Rename dit4dit_libero_all_full_finetune_bc071270ff2_bs256 to dit4dit_libero_all_full_finetune_bs256
Browse files- dit4dit_libero_all_full_finetune_bc071270ff2_bs256/checkpoints/step-120000-epoch-147-loss=0.0439.safetensors +0 -3
- dit4dit_libero_all_full_finetune_bc071270ff2_bs256/config.json +0 -1359
- dit4dit_libero_all_full_finetune_bc071270ff2_bs256/config.yaml +0 -1082
- dit4dit_libero_all_full_finetune_bc071270ff2_bs256/dataset_statistics.json +0 -133
- dit4dit_libero_all_full_finetune_bc071270ff2_bs256/dit4dit_libero_all_full_finetune_2026_08_12_20_51_03.jsonl +0 -3
- dit4dit_libero_all_full_finetune_bc071270ff2_bs256/run-metrics.jsonl +0 -1
- dit4dit_libero_all_full_finetune_bc071270ff2_bs256/tokenizer/added_tokens.json +0 -24
- dit4dit_libero_all_full_finetune_bc071270ff2_bs256/tokenizer/chat_template.jinja +0 -7
- dit4dit_libero_all_full_finetune_bc071270ff2_bs256/tokenizer/merges.txt +0 -0
- dit4dit_libero_all_full_finetune_bc071270ff2_bs256/tokenizer/special_tokens_map.json +0 -31
- dit4dit_libero_all_full_finetune_bc071270ff2_bs256/tokenizer/tokenizer.json +0 -3
- dit4dit_libero_all_full_finetune_bc071270ff2_bs256/tokenizer/tokenizer_config.json +0 -207
- dit4dit_libero_all_full_finetune_bc071270ff2_bs256/tokenizer/vocab.json +0 -0
dit4dit_libero_all_full_finetune_bc071270ff2_bs256/checkpoints/step-120000-epoch-147-loss=0.0439.safetensors
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|
dit4dit_libero_all_full_finetune_bc071270ff2_bs256/config.yaml
DELETED
|
@@ -1,1082 +0,0 @@
|
|
| 1 |
-
_action_dim: 8
|
| 2 |
-
_action_horizon: 8
|
| 3 |
-
_action_norm_mask:
|
| 4 |
-
- true
|
| 5 |
-
- true
|
| 6 |
-
- true
|
| 7 |
-
- true
|
| 8 |
-
- true
|
| 9 |
-
- true
|
| 10 |
-
- false
|
| 11 |
-
_ckpt_root: ./checkpoints
|
| 12 |
-
_cosmos_base_model: ./checkpoints/Cosmos-Predict2.5-2B
|
| 13 |
-
_cosmos_revision: diffusers/base/post-trained
|
| 14 |
-
_cosmos_tokenizer:
|
| 15 |
-
model_max_length: 512
|
| 16 |
-
model_path: ./checkpoints/Cosmos-Predict2.5-2B/tokenizer
|
| 17 |
-
type: PretrainedTokenizer
|
| 18 |
-
_dit4dit_parquet_dataset:
|
| 19 |
-
action_key: action
|
| 20 |
-
action_window_size: 8
|
| 21 |
-
frame_window_size: 9
|
| 22 |
-
statistic_name: franka
|
| 23 |
-
transforms:
|
| 24 |
-
- frame_stride: 2
|
| 25 |
-
name_mappings:
|
| 26 |
-
actions:
|
| 27 |
-
- actions
|
| 28 |
-
observation.state:
|
| 29 |
-
- states
|
| 30 |
-
parquet_keys:
|
| 31 |
-
- observation.state
|
| 32 |
-
- timestamp
|
| 33 |
-
- actions
|
| 34 |
-
- info
|
| 35 |
-
- stats
|
| 36 |
-
- action_masks
|
| 37 |
-
type: ProcessParquetInputs
|
| 38 |
-
video_keys:
|
| 39 |
-
- observation.images.image
|
| 40 |
-
- observation.images.wrist_image
|
| 41 |
-
- input_keys:
|
| 42 |
-
- prompt
|
| 43 |
-
- task_description
|
| 44 |
-
- lang
|
| 45 |
-
- instruction
|
| 46 |
-
- instructions
|
| 47 |
-
- text
|
| 48 |
-
output_key: prompt
|
| 49 |
-
remove_source_keys: true
|
| 50 |
-
type: CanonicalizePrompt
|
| 51 |
-
- input_key: prompt
|
| 52 |
-
remove_input_key: true
|
| 53 |
-
tokenizer:
|
| 54 |
-
model_max_length: 512
|
| 55 |
-
model_path: ./checkpoints/Cosmos-Predict2.5-2B/tokenizer
|
| 56 |
-
type: PretrainedTokenizer
|
| 57 |
-
type: ProcessCosmos25Prompt
|
| 58 |
-
- backend: torch
|
| 59 |
-
height: 224
|
| 60 |
-
output_layout: nchw
|
| 61 |
-
scale_divisor: 255.0
|
| 62 |
-
type: ResizeImages
|
| 63 |
-
width: 224
|
| 64 |
-
- frame_stride: 1
|
| 65 |
-
keep_time_dim: true
|
| 66 |
-
key: images
|
| 67 |
-
num_views: 2
|
| 68 |
-
type: ConcatImagesHorizontally
|
| 69 |
-
views_first: true
|
| 70 |
-
- backend: torch
|
| 71 |
-
interleave: true
|
| 72 |
-
keys:
|
| 73 |
-
- states
|
| 74 |
-
target_dims:
|
| 75 |
-
states: 16
|
| 76 |
-
type: SinCosKeys
|
| 77 |
-
- action_dim: null
|
| 78 |
-
action_key: action
|
| 79 |
-
action_norm_mask:
|
| 80 |
-
- true
|
| 81 |
-
- true
|
| 82 |
-
- true
|
| 83 |
-
- true
|
| 84 |
-
- true
|
| 85 |
-
- true
|
| 86 |
-
- false
|
| 87 |
-
action_norm_type: min_max
|
| 88 |
-
clip_norm: false
|
| 89 |
-
norm_type: min_max
|
| 90 |
-
normalization_epsilon: 0.0
|
| 91 |
-
output_dtype: float16
|
| 92 |
-
preserve_input_dtype: true
|
| 93 |
-
state_dim: null
|
| 94 |
-
state_key: proprio
|
| 95 |
-
state_norm_type: none
|
| 96 |
-
type: NormalizeStatesAndActions
|
| 97 |
-
- action_dim: 8
|
| 98 |
-
type: PadActionsAndActionMasks
|
| 99 |
-
valid_action_dim: 7
|
| 100 |
-
- action_dim: 8
|
| 101 |
-
action_horizon: 8
|
| 102 |
-
mark_all_action_steps_valid: true
|
| 103 |
-
state_dim: 16
|
| 104 |
-
type: PrepareDiT4DiTInputs
|
| 105 |
-
valid_action_dim: 7
|
| 106 |
-
type: ParquetDataset
|
| 107 |
-
use_delta: false
|
| 108 |
-
window_start_idx: 0
|
| 109 |
-
_dit4dit_train_transforms:
|
| 110 |
-
- frame_stride: 2
|
| 111 |
-
name_mappings:
|
| 112 |
-
actions:
|
| 113 |
-
- actions
|
| 114 |
-
observation.state:
|
| 115 |
-
- states
|
| 116 |
-
parquet_keys:
|
| 117 |
-
- observation.state
|
| 118 |
-
- timestamp
|
| 119 |
-
- actions
|
| 120 |
-
- info
|
| 121 |
-
- stats
|
| 122 |
-
- action_masks
|
| 123 |
-
type: ProcessParquetInputs
|
| 124 |
-
video_keys:
|
| 125 |
-
- observation.images.image
|
| 126 |
-
- observation.images.wrist_image
|
| 127 |
-
- input_keys:
|
| 128 |
-
- prompt
|
| 129 |
-
- task_description
|
| 130 |
-
- lang
|
| 131 |
-
- instruction
|
| 132 |
-
- instructions
|
| 133 |
-
- text
|
| 134 |
-
output_key: prompt
|
| 135 |
-
remove_source_keys: true
|
| 136 |
-
type: CanonicalizePrompt
|
| 137 |
-
- input_key: prompt
|
| 138 |
-
remove_input_key: true
|
| 139 |
-
tokenizer:
|
| 140 |
-
model_max_length: 512
|
| 141 |
-
model_path: ./checkpoints/Cosmos-Predict2.5-2B/tokenizer
|
| 142 |
-
type: PretrainedTokenizer
|
| 143 |
-
type: ProcessCosmos25Prompt
|
| 144 |
-
- backend: torch
|
| 145 |
-
height: 224
|
| 146 |
-
output_layout: nchw
|
| 147 |
-
scale_divisor: 255.0
|
| 148 |
