56 |
+
model_family: smolvla
|
| 57 |
+
num_steps_wait: 10
|
| 58 |
+
num_trials_per_task: 50
|
| 59 |
+
seed: 7
|
| 60 |
+
task_suite_name: libero_spatial
|
| 61 |
+
type: LiberoEvalRunner
|
| 62 |
+
model:
|
| 63 |
+
action_in_proj:
|
| 64 |
+
in_dim: 32
|
| 65 |
+
out_dim: 720
|
| 66 |
+
type: LinearProjector
|
| 67 |
+
action_out_proj:
|
| 68 |
+
in_dim: 720
|
| 69 |
+
out_dim: 32
|
| 70 |
+
type: LinearProjector
|
| 71 |
+
action_time_mlp_in:
|
| 72 |
+
in_dim: 1440
|
| 73 |
+
out_dim: 720
|
| 74 |
+
type: LinearProjector
|
| 75 |
+
action_time_mlp_out:
|
| 76 |
+
in_dim: 720
|
| 77 |
+
out_dim: 720
|
| 78 |
+
type: LinearProjector
|
| 79 |
+
add_image_special_tokens: false
|
| 80 |
+
chunk_size: 50
|
| 81 |
+
freeze_vlm_backbone: true
|
| 82 |
+
llm_expert:
|
| 83 |
+
attention_bias: false
|
| 84 |
+
attention_mode: cross_attn
|
| 85 |
+
head_dim: 64
|
| 86 |
+
hidden_act: silu
|
| 87 |
+
hidden_size: 720
|
| 88 |
+
intermediate_size: -1
|
| 89 |
+
max_position_embeddings: 8192
|
| 90 |
+
num_attention_heads: 15
|
| 91 |
+
num_hidden_layers: 16
|
| 92 |
+
num_key_value_heads: 5
|
| 93 |
+
rms_norm_eps: 1.0e-05
|
| 94 |
+
self_attn_every_n_layers: 2
|
| 95 |
+
torch_dtype: bfloat16
|
| 96 |
+
type: SmolVLMExpert
|
| 97 |
+
vlm_kv_dim: 320
|
| 98 |
+
vocab_size: 49280
|
| 99 |
+
max_action_dim: 32
|
| 100 |
+
name_mapping:
|
| 101 |
+
action_in_proj.projector: model.action_in_proj
|
| 102 |
+
action_out_proj.projector: model.action_out_proj
|
| 103 |
+
action_time_mlp_in.projector: model.action_time_mlp_in
|
| 104 |
+
action_time_mlp_out.projector: model.action_time_mlp_out
|
| 105 |
+
llm_expert.expert: model.vlm_with_expert.lm_expert
|
| 106 |
+
state_proj.projector: model.state_proj
|
| 107 |
+
vlm_backbone.vlm: model.vlm_with_expert.vlm.model
|
| 108 |
+
num_steps: 10
|
| 109 |
+
ori_action_dim: 7
|
| 110 |
+
pretrained_name_or_path: ./checkpoints/smolvla_base/model.safetensors
|
| 111 |
+
state_proj:
|
| 112 |
+
in_dim: 32
|
| 113 |
+
out_dim: 960
|
| 114 |
+
type: LinearProjector
|
| 115 |
+
type: SmolVLAFlowMatching
|
| 116 |
+
vlm_backbone:
|
| 117 |
+
num_vlm_layers: 16
|
| 118 |
+
scale_factor: 4
|
| 119 |
+
text_config:
|
| 120 |
+
head_dim: 64
|
| 121 |
+
hidden_act: silu
|
| 122 |
+
hidden_size: 960
|
| 123 |
+
intermediate_size: 2560
|
| 124 |
+
max_position_embeddings: 8192
|
| 125 |
+
num_attention_heads: 15
|
| 126 |
+
num_hidden_layers: 32
|
| 127 |
+
num_key_value_heads: 5
|
| 128 |
+
rms_norm_eps: 1.0e-05
|
| 129 |
+
vocab_size: 49280
|
| 130 |
+
torch_dtype: bfloat16
|
| 131 |
+
type: SmolVLMBackbone
|
| 132 |
+
vision_config:
|
| 133 |
+
hidden_act: gelu_pytorch_tanh
|
| 134 |
+
hidden_size: 768
|
| 135 |
+
image_size: 512
|
| 136 |
+
intermediate_size: 3072
|
| 137 |
+
layer_norm_eps: 1.0e-06
|
| 138 |
+
num_attention_heads: 12
|
| 139 |
+
num_hidden_layers: 12
|
| 140 |
+
patch_size: 16
|
| 141 |
+
runner:
|
| 142 |
+
change_key_name: false
|
| 143 |
+
collator:
|
| 144 |
+
keys:
|
| 145 |
+
- states
|
| 146 |
+
- timestamp
|
| 147 |
+
- images
|
| 148 |
+
- img_masks
|
| 149 |
+
- lang_tokens
|
| 150 |
+
- lang_masks
|
| 151 |
+
- actions
|
| 152 |
+
- action_masks
|
| 153 |
+
meta_keys:
|
| 154 |
+
- task_description
|
| 155 |
+
- prompt
|
| 156 |
+
- info
|
| 157 |
+
- stats
|
| 158 |
+
type: DictCollator
|
| 159 |
+
enable_gradient_checkpointing: true
|
| 160 |
+
enable_mixed_precision_training: true
|
| 161 |
+
learning_rate: 0.0002
|
| 162 |
+
lr_scheduler_type: linear-warmup+cosine-decay
|
| 163 |
+
max_epochs: 36
|
| 164 |
+
max_grad_norm: 10.0
|
| 165 |
+
metric:
|
| 166 |
+
active_trackers:
|
| 167 |
+
- jsonl
|
| 168 |
+
- tensorboard
|
| 169 |
+
grad_accumulation_steps: 1
|
| 170 |
+
run_dir: work_dirs
|
| 171 |
+
type: VLAMetric
|
| 172 |
+
window_size: 1
|
| 173 |
+
mixed_precision_dtype: bf16
|
| 174 |
+
sampler: null
|
| 175 |
+
sharding_strategy: no-shard
|
| 176 |
+
tokenizer:
|
| 177 |
+
model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
|
| 178 |
+
type: PretrainedTokenizer
|
| 179 |
+
type: FSDPTrainRunner
|
| 180 |
+
warmup_ratio: 0.03
|
| 181 |
+
weight_decay: 0.0
|
| 182 |
+
train_dataloader:
|
| 183 |
+
dataset:
|
| 184 |
+
datasets:
|
| 185 |
+
