diff --git a/openvla_dino_siglip_llama2_libero_goal_full_finetune_bs64/checkpoints/step-019848-epoch-24-loss=0.0876.safetensors b/openvla_dino_siglip_llama2_libero_goal_full_finetune_bs64/checkpoints/step-019848-epoch-24-loss=0.0876.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..ed140a9468c5a11b44b505419d31331a849c7588 --- /dev/null +++ b/openvla_dino_siglip_llama2_libero_goal_full_finetune_bs64/checkpoints/step-019848-epoch-24-loss=0.0876.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f3ff38a7ba22fa93d7116a3cb338012352b95d2b3cafdeb6e715cb10148a031 +size 30165078344 diff --git a/openvla_dino_siglip_llama2_libero_goal_full_finetune_bs64/config.json b/openvla_dino_siglip_llama2_libero_goal_full_finetune_bs64/config.json new file mode 100644 index 0000000000000000000000000000000000000000..a81008a5ae01e5fa54a6c6350d20c4c53e15f20f --- /dev/null +++ b/openvla_dino_siglip_llama2_libero_goal_full_finetune_bs64/config.json @@ -0,0 +1,407 @@ +{ + "eval": { + "dataset": { + "transforms": [ + { + "img_keys": [ + "agentview_image", + "agentview_image" + ], + "type": "ProcessLiberoEvalInputs" + }, + { + "image_resize_strategy": "resize-naive", + "input_sizes": [ + [ + 3, + 224, + 224 + ], + [ + 3, + 224, + 224 + ] + ], + "means": [ + [ + 123.515625, + 116.04492188, + 103.59375 + ], + [ + 128, + 128, + 128 + ] + ], + "stds": [ + [ + 58.27148438, + 57.02636719, + 57.27539062 + ], + [ + 128, + 128, + 128 + ] + ], + "type": "TransformImage" + }, + { + "max_len": null, + "prompt_suffix": " ", + "tokenizer": { + "model_path": "./checkpoints/openvla-7b-finetuned-libero-10", + "type": "PretrainedTokenizer" + }, + "type": "LiberoPromptFromInputs" + } + ], + "type": "LiberoParquetEvalDataset" + }, + "denormalize_action": { + "action_norm_mask": [ + true, + true, + true, + true, + true, + true, + false + ], + "norm_type": "quantile", + "type": "DenormalizeLiberoAction" + }, + "model_family": "openvla", + "num_steps_wait": 10, + "num_trials_per_task": 50, + "resize_size": 224, + "seed": 7, + "task_suite_name": "libero_goal", + "type": "LiberoEvalRunner" + }, + "model": { + "arch_specifier": "no-align+fused-gelu-mlp", + "freeze_llm_backbone": false, + "freeze_projector": false, + "freeze_vision_backbone": false, + "llm_backbone": { + "hf_token": null, + "inference_mode": false, + "llm_backbone_id": "llama2-7b-pure_causal", + "llm_family": "llama", + "llm_max_length": 2048, + "llm_path": "./checkpoints/Llama-2-7b-hf", + "type": "LLaMa2LLMBackbone" + }, + "name_mapping": { + "llm_backbone.llm": "language_model", + "vision_backbone.dino_featurizer": "vision_backbone.featurizer", + "vision_backbone.siglip_featurizer": "vision_backbone.fused_featurizer" + }, + "pretrained_name_or_path": "./checkpoints/openvla-7b-finetuned-libero-10", + "projector": { + "fused_vision_dim": 2176, + "llm_dim": 4096, + "type": "FusedMLPProjector" + }, + "tokenizer": { + "bins": 256, + "max_action": 1, + "min_action": -1, + "model_path": "checkpoints/openvla-7b-finetuned-libero-10", + "type": "ActionTokenizer" + }, + "type": "OpenVLA", + "vision_backbone": { + "dino_config": { + "file": "./checkpoints/vit_large_patch14_reg4_dinov2.lvd142m/model.safetensors", + "model_id": "dino" + }, + "image_resize_strategy": "resize-naive", + "siglip_config": { + "file": "./checkpoints/ViT-SO400M-14-SigLIP/open_clip_model.safetensors", + "model_id": "siglip_224" + }, + "type": "DinoSigLIPViTBackbone", + "vision_backbone_id": "dinosiglip-vit-so-224px" + }, + "vla_head": { + "norm_stats": null, + "type": "OpenVLAHead", + "vocab_size": 