-
type: ResizeImages
|
| 149 |
-
width: 224
|
| 150 |
-
- frame_stride: 1
|
| 151 |
-
keep_time_dim: true
|
| 152 |
-
key: images
|
| 153 |
-
num_views: 2
|
| 154 |
-
type: ConcatImagesHorizontally
|
| 155 |
-
views_first: true
|
| 156 |
-
- backend: torch
|
| 157 |
-
interleave: true
|
| 158 |
-
keys:
|
| 159 |
-
- states
|
| 160 |
-
target_dims:
|
| 161 |
-
states: 16
|
| 162 |
-
type: SinCosKeys
|
| 163 |
-
- action_dim: null
|
| 164 |
-
action_key: action
|
| 165 |
-
action_norm_mask:
|
| 166 |
-
- true
|
| 167 |
-
- true
|
| 168 |
-
- true
|
| 169 |
-
- true
|
| 170 |
-
- true
|
| 171 |
-
- true
|
| 172 |
-
- false
|
| 173 |
-
action_norm_type: min_max
|
| 174 |
-
clip_norm: false
|
| 175 |
-
norm_type: min_max
|
| 176 |
-
normalization_epsilon: 0.0
|
| 177 |
-
output_dtype: float16
|
| 178 |
-
preserve_input_dtype: true
|
| 179 |
-
state_dim: null
|
| 180 |
-
state_key: proprio
|
| 181 |
-
state_norm_type: none
|
| 182 |
-
type: NormalizeStatesAndActions
|
| 183 |
-
- action_dim: 8
|
| 184 |
-
type: PadActionsAndActionMasks
|
| 185 |
-
valid_action_dim: 7
|
| 186 |
-
- action_dim: 8
|
| 187 |
-
action_horizon: 8
|
| 188 |
-
mark_all_action_steps_valid: true
|
| 189 |
-
state_dim: 16
|
| 190 |
-
type: PrepareDiT4DiTInputs
|
| 191 |
-
valid_action_dim: 7
|
| 192 |
-
_frame_window_size: 9
|
| 193 |
-
_image_frame_stride: 2
|
| 194 |
-
_image_size: 224
|
| 195 |
-
_libero_data_roots:
|
| 196 |
-
- ./datasets/libero_object_no_noops_lerobotv2.1
|
| 197 |
-
- ./datasets/libero_goal_no_noops_lerobotv2.1
|
| 198 |
-
- ./datasets/libero_spatial_no_noops_lerobotv2.1
|
| 199 |
-
- ./datasets/libero_10_no_noops_lerobotv2.1
|
| 200 |
-
_official_dataset_statistics:
|
| 201 |
-
franka:
|
| 202 |
-
action:
|
| 203 |
-
mask:
|
| 204 |
-
- true
|
| 205 |
-
- true
|
| 206 |
-
- true
|
| 207 |
-
- true
|
| 208 |
-
- true
|
| 209 |
-
- true
|
| 210 |
-
- false
|
| 211 |
-
max:
|
| 212 |
-
- 0.9375
|
| 213 |
-
- 0.9375
|
| 214 |
-
- 0.9375
|
| 215 |
-
- 0.3557142913341522
|
| 216 |
-
- 0.375
|
| 217 |
-
- 0.375
|
| 218 |
-
- 1.0
|
| 219 |
-
mean:
|
| 220 |
-
- 0.07237596483901143
|
| 221 |
-
- 0.08987006871029735
|
| 222 |
-
- -0.10144743137061596
|
| 223 |
-
- -0.00045383188989944756
|
| 224 |
-
- 0.006273590726777911
|
| 225 |
-
- -0.003878799732774496
|
| 226 |
-
- 0.524486355483532
|
| 227 |
-
min:
|
| 228 |
-
- -0.9375
|
| 229 |
-
- -0.9375
|
| 230 |
-
- -0.9375
|
| 231 |
-
- -0.2582142949104309
|
| 232 |
-
- -0.375
|
| 233 |
-
- -0.3675000071525574
|
| 234 |
-
- 0.0
|
| 235 |
-
q01:
|
| 236 |
-
- -0.8785714507102966
|
| 237 |
-
- -0.8758928775787354
|
| 238 |
-
- -0.9375
|
| 239 |
-
- -0.1510714292526245
|
| 240 |
-
- -0.20678570866584778
|
| 241 |
-
- -0.2742857038974762
|
| 242 |
-
- 0.0
|
| 243 |
-
q99:
|
| 244 |
-
- 0.9375
|
| 245 |
-
- 0.9107142686843872
|
| 246 |
-
- 0.9375
|
| 247 |
-
- 0.20357142388820648
|
| 248 |
-
- 0.26357144117355347
|
| 249 |
-
- 0.375
|
| 250 |
-
- 1.0
|
| 251 |
-
std:
|
| 252 |
-
- 0.3498823308902479
|
| 253 |
-
- 0.37794140366375184
|
| 254 |
-
- 0.460084266976933
|
| 255 |
-
- 0.0403885784928603
|
| 256 |
-
- 0.06616144248501059
|
| 257 |
-
- 0.07763074391911857
|
| 258 |
-
- 0.4994683356809767
|
| 259 |
-
num_trajectories: 1693
|
| 260 |
-
num_transitions: 273465
|
| 261 |
-
state:
|
| 262 |
-
max:
|
| 263 |
-
- 0.21031762659549713
|
| 264 |
-
- 0.39128610491752625
|
| 265 |
-
- 1.3660105466842651
|
| 266 |
-
- 3.6714255809783936
|
| 267 |
-
- 3.560650587081909
|
| 268 |
-
- 1.386339545249939
|
| 269 |
-
- 0.04233968257904053
|
| 270 |
-
- 0.0013633022317662835
|
| 271 |
-
mean:
|
| 272 |
-
- -0.04889854742214084
|
| 273 |
-
- 0.03689368185587227
|
| 274 |
-
- 0.7890402488410473
|
| 275 |
-
- 2.9771945476531982
|
| 276 |
-
- -0.1417286954820156
|
| 277 |
-
- -0.11769362539052963
|
| 278 |
-
- 0.026436020154505968
|
| 279 |
-
- -0.02665513101965189
|
| 280 |
-
min:
|
| 281 |
-
- -0.4828203022480011
|
| 282 |
-
- -0.3255046010017395
|
| 283 |
-
- 0.008128180168569088
|
| 284 |
-
- 0.35277295112609863
|
| 285 |
-
- -3.641430377960205
|
| 286 |
-
- -1.842738389968872
|
| 287 |
-
- -0.0013586411951109767
|
| 288 |
-
- -0.042040832340717316
|
| 289 |
-
q01:
|
| 290 |
-
- -0.42401049643754957
|
| 291 |
-
- -0.2838300323486328
|
| 292 |
-
- 0.009925739830359817
|
| 293 |
-
- 1.3085840785503386
|
| 294 |
-
- -2.886677579879761
|
| 295 |
-
- -1.1599004411697387
|
| 296 |
-
- 0.001503719249740243
|
| 297 |
-
- -0.040336399003863335
|
| 298 |
-
q99:
|
| 299 |
-
- 0.1530261474847791
|
| 300 |
-
- 0.3629165390133857
|
| 301 |
-
- 1.2910678112506866
|
| 302 |
-
- 3.303542451858519
|
| 303 |
-
- 2.7496529006957933
|
| 304 |
-
- 0.6893712210655194
|
| 305 |
-
- 0.040610933862626555
|
| 306 |
-
- -0.0015016929572448147
|
| 307 |
-
std:
|
| 308 |
-
- 0.10639013941746686
|
| 309 |
-
- 0.15115733130675715
|
| 310 |
-
- 0.38406895599530033
|
| 311 |
-
- 0.3530238395244304
|
| 312 |
-
- 0.8227341427331599
|
| 313 |
-
- 0.32357567121520087
|
| 314 |
-
- 0.014583991652936385
|
| 315 |
-
- 0.014467005007200339
|
| 316 |
-
_official_dit4dit_ckpt: ./checkpoints/dit4dit-model/dit4dit_libero/final_model/pytorch_model.pt
|
| 317 |
-
_ori_action_dim: 7
|
| 318 |
-
_prompt_input_keys:
|
| 319 |
-
- prompt
|
| 320 |
-
- task_description
|
| 321 |
-
- lang
|
| 322 |
-
- instruction
|
| 323 |
-
- instructions
|
| 324 |
-
- text
|
| 325 |
-
_state_dim: 16
|
| 326 |
-
eval:
|
| 327 |
-
dataset:
|
| 328 |
-
img_buffer_len: 1
|
| 329 |
-
require_lang_tokens: true
|
| 330 |
-
transforms:
|
| 331 |
-
- input_keys:
|
| 332 |
-
- prompt
|
| 333 |
-
- task_description
|
| 334 |
-
- lang
|
| 335 |
-
- instruction
|
| 336 |
-
- instructions
|
| 337 |
-
- text
|
| 338 |
-
output_key: prompt
|
| 339 |
-
remove_source_keys: true
|
| 340 |
-
type: CanonicalizePrompt
|
| 341 |
-
- input_key: prompt
|
| 342 |
-
remove_input_key: true
|
| 343 |
-
tokenizer:
|
| 344 |
-
model_max_length: 512