action_key: action
|
| 186 |
+
action_window_size: 50
|
| 187 |
+
data_root_path: ./datasets/libero_spatial_no_noops_lerobotv2.1
|
| 188 |
+
statistic_name: libero_spatial_no_noops
|
| 189 |
+
transforms:
|
| 190 |
+
- name_mappings:
|
| 191 |
+
actions:
|
| 192 |
+
- actions
|
| 193 |
+
observation.state:
|
| 194 |
+
- states
|
| 195 |
+
parquet_keys:
|
| 196 |
+
- observation.state
|
| 197 |
+
- timestamp
|
| 198 |
+
- actions
|
| 199 |
+
- info
|
| 200 |
+
- stats
|
| 201 |
+
- action_masks
|
| 202 |
+
type: ProcessParquetInputs
|
| 203 |
+
video_keys:
|
| 204 |
+
- observation.images.image
|
| 205 |
+
- observation.images.wrist_image
|
| 206 |
+
- add_new_line: true
|
| 207 |
+
type: ParquetPrompter
|
| 208 |
+
use_conversation: false
|
| 209 |
+
- tokenizer:
|
| 210 |
+
model_path: ./checkpoints/SmolVLM2-500M-Video-Instruct
|
| 211 |
+
type: PretrainedTokenizer
|
| 212 |
+
type: ProcessPrompts
|
| 213 |
+
- height: 512
|
| 214 |
+
pad_direction: top-left
|
| 215 |
+
type: ResizeImagesWithPad
|
| 216 |
+
width: 512
|
| 217 |
+
- type: SimpleNormalizeImages
|
| 218 |
+
- action_dim: 32
|
| 219 |
+
action_key: action
|
| 220 |
+
norm_type: mean_std
|
| 221 |
+
state_dim: 32
|
| 222 |
+
state_key: proprio
|
| 223 |
+
type: NormalizeStatesAndActions
|
| 224 |
+
type: ParquetDataset
|
| 225 |
+
use_delta: false
|
| 226 |
+
window_start_idx: 0
|
| 227 |
+
name_mappings:
|
| 228 |
+
action:
|
| 229 |
+
- action
|
| 230 |
+
observation.state:
|
| 231 |
+
- proprio
|
| 232 |
+
statistic_keys:
|
| 233 |
+
- observation.state
|
| 234 |
+
- timestamp
|
| 235 |
+
- action
|
| 236 |
+
statistic_name: libero_spatial_no_noops
|
| 237 |
+
type: DistributedRepeatingDataset
|
| 238 |
+
per_device_batch_size: 8
|
| 239 |
+
per_device_num_workers: 4
|
smolvla_libero_spatial_full_finetune_bs64/dataset_statistics.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"libero_spatial_no_noops": {
|
| 3 |
+
"proprio": {
|
| 4 |
+
"mean": [
|
| 5 |
+
-0.024462566693947342,
|
| 6 |
+
0.10653030478388664,
|
| 7 |
+
1.0580495716300307,
|
| 8 |
+
3.062855007870368,
|
| 9 |
+
-0.10464045916348884,
|
| 10 |
+
0.08307320236969534,
|
| 11 |
+
0.019954609054627596,
|
| 12 |
+
-0.02016269208612657
|
| 13 |
+
],
|
| 14 |
+
"std": [
|
| 15 |
+
0.03894316411915835,
|
| 16 |
+
0.04873628070932603,
|
| 17 |
+
0.03692094784082842,
|
| 18 |
+
0.0369502396792774,
|
| 19 |
+
0.14538513627309543,
|
| 20 |
+
0.07695788947742314,
|
| 21 |
+
0.006102641532497049,
|
| 22 |
+
0.006049884044502419
|
| 23 |
+
],
|
| 24 |
+
"min": [
|
| 25 |
+
-0.3095473051071167,
|
| 26 |
+
-0.29250794649124146,
|
| 27 |
+
0.9095591306686401,
|
| 28 |
+
2.497488260269165,
|
| 29 |
+
-1.8006486892700195,
|
| 30 |
+
-0.7207611203193665,
|
| 31 |
+
-0.0004703797458205372,
|
| 32 |
+
-0.041536275297403336
|
| 33 |
+
],
|
| 34 |
+
"max": [
|
| 35 |
+
0.1759040206670761,
|
| 36 |
+
0.3904820382595062,
|
| 37 |
+
1.3290715217590332,
|
| 38 |
+
3.4566118717193604,
|
| 39 |
+
1.2268599271774292,
|
| 40 |
+
1.0429412126541138,
|
| 41 |
+
0.041053611785173416,
|
| 42 |
+
0.000775813648942858
|
| 43 |
+
],
|
| 44 |
+
"q01": null,
|
| 45 |
+
"q99": null
|
| 46 |
+
},
|
| 47 |
+
"timestamp": {
|
| 48 |
+
"mean": [
|
| 49 |
+
3.1281914291108173
|
| 50 |
+
],
|
| 51 |
+
"std": [
|
| 52 |
+
1.9190018719668336
|
| 53 |
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],
|
| 54 |
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"min": [
|
| 55 |
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0.0
|
| 56 |
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],
|
| 57 |
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"max": [
|
| 58 |
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9.6
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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},
|
| 63 |
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"action": {
|
| 64 |
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|
| 65 |
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| 70 |
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|
| 71 |
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| 72 |
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| 78 |