32000 + } + }, + "per_device_num_workers": 8, + "runner": { + "collator": { + "ignore_idx": -100, + "model_max_length": 2048, + "pad_token_id": 0, + "padding_side": "right", + "pixel_values_dtype": "fp16", + "type": "PaddedCollatorForActionPrediction" + }, + "enable_gradient_checkpointing": false, + "enable_mixed_precision_training": true, + "eval": { + "dataset": { + "transforms": [ + { + "img_keys": [ + "agentview_image", + "agentview_image" + ], + "type": "ProcessLiberoEvalInputs" + }, + { + "image_resize_strategy": "resize-naive", + "input_sizes": [ + [ + 3, + 224, + 224 + ], + [ + 3, + 224, + 224 + ] + ], + "means": [ + [ + 123.515625, + 116.04492188, + 103.59375 + ], + [ + 128, + 128, + 128 + ] + ], + "stds": [ + [ + 58.27148438, + 57.02636719, + 57.27539062 + ], + [ + 128, + 128, + 128 + ] + ], + "type": "TransformImage" + }, + { + "max_len": null, + "prompt_suffix": " ", + "tokenizer": { + "model_path": "openvla/openvla-7b-finetuned-libero-10", + "type": "PretrainedTokenizer" + }, + "type": "LiberoPromptFromInputs" + } + ], + "type": "LiberoParquetEvalDataset" + }, + "denormalize_action": { + "action_norm_mask": [ + true, + true, + true, + true, + true, + true, + false + ], + "norm_type": "quantile", + "type": "DenormalizeLiberoAction" + }, + "model_family": "openvla", + "num_steps_wait": 10, + "num_trials_per_task": 50, + "resize_size": 224, + "seed": 7, + "task_suite_name": "libero_goal", + "type": "LiberoEvalRunner" + }, + "learning_rate": 2e-05, + "lr_scheduler_type": "constant", + "max_epochs": 24, + "max_grad_norm": 1.0, + "max_keep_ckpts": 1, + "metric": { + "active_trackers": [ + "jsonl", + "wandb" + ], + "grad_accumulation_steps": 1, + "run_dir": "work_dirs", + "type": "VLAMetric", + "window_size": 1 + }, + "mixed_precision_dtype": "bf16", + "sampler": null, + "type": "FSDPTrainRunner", + "warmup_ratio": 0.0, + "weight_decay": 0.0 + }, + "train_dataloader": { + "dataset": { + "datasets": { + "action_key": "action", + "action_window_size": 1, + "data_root_path": "./datasets/libero_goal_no_noops_lerobotv2.1", + "repeat_to_full_length": true, + "statistic_name": "libero_goal_no_noops", + "train_episode_fraction": 0.95, + "transforms": [ + { + "dataset_name": "libero_goal_no_noops", + "name_mappings": { + "actions": [ + "actions" + ], + "observation.state": [ + "states" + ] + }, + "parquet_keys": [ + "observation.state", + "timestamp", + "actions", + "info", + "stats", + "action_masks" + ], + "type": "ProcessParquetInputs", + "video_keys": [ + "observation.images.image", + "observation.images.image" + ] + }, + { + "action_dim": 7, + "action_key": "action", + "action_norm_mask": [ + true, + true, + true, + true, + true, + true, + false + ], + "action_norm_type": "quantile", + "clip_norm": true, + "norm_type": "quantile", + "state_key": "proprio", + "state_norm_type": "min_max", + "type": "NormalizeStatesAndActions" + }, + { + "action_tokenizer": { + "bins": 256, + "max_action": 1, + "min_action": -1, + "model_path": "./checkpoints/openvla-7b-finetuned-libero-10", + "type": "ActionTokenizer" + }, + "lowercase_task_description": true, + "type": "ParquetPrompter" + }, + { + "max_len": null, + "tokenizer": { + "model_path": "./checkpoints/openvla-7b-finetuned-libero-10", + "type": "PretrainedTokenizer" + }, + "type": "ProcessPrompts", + "with_labels": true + }, + { + "height": 224, + "type": "ResizeImagesLanczos", + "width": 224 + }, + { + "means": [ + [ + 123.515625, + 116.04492188, + 103.59375 + ], + [ + 128, + 128, + 128 + ] + ], + "stds": [ + [ + 58.27148438, + 57.02636719, + 57.27539062 + ], + [ + 128, + 128, + 128 + ] + ], + "type": "NormalizeImages" + } + ], + "type": "ParquetDataset", + "use_delta": false, + "window_start_idx": 0 + }, + "name_mappings": { + "action": [ + "action" + ], + "observation.state": [ + "proprio" + ] + }, + "reshuffle_each_epoch": true, + "statistic_keys": [ + "observation.state", + "timestamp", + "action" + ], + "statistic_name": "libero_goal_no_noops", + "statistics_overrides": { + "libero_goal_no_noops": { + "action": { + "q01": [ + -0.8785714507102966, + -0.7553571462631226, + -0.9375, + -0.1510714292526245, + -0.1639285683631897, + -0.13777500048279764, + 0.0 + ], + "q99": [ + 0.9375, + 0.9107142686843872, + 0.9375, + 0.20357142388820648, + 0.26357144117355347, + 0.375, + 1.0 + ] + } + } + }, + "type": "DistributedRepeatingDataset" + }, + "per_device_batch_size": 8, + "per_device_num_workers": 4 + } +} \ No newline at end of file diff --git a/openvla_dino_siglip_llama2_libero_goal_full_finetune_bs64/config.yaml b/openvla_dino_siglip_llama2_libero_goal_full_finetune_bs64/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dec9b9fa2a59a25ae5608e423884c24a6581ee32 --- /dev/null +++ b/openvla_dino_siglip_llama2_libero_goal_full_finetune_bs64/config.yaml @@ -0,0 +1,293 @@ +eval: + dataset: + transforms: + - img_keys: + - agentview_image + - agentview_image + type: ProcessLiberoEvalInputs + - image_resize_strategy: resize-naive + input_sizes: + - - 3 + - 224 + - 224 + - - 3 + - 224 + - 224 + means: + - - 123.515625 + - 116.04492188 + - 103.59375 + - - 128 + - 128 + - 128 + stds: + - - 58.27148438 + - 57.02636719 + - 57.27539062 + - - 128 + - 128 + - 128 + type: TransformImage + - max_len: null + prompt_suffix: ' ' + tokenizer: + model_path: ./checkpoints/openvla-7b-finetuned-libero-10 + type: PretrainedTokenizer + type: LiberoPromptFromInputs + type: LiberoParquetEvalDataset + denormalize_action: + action_norm_mask: + - true + - true + - true + - true + - true + - true + - false + norm_type: quantile + type: DenormalizeLiberoAction + model_family: openvla + num_steps_wait: 10 + num_trials_per_task: 50 + resize_size: 224 + seed: 7 + task_suite_name: libero_goal + type: LiberoEvalRunner +model: + arch_specifier: no-align+fused-gelu-mlp + freeze_llm_backbone: false + freeze_projector: false + freeze_vision_backbone: false + llm_backbone: + hf_token: null + inference_mode: false + llm_backbone_id: llama2-7b-pure_causal + llm_family: llama + llm_max_length: 2048 + llm_path: ./checkpoints/Llama-2-7b-hf + type: LLaMa2LLMBackbone + name_mapping: + llm_backbone.llm: language_model + vision_backbone.dino_featurizer: vision_backbone.featurizer + vision_backbone.siglip_featurizer: vision_backbone.fused_featurizer + pretrained_name_or_path: ./checkpoints/openvla-7b-finetuned-libero-10 + projector: + fused_vision_dim: 2176 + llm_dim: 4096 + type: FusedMLPProjector + tokenizer: + bins: 256 + max_action: 1 + min_action: -1 + model_path: checkpoints/openvla-7b-finetuned-libero-10 + type: ActionTokenizer + type: OpenVLA + vision_backbone: + dino_config: + file: ./checkpoints/vit_large_patch14_reg4_dinov2.lvd142m/model.safetensors + model_id: dino + image_resize_strategy: resize-naive + siglip_config: + file: ./checkpoints/ViT-SO400M-14-SigLIP/open_clip_model.safetensors + model_id: siglip_224 + type: DinoSigLIPViTBackbone + vision_backbone_id: dinosiglip-vit-so-224px + vla_head: + norm_stats: null + type: OpenVLAHead + vocab_size: 32000 +per_device_num_workers: 8 +runner: + collator: + ignore_idx: -100 + model_max_length: 2048 + pad_token_id: 0 + padding_side: right + pixel_values_dtype: fp16 + type: PaddedCollatorForActionPrediction + enable_gradient_checkpointing: false + enable_mixed_precision_training: true + eval: + dataset: + transforms: + - img_keys: + - agentview_image + - agentview_image + type: ProcessLiberoEvalInputs + - image_resize_strategy: resize-naive + input_sizes: + - - 3 + - 224 + - 224 + - - 3 + - 224 + - 224 + means: + - - 123.515625 + - 116.04492188 + - 103.59375 + - - 128 + - 128 + - 128 + stds: + - - 58.27148438 + - 57.02636719 + - 57.27539062 + - - 128 + - 128 + - 128 + type: TransformImage + - max_len: null + prompt_suffix: ' ' + tokenizer: + model_path: openvla/openvla-7b-finetuned-libero-10 + type: PretrainedTokenizer + type: LiberoPromptFromInputs + type: LiberoParquetEvalDataset + denormalize_action: + action_norm_mask: + - true + - true + - true + - true + - true + - true + - false + norm_type: quantile + type: DenormalizeLiberoAction + model_family: openvla + num_steps_wait: 10 + num_trials_per_task: 50 + resize_size: 224 + seed: 7 + task_suite_name: libero_goal + type: LiberoEvalRunner + learning_rate: 2.0e-05 + lr_scheduler_type: constant + max_epochs: 24 + max_grad_norm: 1.0 + max_keep_ckpts: 1 + metric: + active_trackers: + - jsonl + - wandb + grad_accumulation_steps: 1 + run_dir: work_dirs + type: VLAMetric + window_size: 1 + mixed_precision_dtype: bf16 + sampler: null + type: FSDPTrainRunner + warmup_ratio: 0.0 + weight_decay: 0.0 +train_dataloader: + dataset: + datasets: + action_key: action + action_window_size: 1 + data_root_path: ./datasets/libero_goal_no_noops_lerobotv2.1 + repeat_to_full_length: true + statistic_name: libero_goal_no_noops + train_episode_fraction: 0.95 + transforms: + - dataset_name: libero_goal_no_noops + name_mappings: + actions: + - actions + observation.state: + - states + parquet_keys: + - observation.state + - timestamp + - actions + - info + - stats + - action_masks + type: ProcessParquetInputs + video_keys: + - observation.images.image + - observation.images.image + - action_dim: 7 + action_key: action + action_norm_mask: + - true + - true + - true + - true + - true + - true + - false + action_norm_type: quantile + clip_norm: true + norm_type: quantile + state_key: proprio + state_norm_type: min_max + type: NormalizeStatesAndActions + - action_tokenizer: + bins: 256 + max_action: 1 + min_action: -1 + model_path: ./checkpoints/openvla-7b-finetuned-libero-10 + type: ActionTokenizer + lowercase_task_description: true + type: ParquetPrompter + - max_len: null + tokenizer: + model_path: ./checkpoints/openvla-7b-finetuned-libero-10 + type: PretrainedTokenizer + type: ProcessPrompts + with_labels: true + - height: 224 + type: ResizeImagesLanczos + width: 224 + - means: + - - 123.515625 + - 116.04492188 + - 103.59375 + - - 128 + - 128 + - 128 + stds: + - - 58.27148438 + - 57.02636719 + - 57.27539062 + - - 128 + - 128 + - 128 + type: NormalizeImages + type: ParquetDataset + use_delta: false + window_start_idx: 0 + name_mappings: + action: + - action + observation.state: + - proprio + reshuffle_each_epoch: true + statistic_keys: + - observation.state + - timestamp + - action + statistic_name: libero_goal_no_noops + statistics_overrides: + libero_goal_no_noops: + action: + q01: + - -0.8785714507102966 + - -0.7553571462631226 + - -0.9375 + - -0.1510714292526245 + - -0.1639285683631897 + - -0.13777500048279764 + - 0.0 + q99: + - 0.9375 + - 0.9107142686843872 + - 0.9375 + - 0.20357142388820648 + - 0.26357144117355347 + - 0.375 + - 1.0 + type: DistributedRepeatingDataset + per_device_batch_size: 8 + per_device_num_workers: 4 diff --git a/openvla_dino_siglip_llama2_libero_goal_full_finetune_bs64/dataset_statistics.json b/openvla_dino_siglip_llama2_libero_goal_full_finetune_bs64/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..22dd6c6f23660d7498de75cbb558857c679e39a4 --- /dev/null +++ b/openvla_dino_siglip_llama2_libero_goal_full_finetune_bs64/dataset_statistics.json @@ -0,0 +1,138 @@ +{ + "libero_goal_no_noops": { + "proprio": { + "mean": [ + -0.09891432758878499, + 0.01489584178884142, + 1.067322519907531, + 2.8289916028867363, + 0.31907902813946676, + -0.2782741362135122, + 0.02821884616217808, + -0.02719759491844234 + ], + "std": [ + 0.04140466877133655, + 0.04117920944028847, + 0.037538661473221754, + 0.1955033740750787, + 0.2574273555156476, + 0.12620857483432396, + 0.0053229405182870755, + 0.005316267734440966 + ], + "min": [ + -0.46141287684440613, + -0.30136311054229736, + 0.9083037972450256, + 1.002794623374939, + -1.0517308712005615, + -1.5227035284042358, + -0.0021671096328645945, + -0.042015016078948975 + ], + "max": [ + 0.13241106271743774, + 0.3271525800228119, + 1.472778081893921, + 3.4731650352478027, + 2.676265239715576, + 0.6698114275932312, + 0.04232141748070717, + 0.001021005678921938 + ], + "q01": [ + -0.22800911694063627, + -0.10299188974829282, + 0.9455820491176684, + 2.608259821258135, + -0.18011099436472794, + -0.5618953405895196, + 0.012391739034799726, + -0.039969403267763146 + ], + "q99": [ + -0.01061282617817482, + 0.11139527808191847, + 1.2117906450921032, + 3.168615021869246, + 0.6706572281431679, + 0.05441701961452796, + 0.04007683324960615, + -0.009863127064877238 + ] + }, + "timestamp": { + "mean": [ + 3.354542962472823 + ], + "std": [ + 2.391036718656464 + ], + "min": [ + 0.0 + ], + "max": [ + 17.3 + ], + "q01": null, + "q99": null + }, + "action": { + "mean": [ + 0.04244028081958392, + 0.03443110282231447, + -0.15229553502677498, + -0.0024877518145540465, + 0.02584054000286765, + 0.026984970605938637, + 0.6345212227794035 + ], + "std": [ + 0.15081003273695404, + 0.13262089326077886, + 0.18549323777289492, + 0.020653428159559374, + 0.029405301079120767, + 0.03768659701327122, + 0.1820141409830254 + ], + "min": [ + -0.9375, + -0.9375, + -0.9375, + -0.24214285612106323, + -0.375, + -0.2871428430080414, + 0.0 + ], + "max": [ + 0.9375, + 0.9375, + 0.9375, + 0.3557142913341522, + 0.375, + 0.375, + 1.0 + ], + "q01": [ + -0.8785714507102966, + -0.7553571462631226, + -0.9375, + -0.1510714292526245, + -0.1639285683631897, + -0.13777500048279764, + 