|
| 345 |
-
model_path: ./checkpoints/Cosmos-Predict2.5-2B/tokenizer
|
| 346 |
-
type: PretrainedTokenizer
|
| 347 |
-
type: ProcessCosmos25Prompt
|
| 348 |
-
- image_size: 224
|
| 349 |
-
img_keys:
|
| 350 |
-
- agentview_image
|
| 351 |
-
- robot0_eye_in_hand_image
|
| 352 |
-
type: ProcessDiT4DiTLiberoEvalInputs
|
| 353 |
-
- gripper_key: robot0_gripper_qpos
|
| 354 |
-
norm_type: none
|
| 355 |
-
out_key: states
|
| 356 |
-
pos_key: robot0_eef_pos
|
| 357 |
-
quat_key: robot0_eef_quat
|
| 358 |
-
state_dim: null
|
| 359 |
-
type: LiberoProprioFromInputs
|
| 360 |
-
- interleave: true
|
| 361 |
-
keys:
|
| 362 |
-
- states
|
| 363 |
-
target_dims:
|
| 364 |
-
states: 16
|
| 365 |
-
type: SinCosKeys
|
| 366 |
-
- image_key: pixel_values
|
| 367 |
-
require_actions: false
|
| 368 |
-
state_dim: 16
|
| 369 |
-
type: PrepareDiT4DiTInputs
|
| 370 |
-
type: LiberoParquetEvalDataset
|
| 371 |
-
denormalize_action:
|
| 372 |
-
action_dim: 7
|
| 373 |
-
action_norm_mask:
|
| 374 |
-
- true
|
| 375 |
-
- true
|
| 376 |
-
- true
|
| 377 |
-
- true
|
| 378 |
-
- true
|
| 379 |
-
- true
|
| 380 |
-
- false
|
| 381 |
-
clip_normalized_action: true
|
| 382 |
-
invert_gripper_action: true
|
| 383 |
-
norm_type: min_max
|
| 384 |
-
normalize_gripper_action: true
|
| 385 |
-
type: DenormalizeLiberoAction
|
| 386 |
-
enable_mixed_precision_training: false
|
| 387 |
-
eval_chunk_size: 8
|
| 388 |
-
mixed_precision_dtype: bf16
|
| 389 |
-
model_family: dit4dit
|
| 390 |
-
norm_stats_key: franka
|
| 391 |
-
num_steps_wait: 10
|
| 392 |
-
num_trials_per_task: 50
|
| 393 |
-
resize_size: 224
|
| 394 |
-
seed: 7
|
| 395 |
-
task_suite_name:
|
| 396 |
-
- libero_spatial
|
| 397 |
-
- libero_object
|
| 398 |
-
- libero_goal
|
| 399 |
-
- libero_10
|
| 400 |
-
truncate_action_chunk_at_horizon: true
|
| 401 |
-
type: LiberoEvalRunner
|
| 402 |
-
inference_model:
|
| 403 |
-
freeze_vlm_backbone: false
|
| 404 |
-
name_mapping: null
|
| 405 |
-
pretrained_name_or_path: null
|
| 406 |
-
repeated_diffusion_steps: 4
|
| 407 |
-
strict_mapping: false
|
| 408 |
-
type: DiT4DiTVLA
|
| 409 |
-
vla_head:
|
| 410 |
-
action_dim: 8
|
| 411 |
-
action_horizon: 8
|
| 412 |
-
action_model_type: DiT-B
|
| 413 |
-
add_pos_embed: true
|
| 414 |
-
diffusion_model_cfg:
|
| 415 |
-
cross_attention_dim: 2048
|
| 416 |
-
dropout: 0.2
|
| 417 |
-
final_dropout: true
|
| 418 |
-
interleave_self_attention: true
|
| 419 |
-
norm_type: ada_norm
|
| 420 |
-
num_layers: 16
|
| 421 |
-
output_dim: 2560
|
| 422 |
-
positional_embeddings: null
|
| 423 |
-
future_action_window_size: 7
|
| 424 |
-
hidden_size: 2560
|
| 425 |
-
max_seq_len: 1024
|
| 426 |
-
noise_beta_alpha: 1.5
|
| 427 |
-
noise_beta_beta: 1.0
|
| 428 |
-
noise_s: 0.999
|
| 429 |
-
num_inference_timesteps: 4
|
| 430 |
-
num_timestep_buckets: 1000
|
| 431 |
-
ori_action_dim: 7
|
| 432 |
-
state_dim: 16
|
| 433 |
-
type: DiT4DiTActionHead
|
| 434 |
-
vlm_backbone:
|
| 435 |
-
base_model: ./checkpoints/Cosmos-Predict2.5-2B
|
| 436 |
-
conditional_frame_timestep: 0.0001
|
| 437 |
-
detach_hidden_states: true
|
| 438 |
-
extract_layer: 17
|
| 439 |
-
fixed_seed: null
|
| 440 |
-
flow_matching_high_sigma_min: null
|
| 441 |
-
flow_matching_high_sigma_ratio: null
|
| 442 |
-
flow_matching_time_distribution: uniform
|
| 443 |
-
frozen_submodules:
|
| 444 |
-
- text_encoder
|
| 445 |
-
- vae
|
| 446 |
-
fsdp_min_num_params: 0
|
| 447 |
-
future_loss_type: flow_matching
|
| 448 |
-
local_files_only: true
|
| 449 |
-
max_sequence_length: 512
|
| 450 |
-
num_frames_out: 5
|
| 451 |
-
num_inference_steps: 1
|
| 452 |
-
revision: diffusers/base/post-trained
|
| 453 |
-
split_future_frames: true
|
| 454 |
-
torch_dtype: bf16
|
| 455 |
-
trainable: true
|
| 456 |
-
type: Cosmos25Backbone
|
| 457 |
-
model:
|
| 458 |
-
freeze_vlm_backbone: false
|
| 459 |
-
name_mapping:
|
| 460 |
-
vla_head: action_model
|
| 461 |
-
vlm_backbone.text_encoder: backbone_interface.extractor.text_encoder
|
| 462 |
-
vlm_backbone.transformer: backbone_interface.extractor.transformer
|
| 463 |
-
vlm_backbone.vae: backbone_interface.extractor.vae
|
| 464 |
-
pretrained_name_or_path: null
|
| 465 |
-
repeated_diffusion_steps: 4
|
| 466 |
-
strict_mapping: false
|
| 467 |
-
type: DiT4DiTVLA
|
| 468 |
-
vla_head:
|
| 469 |
-
action_dim: 8
|
| 470 |
-
action_horizon: 8
|
| 471 |
-
action_model_type: DiT-B
|
| 472 |
-
add_pos_embed: true
|
| 473 |
-
diffusion_model_cfg:
|
| 474 |
-
cross_attention_dim: 2048
|
| 475 |
-
dropout: 0.2
|
| 476 |
-
final_dropout: true
|
| 477 |
-
interleave_self_attention: true
|
| 478 |
-
norm_type: ada_norm
|
| 479 |
-
num_layers: 16
|
| 480 |
-
output_dim: 2560
|
| 481 |
-
positional_embeddings: null
|
| 482 |
-
future_action_window_size: 7
|
| 483 |
-
hidden_size: 2560
|
| 484 |
-
max_seq_len: 1024
|
| 485 |
-
noise_beta_alpha: 1.5
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| 486 |
-
noise_beta_beta: 1.0
|
| 487 |
-
noise_s: 0.999
|
| 488 |
-
num_inference_timesteps: 4
|
| 489 |
-
num_timestep_buckets: 1000
|
| 490 |
-
ori_action_dim: 7
|
| 491 |
-
state_dim: 16
|
| 492 |
-
type: DiT4DiTActionHead
|
| 493 |
-
vlm_backbone:
|
| 494 |
-
base_model: ./checkpoints/Cosmos-Predict2.5-2B
|
| 495 |
-
conditional_frame_timestep: 0.0001
|
| 496 |
-
detach_hidden_states: true
|
| 497 |
-
extract_layer: 17
|
| 498 |
-
fixed_seed: null
|
| 499 |
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flow_matching_high_sigma_min: null
|
| 500 |
-
flow_matching_high_sigma_ratio: null
|
| 501 |
-
flow_matching_time_distribution: uniform
|
| 502 |
-
frozen_submodules:
|
| 503 |
-
- text_encoder
|
| 504 |
-
- vae
|
| 505 |
-
fsdp_min_num_params: 0
|
| 506 |
-
future_loss_type: flow_matching
|
| 507 |
-
local_files_only: true
|
| 508 |
-
max_sequence_length: 512
|
| 509 |
-
num_frames_out: 5
|
| 510 |
-
num_inference_steps: 1
|
| 511 |
-
revision: diffusers/base/post-trained