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| 79 |
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| 82 |
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"min": [
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| 83 |
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| 88 |
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|
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|
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|
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| 102 |
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}
|
| 103 |
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}
|
| 104 |
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}
|
smolvla_libero_spatial_full_finetune_bs64/tokenizer/added_tokens.json
ADDED
|
@@ -0,0 +1,130 @@
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"<end_of_utterance>": 49279,
|
| 3 |
+
"<fake_token_around_image>": 49189,
|
| 4 |
+
"<global-img>": 49152,
|
| 5 |
+
"<image>": 49190,
|
| 6 |
+
"<row_1_col_1>": 49153,
|
| 7 |
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"<row_1_col_2>": 49154,
|
| 8 |
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"<row_1_col_3>": 49155,
|
| 9 |
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"<row_1_col_4>": 49156,
|
| 10 |
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"<row_1_col_5>": 49157,
|
| 11 |
+
"<row_1_col_6>": 49158,
|
| 12 |
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"<row_2_col_1>": 49159,
|
| 13 |
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"<row_2_col_2>": 49160,
|
| 14 |
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"<row_2_col_3>": 49161,
|
| 15 |
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"<row_2_col_4>": 49162,
|
| 16 |
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"<row_2_col_5>": 49163,
|
| 17 |
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"<row_2_col_6>": 49164,
|
| 18 |
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"<row_3_col_1>": 49165,
|
| 19 |
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"<row_3_col_2>": 49166,
|
| 20 |
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"<row_3_col_3>": 49167,
|
| 21 |
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"<row_3_col_4>": 49168,
|
| 22 |
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"<row_3_col_5>": 49169,
|
| 23 |
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"<row_3_col_6>": 49170,
|
| 24 |
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"<row_4_col_1>": 49171,
|
| 25 |
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"<row_4_col_2>": 49172,
|
| 26 |
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"<row_4_col_3>": 49173,
|
| 27 |
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"<row_4_col_4>": 49174,
|
| 28 |
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"<row_4_col_5>": 49175,
|
| 29 |
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"<row_4_col_6>": 49176,
|
| 30 |
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"<row_5_col_1>": 49177,
|
| 31 |
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"<row_5_col_2>": 49178,
|
| 32 |
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"<row_5_col_3>": 49179,
|
| 33 |
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"<row_5_col_4>": 49180,
|
| 34 |
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"<row_5_col_5>": 49181,
|
| 35 |
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"<row_5_col_6>": 49182,
|
| 36 |
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"<row_6_col_1>": 49183,
|
| 37 |
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"<row_6_col_2>": 49184,
|
| 38 |
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"<row_6_col_3>": 49185,
|
| 39 |
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"<row_6_col_4>": 49186,
|
| 40 |
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"<row_6_col_5>": 49187,
|
| 41 |
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"<row_6_col_6>": 49188,
|
| 42 |
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"<|reserved_special_token_0|>": 49191,
|
| 43 |
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"<|reserved_special_token_10|>": 49201,