0.0 + ], + "q99": [ + 0.9375, + 0.9107142686843872, + 0.9375, + 0.20357142388820648, + 0.26357144117355347, + 0.375, + 1.0 + ] + } + } +} \ No newline at end of file diff --git a/openvla_dino_siglip_llama2_libero_goal_full_finetune_bs64/llm_backbone_config.json b/openvla_dino_siglip_llama2_libero_goal_full_finetune_bs64/llm_backbone_config.json new file mode 100644 index 0000000000000000000000000000000000000000..df908128e7c8157009632737135e61c3972c7e22 --- /dev/null +++ b/openvla_dino_siglip_llama2_libero_goal_full_finetune_bs64/llm_backbone_config.json @@ -0,0 +1,30 @@ +{ + "architectures": [ + "LlamaForCausalLM" + ], + "attention_bias": false, + "attention_dropout": 0.0, + "bos_token_id": 1, + "eos_token_id": 2, + "head_dim": 128, + "hidden_act": "silu", + "hidden_size": 4096, + "initializer_range": 0.02, + "intermediate_size": 11008, + "max_position_embeddings": 4096, + "mlp_bias": false, + "model_type": "llama", + 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'ParquetPrompter'}, {'max_len': None, 'tokenizer': {'model_path': './checkpoints/openvla-7b-finetuned-libero-10', 'type': 'PretrainedTokenizer'}, 'type': 'ProcessPrompts', 'with_labels': True}, {'height': 224, 'type': 'ResizeImagesLanczos', 'width': 224}, {'means': [[123.515625, 116.04492188, 103.59375], [128, 128, 128]], 'stds': [[58.27148438, 57.02636719, 57.27539062], [128, 128, 128]], 'type': 'NormalizeImages'}], 'type': 'ParquetDataset', 'use_delta': False, 'window_start_idx': 0}, 'name_mappings': {'action': ['action'], 'observation.state': ['proprio']}, 'reshuffle_each_epoch': True, 'statistics_overrides': {'libero_goal_no_noops': {'action': {'q01': [-0.8785714507102966, -0.7553571462631226, -0.9375, -0.1510714292526245, -0.1639285683631897, -0.13777500048279764, 0.0], 'q99': [0.9375, 0.9107142686843872, 0.9375, 0.20357142388820648, 0.26357144117355347, 0.375, 1.0]}}}, 'statistic_keys': ['observation.state', 'timestamp', 'action'], 'statistic_name': 'libero_goal_no_noops', 'type': 'DistributedRepeatingDataset'}, 'per_device_batch_size': 8, 'per_device_num_workers': 4}, 'runner': {'collator': {'ignore_idx': -100, 'model_max_length': 2048, 'pad_token_id': 0, 'padding_side': 'right', 'pixel_values_dtype': 'fp16', 'type': 'PaddedCollatorForActionPrediction'}, 'enable_gradient_checkpointing': False, 'enable_mixed_precision_training': True, 'eval': {'dataset': {'transforms': [{'img_keys': ['agentview_image', 'agentview_image'], 'type': 'ProcessLiberoEvalInputs'}, {'image_resize_strategy': 'resize-naive', 'input_sizes': [[3, 224, 224], [3, 224, 224]], 'means': [[123.515625, 116.04492188, 103.59375], [128, 128, 128]], 'stds': [[58.27148438, 57.02636719, 57.27539062], [128, 128, 128]], 'type': 'TransformImage'}, {'max_len': None, 'prompt_suffix': ' ', 'tokenizer': {'model_path': 'openvla/openvla-7b-finetuned-libero-10', 'type': 'PretrainedTokenizer'}, 'type': 'LiberoPromptFromInputs'}], 'type': 'LiberoParquetEvalDataset'}, 'denormalize_action': {'action_norm_mask': [True, True, True, True, True, True, False], 'norm_type': 'quantile', 'type': 'DenormalizeLiberoAction'}, 'model_family': 'openvla', 'num_steps_wait': 10, 'num_trials_per_task': 50, 'resize_size': 224, 'seed': 7, 'task_suite_name': 'libero_goal', 'type': 'LiberoEvalRunner'}, 'learning_rate': 2e-05, 'lr_scheduler_type': 'constant', 'max_epochs': 24, 'max_grad_norm': 1.0, 'metric': {'active_trackers': ('jsonl', 'wandb'), 'grad_accumulation_steps': 1, 'run_dir': 'work_dirs/openvla_dino_siglip_llama2_libero_goal_full_finetune_ba9d13a4_bs64', 'type': 'VLAMetric', 'window_size': 1, 'hparams': Config (path: configs/openvla/openvla_dino_siglip_llama2_libero_goal_full_finetune.py): {...