|
| 512 |
-
split_future_frames: true
|
| 513 |
-
torch_dtype: bf16
|
| 514 |
-
trainable: true
|
| 515 |
-
type: Cosmos25Backbone
|
| 516 |
-
official_eval_task_suites:
|
| 517 |
-
- libero_spatial
|
| 518 |
-
- libero_object
|
| 519 |
-
- libero_goal
|
| 520 |
-
- libero_10
|
| 521 |
-
runner:
|
| 522 |
-
change_key_name: false
|
| 523 |
-
collator:
|
| 524 |
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keys:
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| 525 |
-
- states
|
| 526 |
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- timestamp
|
| 527 |
-
- images
|
| 528 |
-
- img_masks
|
| 529 |
-
- actions
|
| 530 |
-
- action_masks
|
| 531 |
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- frame_masks
|
| 532 |
-
- lang_tokens
|
| 533 |
-
- lang_masks
|
| 534 |
-
meta_keys:
|
| 535 |
-
- info
|
| 536 |
-
- stats
|
| 537 |
-
type: DictCollator
|
| 538 |
-
enable_gradient_checkpointing: false
|
| 539 |
-
enable_mixed_precision_training: true
|
| 540 |
-
grad_accumulation_steps: 2
|
| 541 |
-
lr_scheduler:
|
| 542 |
-
min_lr: 5.0e-07
|
| 543 |
-
type: cosine_with_min_lr
|
| 544 |
-
warmup_steps: 10000
|
| 545 |
-
max_grad_norm: 1.0
|
| 546 |
-
max_keep_ckpts: 2
|
| 547 |
-
max_steps: 160000
|
| 548 |
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metric:
|
| 549 |
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active_trackers:
|
| 550 |
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- jsonl
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| 551 |
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- wandb
|
| 552 |
-
grad_accumulation_steps: 1
|
| 553 |
-
run_dir: work_dirs
|
| 554 |
-
type: VLAMetric
|
| 555 |
-
window_size: 1
|
| 556 |
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mixed_precision_dtype: bf16
|
| 557 |
-
optimizer:
|
| 558 |
-
betas:
|
| 559 |
-
- 0.9
|
| 560 |
-
- 0.95
|
| 561 |
-
eps: 1.0e-08
|
| 562 |
-
lr: 3.0e-05
|
| 563 |
-
paramwise_learning_rate:
|
| 564 |
-
vla_head: 0.0001
|
| 565 |
-
vlm_backbone.transformer: 0.0001
|
| 566 |
-
type: AdamW
|
| 567 |
-
weight_decay: 1.0e-08
|
| 568 |
-
pre_fsdp_param_dtype: fp32
|
| 569 |
-
reduce_in_full_precision: false
|
| 570 |
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sampler: null
|
| 571 |
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save_iter_interval: 40000
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| 572 |
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sharding_strategy: shard-grad-op
|
| 573 |
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tokenizer:
|
| 574 |
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model_max_length: 512
|
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model_path: ./checkpoints/Cosmos-Predict2.5-2B/tokenizer
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type: PretrainedTokenizer
|
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type: FSDPTrainRunner
|
| 578 |
-
seed: 42
|
| 579 |
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train_dataloader:
|
| 580 |
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dataset:
|
| 581 |
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dataset_statistics:
|
| 582 |
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franka:
|
| 583 |
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action:
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| 584 |
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mask:
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| 585 |
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- true
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- true
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- true
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- true
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max:
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mean:
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min:
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- -0.9375
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| 612 |
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- -0.375
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| 614 |
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q01:
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| 617 |
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| 619 |
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- -0.9375
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| 623 |
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- 0.0
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q99:
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| 631 |
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std:
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num_trajectories: 1693
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state:
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max:
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mean:
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- 0.03689368185587227
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min:
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| 668 |
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- -0.0013586411951109767
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| 669 |
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| 670 |
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q01:
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| 671 |
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| 672 |
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| 673 |
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- 0.009925739830359817
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| 674 |
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| 676 |
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| 677 |