|
| 44 |
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"<|reserved_special_token_11|>": 49202,
|
| 45 |
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"<|reserved_special_token_12|>": 49203,
|
| 46 |
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"<|reserved_special_token_13|>": 49204,
|
| 47 |
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"<|reserved_special_token_14|>": 49205,
|
| 48 |
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"<|reserved_special_token_15|>": 49206,
|
| 49 |
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"<|reserved_special_token_16|>": 49207,
|
| 50 |
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"<|reserved_special_token_17|>": 49208,
|
| 51 |
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"<|reserved_special_token_18|>": 49209,
|
| 52 |
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"<|reserved_special_token_19|>": 49210,
|
| 53 |
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"<|reserved_special_token_1|>": 49192,
|
| 54 |
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"<|reserved_special_token_20|>": 49211,
|
| 55 |
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"<|reserved_special_token_21|>": 49212,
|
| 56 |
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"<|reserved_special_token_22|>": 49213,
|
| 57 |
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"<|reserved_special_token_23|>": 49214,
|
| 58 |
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"<|reserved_special_token_24|>": 49215,
|
| 59 |
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"<|reserved_special_token_25|>": 49216,
|
| 60 |
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"<|reserved_special_token_26|>": 49217,
|
| 61 |
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"<|reserved_special_token_27|>": 49218,
|
| 62 |
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"<|reserved_special_token_28|>": 49219,
|
| 63 |
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"<|reserved_special_token_29|>": 49220,
|
| 64 |
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"<|reserved_special_token_2|>": 49193,
|
| 65 |
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"<|reserved_special_token_30|>": 49221,
|
| 66 |
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"<|reserved_special_token_31|>": 49222,
|
| 67 |
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"<|reserved_special_token_32|>": 49223,
|
| 68 |
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"<|reserved_special_token_33|>": 49224,
|
| 69 |
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"<|reserved_special_token_34|>": 49225,
|
| 70 |
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"<|reserved_special_token_35|>": 49226,
|
| 71 |
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"<|reserved_special_token_36|>": 49227,
|
| 72 |
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"<|reserved_special_token_37|>": 49228,
|
| 73 |
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"<|reserved_special_token_38|>": 49229,
|
| 74 |
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"<|reserved_special_token_39|>": 49230,
|
| 75 |
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"<|reserved_special_token_3|>": 49194,
|
| 76 |
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"<|reserved_special_token_40|>": 49231,
|
| 77 |
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"<|reserved_special_token_41|>": 49232,
|
| 78 |
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"<|reserved_special_token_42|>": 49233,
|
| 79 |
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"<|reserved_special_token_43|>": 49234,
|
| 80 |
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"<|reserved_special_token_44|>": 49235,
|
| 81 |
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"<|reserved_special_token_45|>": 49236,
|
| 82 |
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"<|reserved_special_token_46|>": 49237,
|
| 83 |
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"<|reserved_special_token_47|>": 49238,
|
| 84 |
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"<|reserved_special_token_48|>": 49239,