}, 'run_id': 'openvla_dino_siglip_llama2_libero_goal_full_finetune_2026_05_27_11_59_42'}, 'mixed_precision_dtype': 'bf16', 'sampler': None, 'type': 'FSDPTrainRunner', 'warmup_ratio': 0.0, 'weight_decay': 0.0, 'max_keep_ckpts': 1, 'cfg': Config (path: configs/openvla/openvla_dino_siglip_llama2_libero_goal_full_finetune.py): {...}, 'args': Namespace(config='configs/openvla/openvla_dino_siglip_llama2_libero_goal_full_finetune.py', work_dir='work_dirs/openvla_dino_siglip_llama2_libero_goal_full_finetune_ba9d13a4_bs64', cfg_options={'train_dataloader.per_device_batch_size': 8, 'per_device_num_workers': 8, 'runner.max_keep_ckpts': 1}, eval_after_train=True, resume_from=None)}, 'eval': {'dataset': {'transforms': [{'img_keys': ['agentview_image', 'agentview_image'], 'type': 'ProcessLiberoEvalInputs'}, {'image_resize_strategy': 'resize-naive', 'input_sizes': [[3, 224, 224], [3, 224, 224]], 'means': [[123.515625, 116.04492188, 103.59375], [128, 128, 128]], 'stds': [[58.27148438, 57.02636719, 57.27539062], [128, 128, 128]], 'type': 'TransformImage'}, {'max_len': None, 'prompt_suffix': ' ', 'tokenizer': {'model_path': './checkpoints/openvla-7b-finetuned-libero-10', 'type': 'PretrainedTokenizer'}, 'type': 'LiberoPromptFromInputs'}], 'type': 'LiberoParquetEvalDataset'}, 'denormalize_action': {'action_norm_mask': [True, True, True, True, True, True, False], 'norm_type': 'quantile', 'type': 'DenormalizeLiberoAction'}, 'model_family': 'openvla', 'num_steps_wait': 10, 'num_trials_per_task': 50, 'resize_size': 224, 'seed': 7, 'task_suite_name': 'libero_goal', 'type': 'LiberoEvalRunner'}, 'per_device_num_workers': 8}, 'args': Namespace(config='configs/openvla/openvla_dino_siglip_llama2_libero_goal_full_finetune.py', work_dir='work_dirs/openvla_dino_siglip_llama2_libero_goal_full_finetune_ba9d13a4_bs64', cfg_options={'train_dataloader.per_device_batch_size': 8, 'per_device_num_workers': 8, 'runner.max_keep_ckpts': 1}, eval_after_train=True, resume_from=None)}, 'eval': {'dataset': {'transforms': [{'img_keys': ['agentview_image', 'agentview_image'], 'type': 'ProcessLiberoEvalInputs'}, {'image_resize_strategy': 'resize-naive', 'input_sizes': [[3, 224, 224], [3, 224, 224]], 'means': [[123.515625, 116.04492188, 103.59375], [128, 128, 128]], 'stds': [[58.27148438, 57.02636719, 57.27539062], [128, 128, 128]], 'type': 'TransformImage'}, {'max_len': None, 'prompt_suffix': ' ', 'tokenizer': {'model_path': './checkpoints/openvla-7b-finetuned-libero-10', 'type': 'PretrainedTokenizer'}, 'type': 'LiberoPromptFromInputs'}], 'type': 'LiberoParquetEvalDataset'}, 'denormalize_action': {'action_norm_mask': [True, True, True, True, True, True, False], 'norm_type': 'quantile', 'type': 'DenormalizeLiberoAction'}, 'model_family': 'openvla', 'num_steps_wait': 10, 'num_trials_per_task': 50, 'resize_size': 224, 'seed': 7, 'task_suite_name': 'libero_goal', 'type': 'LiberoEvalRunner'}, 'per_device_num_workers': 8}", "run_id": "openvla_dino_siglip_llama2_libero_goal_full_finetune_2026_05_27_11_59_42"}