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- -0.040336399003863335
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| 679 |
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q99:
|
| 680 |
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- 0.1530261474847791
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| 681 |
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- 0.3629165390133857
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| 682 |
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- 1.2910678112506866
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| 683 |
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| 684 |
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| 686 |
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- 0.040610933862626555
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- -0.0015016929572448147
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std:
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| 689 |
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- 0.10639013941746686
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| 690 |
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- 0.15115733130675715
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| 691 |
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- 0.38406895599530033
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| 692 |
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- 0.3530238395244304
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| 693 |
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- 0.8227341427331599
|
| 694 |
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- 0.32357567121520087
|
| 695 |
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- 0.014583991652936385
|
| 696 |
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- 0.014467005007200339
|
| 697 |
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datasets:
|
| 698 |
-
- action_key: action
|
| 699 |
-
action_window_size: 8
|
| 700 |
-
data_root_path: ./datasets/libero_object_no_noops_lerobotv2.1
|
| 701 |
-
frame_window_size: 9
|
| 702 |
-
statistic_name: franka
|
| 703 |
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transforms:
|
| 704 |
-
- frame_stride: 2
|
| 705 |
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name_mappings:
|
| 706 |
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actions:
|
| 707 |
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- actions
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| 708 |
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observation.state:
|
| 709 |
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- states
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| 710 |
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parquet_keys:
|
| 711 |
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|
| 712 |
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- timestamp
|
| 713 |
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|
| 714 |
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- info
|
| 715 |
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- stats
|
| 716 |
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- action_masks
|
| 717 |
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type: ProcessParquetInputs
|
| 718 |
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video_keys:
|
| 719 |
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- observation.images.image
|
| 720 |
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- observation.images.wrist_image
|
| 721 |
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- input_keys:
|
| 722 |
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- prompt
|
| 723 |
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|
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|
| 726 |
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|
| 727 |
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- text
|
| 728 |
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output_key: prompt
|
| 729 |
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remove_source_keys: true
|
| 730 |
-
type: CanonicalizePrompt
|
| 731 |
-
- input_key: prompt
|
| 732 |
-
remove_input_key: true
|
| 733 |
-
tokenizer:
|
| 734 |
-
model_max_length: 512
|
| 735 |
-
model_path: ./checkpoints/Cosmos-Predict2.5-2B/tokenizer
|
| 736 |
-
type: PretrainedTokenizer
|
| 737 |
-
type: ProcessCosmos25Prompt
|
| 738 |
-
- backend: torch
|
| 739 |
-
height: 224
|
| 740 |
-
output_layout: nchw
|
| 741 |
-
scale_divisor: 255.0
|
| 742 |
-
type: ResizeImages
|
| 743 |
-
width: 224
|
| 744 |
-
- frame_stride: 1
|
| 745 |
-
keep_time_dim: true
|
| 746 |
-
key: images
|
| 747 |
-
num_views: 2
|
| 748 |
-
type: ConcatImagesHorizontally
|
| 749 |
-
views_first: true
|
| 750 |
-
- backend: torch
|
| 751 |
-
interleave: true
|
| 752 |
-
keys:
|
| 753 |
-
- states
|
| 754 |
-
target_dims:
|
| 755 |
-
states: 16
|
| 756 |
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type: SinCosKeys
|
| 757 |
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|
| 758 |
-
action_key: action
|
| 759 |
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action_norm_mask:
|
| 760 |
-
- true
|
| 761 |
-
- true
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| 762 |
-
- true
|
| 763 |
-
- true
|
| 764 |
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- true
|
| 765 |
-
- true
|
| 766 |
-
- false
|
| 767 |
-
action_norm_type: min_max
|
| 768 |
-
clip_norm: false
|
| 769 |
-
norm_type: min_max
|
| 770 |
-
normalization_epsilon: 0.0
|
| 771 |
-
output_dtype: float16
|
| 772 |
-
preserve_input_dtype: true
|
| 773 |
-
state_dim: null
|
| 774 |
-
state_key: proprio
|
| 775 |
-
state_norm_type: none
|
| 776 |
-
type: NormalizeStatesAndActions
|
| 777 |
-
- action_dim: 8
|
| 778 |
-