|
| 85 |
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"<|reserved_special_token_49|>": 49240,
|
| 86 |
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"<|reserved_special_token_4|>": 49195,
|
| 87 |
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"<|reserved_special_token_50|>": 49241,
|
| 88 |
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"<|reserved_special_token_51|>": 49242,
|
| 89 |
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"<|reserved_special_token_52|>": 49243,
|
| 90 |
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"<|reserved_special_token_53|>": 49244,
|
| 91 |
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"<|reserved_special_token_54|>": 49245,
|
| 92 |
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"<|reserved_special_token_55|>": 49246,
|
| 93 |
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"<|reserved_special_token_56|>": 49247,
|
| 94 |
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"<|reserved_special_token_57|>": 49248,
|
| 95 |
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"<|reserved_special_token_58|>": 49249,
|
| 96 |
+
"<|reserved_special_token_59|>": 49250,
|
| 97 |
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"<|reserved_special_token_5|>": 49196,
|
| 98 |
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"<|reserved_special_token_60|>": 49251,
|
| 99 |
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"<|reserved_special_token_61|>": 49252,
|
| 100 |
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"<|reserved_special_token_62|>": 49253,
|
| 101 |
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"<|reserved_special_token_63|>": 49254,
|
| 102 |
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"<|reserved_special_token_64|>": 49255,
|
| 103 |
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"<|reserved_special_token_65|>": 49256,
|
| 104 |
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"<|reserved_special_token_66|>": 49257,
|
| 105 |
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"<|reserved_special_token_67|>": 49258,
|
| 106 |
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"<|reserved_special_token_68|>": 49259,
|
| 107 |
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"<|reserved_special_token_69|>": 49260,
|
| 108 |
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"<|reserved_special_token_6|>": 49197,
|
| 109 |
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"<|reserved_special_token_70|>": 49261,
|
| 110 |
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"<|reserved_special_token_71|>": 49262,
|
| 111 |
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"<|reserved_special_token_72|>": 49263,
|
| 112 |
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"<|reserved_special_token_73|>": 49264,
|
| 113 |
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"<|reserved_special_token_74|>": 49265,
|
| 114 |
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"<|reserved_special_token_75|>": 49266,
|
| 115 |
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"<|reserved_special_token_76|>": 49267,
|
| 116 |
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"<|reserved_special_token_77|>": 49268,
|
| 117 |
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"<|reserved_special_token_78|>": 49269,
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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"<|reserved_special_token_82|>": 49273,
|
| 123 |
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"<|reserved_special_token_83|>": 49274,
|
| 124 |
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"<|reserved_special_token_84|>": 49275,
|
| 125 |
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|
| 126 |
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"<|reserved_special_token_86|>": 49277,
|
| 127 |
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|
| 128 |
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"<|reserved_special_token_8|>": 49199,
|
| 129 |
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"<|reserved_special_token_9|>": 49200
|
| 130 |
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}
|