type: PadActionsAndActionMasks
|
| 779 |
-
valid_action_dim: 7
|
| 780 |
-
- action_dim: 8
|
| 781 |
-
action_horizon: 8
|
| 782 |
-
mark_all_action_steps_valid: true
|
| 783 |
-
state_dim: 16
|
| 784 |
-
type: PrepareDiT4DiTInputs
|
| 785 |
-
valid_action_dim: 7
|
| 786 |
-
type: ParquetDataset
|
| 787 |
-
use_delta: false
|
| 788 |
-
window_start_idx: 0
|
| 789 |
-
- action_key: action
|
| 790 |
-
action_window_size: 8
|
| 791 |
-
data_root_path: ./datasets/libero_goal_no_noops_lerobotv2.1
|
| 792 |
-
frame_window_size: 9
|
| 793 |
-
statistic_name: franka
|
| 794 |
-
transforms:
|
| 795 |
-
- frame_stride: 2
|
| 796 |
-
name_mappings:
|
| 797 |
-
actions:
|
| 798 |
-
- actions
|
| 799 |
-
observation.state:
|
| 800 |
-
- states
|
| 801 |
-
parquet_keys:
|
| 802 |
-
- observation.state
|
| 803 |
-
- timestamp
|
| 804 |
-
- actions
|
| 805 |
-
- info
|
| 806 |
-
- stats
|
| 807 |
-
- action_masks
|
| 808 |
-
type: ProcessParquetInputs
|
| 809 |
-
video_keys:
|
| 810 |
-
- observation.images.image
|
| 811 |
-
- observation.images.wrist_image
|
| 812 |
-
- input_keys:
|
| 813 |
-
- prompt
|
| 814 |
-
- task_description
|
| 815 |
-
- lang
|
| 816 |
-
- instruction
|
| 817 |
-
- instructions
|
| 818 |
-
- text
|
| 819 |
-
output_key: prompt
|
| 820 |
-
remove_source_keys: true
|
| 821 |
-
type: CanonicalizePrompt
|
| 822 |
-
- input_key: prompt
|
| 823 |
-
remove_input_key: true
|
| 824 |
-
tokenizer:
|
| 825 |
-
model_max_length: 512
|
| 826 |
-
model_path: ./checkpoints/Cosmos-Predict2.5-2B/tokenizer
|
| 827 |
-
type: PretrainedTokenizer
|
| 828 |
-
type: ProcessCosmos25Prompt
|
| 829 |
-
- backend: torch
|
| 830 |
-
height: 224
|
| 831 |
-
output_layout: nchw
|
| 832 |
-
scale_divisor: 255.0
|
| 833 |
-
type: ResizeImages
|
| 834 |
-
width: 224
|
| 835 |
-
- frame_stride: 1
|
| 836 |
-
keep_time_dim: true
|
| 837 |
-
key: images
|
| 838 |
-
num_views: 2
|
| 839 |
-
type: ConcatImagesHorizontally
|
| 840 |
-
views_first: true
|
| 841 |
-
- backend: torch
|
| 842 |
-
interleave: true
|
| 843 |
-
keys:
|
| 844 |
-
- states
|
| 845 |
-
target_dims:
|
| 846 |
-
states: 16
|
| 847 |
-
type: SinCosKeys
|
| 848 |
-
- action_dim: null
|
| 849 |
-
action_key: action
|
| 850 |
-
action_norm_mask:
|
| 851 |
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|
dit4dit_libero_all_full_finetune_bc071270ff2_bs256/dataset_statistics.json
DELETED
|
@@ -1,133 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
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| 3 |
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| 32 |
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| 59 |
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| 60 |
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| 62 |
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|
| 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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'statistic_name': 'franka', 'window_start_idx': 0, 'frame_window_size': 9, 'data_root_path': './datasets/libero_goal_no_noops_lerobotv2.1'}, {'type': 'ParquetDataset', 'transforms': [{'type': 'ProcessParquetInputs', 'parquet_keys': ['observation.state', 'timestamp', 'actions', 'info', 'stats', 'action_masks'], 'video_keys': ['observation.images.image', 'observation.images.wrist_image'], 'name_mappings': {'observation.state': ['states'], 'actions': ['actions']}, 'frame_stride': 2}, {'type': 'CanonicalizePrompt', 'output_key': 'prompt', 'input_keys': ['prompt', 'task_description', 'lang', 'instruction', 'instructions', 'text'], 'remove_source_keys': True}, {'type': 'ProcessCosmos25Prompt', 'tokenizer': {'type': 'PretrainedTokenizer', 'model_path': './checkpoints/Cosmos-Predict2.5-2B/tokenizer', 'model_max_length': 512}, 'input_key': 'prompt', 'remove_input_key': True}, {'type': 'ResizeImages', 'height': 224, 'width': 224, 'backend': 'torch', 'scale_divisor': 255.0, 'output_layout': 'nchw'}, {'type': 'ConcatImagesHorizontally', 'key': 'images', 'num_views': 2, 'frame_stride': 1, 'views_first': True, 'keep_time_dim': True}, {'type': 'SinCosKeys', 'keys': ['states'], 'target_dims': {'states': 16}, 'interleave': True, 'backend': 'torch'}, {'type': 'NormalizeStatesAndActions', 'state_key': 'proprio', 'action_key': 'action', 'action_dim': None, 'state_dim': None, 'state_norm_type': 'none', 'action_norm_type': 'min_max', 'norm_type': 'min_max', 'action_norm_mask': [True, True, True, True, True, True, False], 'clip_norm': False, 'normalization_epsilon': 0.0, 'preserve_input_dtype': True, 'output_dtype': 'float16'}, {'type': 'PadActionsAndActionMasks', 'action_dim': 8, 'valid_action_dim': 7}, {'type': 'PrepareDiT4DiTInputs', 'state_dim': 16, 'action_horizon': 8, 'action_dim': 8, 'valid_action_dim': 7, 'mark_all_action_steps_valid': True}], 'action_window_size': 8, 'action_key': 'action', 'use_delta': False, 'statistic_name': 'franka', 'window_start_idx': 0, 'frame_window_size': 9, 'data_root_path': './datasets/libero_spatial_no_noops_lerobotv2.1'}, {'type': 'ParquetDataset', 'transforms': [{'type': 'ProcessParquetInputs', 'parquet_keys': ['observation.state', 'timestamp', 'actions', 'info', 'stats', 'action_masks'], 'video_keys': ['observation.images.image', 'observation.images.wrist_image'], 'name_mappings': {'observation.state': ['states'], 'actions': ['actions']}, 'frame_stride': 2}, {'type': 'CanonicalizePrompt', 'output_key': 'prompt', 'input_keys': ['prompt', 'task_description', 'lang', 'instruction', 'instructions', 'text'], 'remove_source_keys': True}, {'type': 'ProcessCosmos25Prompt', 'tokenizer': {'type': 'PretrainedTokenizer', 'model_path': './checkpoints/Cosmos-Predict2.5-2B/tokenizer', 'model_max_length': 512}, 'input_key': 'prompt', 'remove_input_key': True}, {'type': 'ResizeImages', 'height': 224, 'width': 224, 'backend': 'torch', 'scale_divisor': 255.0, 'output_layout': 'nchw'}, {'type': 'ConcatImagesHorizontally', 'key': 'images', 'num_views': 2, 'frame_stride': 1, 'views_first': True, 'keep_time_dim': True}, {'type': 'SinCosKeys', 'keys': ['states'], 'target_dims': {'states': 16}, 'interleave': True, 'backend': 'torch'}, {'type': 'NormalizeStatesAndActions', 'state_key': 'proprio', 'action_key': 'action', 'action_dim': None, 'state_dim': None, 'state_norm_type': 'none', 'action_norm_type': 'min_max', 'norm_type': 'min_max', 'action_norm_mask': [True, True, True, True, True, True, False], 'clip_norm': False, 'normalization_epsilon': 0.0, 'preserve_input_dtype': True, 'output_dtype': 'float16'}, {'type': 'PadActionsAndActionMasks', 'action_dim': 8, 'valid_action_dim': 7}, {'type': 'PrepareDiT4DiTInputs', 'state_dim': 16, 'action_horizon': 8, 'action_dim': 8, 'valid_action_dim': 7, 'mark_all_action_steps_valid': True}], 'action_window_size': 8, 'action_key': 'action', 'use_delta': False, 'statistic_name': 'franka', 'window_start_idx': 0, 'frame_window_size': 9, 'data_root_path': './datasets/libero_10_no_noops_lerobotv2.1'}], 'sampling_weights': [1.0, 1.0, 1.0, 1.0], 'shuffle': False, 'reshuffle_each_epoch': True, 'seed': 42, 'dataset_statistics': {'franka': {'action': {'mean': [0.07237596483901143, 0.08987006871029735, -0.10144743137061596, -0.00045383188989944756, 0.006273590726777911, -0.003878799732774496, 0.524486355483532], 'std': [0.3498823308902479, 0.37794140366375184, 0.460084266976933, 0.0403885784928603, 0.06616144248501059, 0.07763074391911857, 0.4994683356809767], 'max': [0.9375, 0.9375, 0.9375, 0.3557142913341522, 0.375, 0.375, 1.0], 'min': [-0.9375, -0.9375, -0.9375, -0.2582142949104309, -0.375, -0.3675000071525574, 0.0], 'q01': [-0.8785714507102966, -0.8758928775787354, -0.9375, -0.1510714292526245, -0.20678570866584778, -0.2742857038974762, 0.0], 'q99': [0.9375, 0.9107142686843872, 0.9375, 0.20357142388820648, 0.26357144117355347, 0.375, 1.0], 'mask': [True, True, True, True, True, True, False]}, 'state': {'mean': [-0.04889854742214084, 0.03689368185587227, 0.7890402488410473, 2.9771945476531982, -0.1417286954820156, -0.11769362539052963, 0.026436020154505968, -0.02665513101965189], 'std': [0.10639013941746686, 0.15115733130675715, 0.38406895599530033, 0.3530238395244304, 0.8227341427331599, 0.32357567121520087, 0.014583991652936385, 0.014467005007200339], 'max': [0.21031762659549713, 0.39128610491752625, 1.3660105466842651, 3.6714255809783936, 3.560650587081909, 1.386339545249939, 0.04233968257904053, 0.0013633022317662835], 'min': [-0.4828203022480011, -0.3255046010017395, 0.008128180168569088, 0.35277295112609863, -3.641430377960205, -1.842738389968872, -0.0013586411951109767, -0.042040832340717316], 'q01': [-0.42401049643754957, -0.2838300323486328, 0.009925739830359817, 1.3085840785503386, -2.886677579879761, -1.1599004411697387, 0.001503719249740243, -0.040336399003863335], 'q99': [0.1530261474847791, 0.3629165390133857, 1.2910678112506866, 3.303542451858519, 2.7496529006957933, 0.6893712210655194, 0.040610933862626555, -0.0015016929572448147]}, 'num_transitions': 273465, 'num_trajectories': 1693}}}}, 'runner': {'type': 'FSDPTrainRunner', 'max_steps': 160000, 'grad_accumulation_steps': 2, 'optimizer': {'lr': 3e-05, 'type': 'AdamW', 'weight_decay': 1e-08, 'eps': 1e-08, 'betas': (0.9, 0.95), 'paramwise_learning_rate': {'vlm_backbone.transformer': 0.0001, 'vla_head': 0.0001}}, 'max_grad_norm': 1.0, 'save_iter_interval': 40000, 'max_keep_ckpts': 2, 'collator': {'type': 'DictCollator', 'keys': ['states', 'timestamp', 'images', 'img_masks', 'actions', 'action_masks', 'frame_masks', 'lang_tokens', 'lang_masks'], 'meta_keys': ['info', 'stats']}, 'tokenizer': {'type': 'PretrainedTokenizer', 'model_path': './checkpoints/Cosmos-Predict2.5-2B/tokenizer', 'model_max_length': 512}, 'sampler': None, 'metric': {'type': 'VLAMetric', 'active_trackers': ('jsonl', 'wandb'), 'run_dir': './work_dirs/dit4dit_libero_all_full_finetune_bc071270ff2_bs256', 'grad_accumulation_steps': 1, 'window_size': 1}, 'lr_scheduler': {'type': 'cosine_with_min_lr', 'warmup_steps': 10000, 'min_lr': 5e-07}, 'sharding_strategy': 'shard-grad-op', 'pre_fsdp_param_dtype': 'fp32', 'enable_gradient_checkpointing': False, 'enable_mixed_precision_training': True, 'mixed_precision_dtype': 'bf16', 'reduce_in_full_precision': False, 'change_key_name': False, 'cfg': Config (path: configs/dit4dit/dit4dit_libero_all_full_finetune.py): {...}, 'args': Namespace(config='configs/dit4dit/dit4dit_libero_all_full_finetune.py', work_dir='./work_dirs/dit4dit_libero_all_full_finetune_bc071270ff2_bs256', cfg_options={'train_dataloader.per_device_batch_size': 8, 'runner.grad_accumulation_steps': 2}, eval_after_train=True, resume_from=None)}, 'eval': {'type': 'LiberoEvalRunner', 'task_suite_name': ['libero_spatial', 'libero_object', 'libero_goal', 'libero_10'], 'model_family': 'dit4dit', 'norm_stats_key': 'franka', 'eval_chunk_size': 8, 'truncate_action_chunk_at_horizon': True, 'resize_size': 224, 'num_trials_per_task': 50, 'num_steps_wait': 10, 'seed': 7, 'enable_mixed_precision_training': False, 'mixed_precision_dtype': 'bf16', 'dataset': {'type': 'LiberoParquetEvalDataset', 'img_buffer_len': 1, 'require_lang_tokens': True, 'transforms': [{'type': 'CanonicalizePrompt', 'output_key': 'prompt', 'input_keys': ['prompt', 'task_description', 'lang', 'instruction', 'instructions', 'text'], 'remove_source_keys': True}, {'type': 'ProcessCosmos25Prompt', 'tokenizer': {'type': 'PretrainedTokenizer', 'model_path': './checkpoints/Cosmos-Predict2.5-2B/tokenizer', 'model_max_length': 512}, 'input_key': 'prompt', 'remove_input_key': True}, {'type': 'ProcessDiT4DiTLiberoEvalInputs', 'img_keys': ['agentview_image', 'robot0_eye_in_hand_image'], 'image_size': 224}, {'type': 'LiberoProprioFromInputs', 'norm_type': 'none', 'pos_key': 'robot0_eef_pos', 'quat_key': 'robot0_eef_quat', 'gripper_key': 'robot0_gripper_qpos', 'state_dim': None, 'out_key': 'states'}, {'type': 'SinCosKeys', 'keys': ['states'], 'target_dims': {'states': 16}, 'interleave': True}, {'type': 'PrepareDiT4DiTInputs', 'image_key': 'pixel_values', 'state_dim': 16, 'require_actions': False}]}, 'denormalize_action': {'type': 'DenormalizeLiberoAction', 'norm_type': 'min_max', 'action_dim': 7, 'action_norm_mask': [True, True, True, True, True, True, False], 'clip_normalized_action': True, 'normalize_gripper_action': True, 'invert_gripper_action': True}}}, 'args': Namespace(config='configs/dit4dit/dit4dit_libero_all_full_finetune.py', work_dir='./work_dirs/dit4dit_libero_all_full_finetune_bc071270ff2_bs256', cfg_options={'train_dataloader.per_device_batch_size': 8, 'runner.grad_accumulation_steps': 2}, eval_after_train=True, resume_from=None)}, 'eval': {'type': 'LiberoEvalRunner', 'task_suite_name': ['libero_spatial', 'libero_object', 'libero_goal', 'libero_10'], 'model_family': 'dit4dit', 'norm_stats_key': 'franka', 'eval_chunk_size': 8, 'truncate_action_chunk_at_horizon': True, 'resize_size': 224, 'num_trials_per_task': 50, 'num_steps_wait': 10, 'seed': 7, 'enable_mixed_precision_training': False, 'mixed_precision_dtype': 'bf16', 'dataset': {'type': 'LiberoParquetEvalDataset', 'img_buffer_len': 1, 'require_lang_tokens': True, 'transforms': [{'type': 'CanonicalizePrompt', 'output_key': 'prompt', 'input_keys': ['prompt', 'task_description', 'lang', 'instruction', 'instructions', 'text'], 'remove_source_keys': True}, {'type': 'ProcessCosmos25Prompt', 'tokenizer': {'type': 'PretrainedTokenizer', 'model_path': './checkpoints/Cosmos-Predict2.5-2B/tokenizer', 'model_max_length': 512}, 'input_key': 'prompt', 'remove_input_key': True}, {'type': 'ProcessDiT4DiTLiberoEvalInputs', 'img_keys': ['agentview_image', 'robot0_eye_in_hand_image'], 'image_size': 224}, {'type': 'LiberoProprioFromInputs', 'norm_type': 'none', 'pos_key': 'robot0_eef_pos', 'quat_key': 'robot0_eef_quat', 'gripper_key': 'robot0_gripper_qpos', 'state_dim': None, 'out_key': 'states'}, {'type': 'SinCosKeys', 'keys': ['states'], 'target_dims': {'states': 16}, 'interleave': True}, {'type': 'PrepareDiT4DiTInputs', 'image_key': 'pixel_values', 'state_dim': 16, 'require_actions': False}]}, 'denormalize_action': {'type': 'DenormalizeLiberoAction', 'norm_type': 'min_max', 'action_dim': 7, 'action_norm_mask': [True, True, True, True, True, True, False], 'clip_normalized_action': True, 'normalize_gripper_action': True, 'invert_gripper_action': True}}}", "run_id": "dit4dit_libero_all_full_finetune_2026_08_12_20_51_03"}
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dit4dit_libero_all_full_finetune_bc071270ff2_bs256/tokenizer/added_tokens.json
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dit4dit_libero_all_full_finetune_bc071270ff2_bs256/tokenizer/chat_template.jinja
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{% set image_count = namespace(value=0) %}{% set video_count = namespace(value=0) %}{% for message in messages %}{% if loop.first and message['role'] != 'system' %}<|im_start|>system
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You are a helpful assistant.<|im_end|>
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{% endif %}<|im_start|>{{ message['role'] }}
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{% if message['content'] is string %}{{ message['content'] }}<|im_end|>
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{% else %}{% for content in message['content'] %}{% if content['type'] == 'image' or 'image' in content or 'image_url' in content %}{% set image_count.value = image_count.value + 1 %}{% if add_vision_id %}Picture {{ image_count.value }}: {% endif %}<|vision_start|><|image_pad|><|vision_end|>{% elif content['type'] == 'video' or 'video' in content %}{% set video_count.value = video_count.value + 1 %}{% if add_vision_id %}Video {{ video_count.value }}: {% endif %}<|vision_start|><|video_pad|><|vision_end|>{% elif 'text' in content %}{{ content['text'] }}{% endif %}{% endfor %}<|im_end|>
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{% endif %}{% endfor %}{% if add_generation_prompt %}<|im_start|>assistant
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{% endif %}
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dit4dit_libero_all_full_finetune_bc071270ff2_bs256/tokenizer/merges.txt
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dit4dit_libero_all_full_finetune_bc071270ff2_bs256/tokenizer/special_tokens_map.json
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{
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"additional_special_tokens": [
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"<|im_start|>",
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"<|image_pad|>",
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"<|video_pad|>"
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],
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"eos_token": {
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dit4dit_libero_all_full_finetune_bc071270ff2_bs256/tokenizer/tokenizer.json
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version https://git-lfs.github.com/spec/v1
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oid sha256:9c5ae00e602b8860cbd784ba82a8aa14e8feecec692e7076590d014d7b7fdafa
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size 11421896
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dit4dit_libero_all_full_finetune_bc071270ff2_bs256/tokenizer/tokenizer_config.json
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{
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"added_tokens_decoder": {
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| 207 |
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dit4dit_libero_all_full_finetune_bc071270ff2_bs256/tokenizer/vocab.json
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