diff --git a/openvla_dino_siglip_llama2_libero_spatial_full_finetune_bs64/checkpoints/step-019872-epoch-24-loss=0.3600.safetensors b/openvla_dino_siglip_llama2_libero_spatial_full_finetune_bs64/checkpoints/step-019872-epoch-24-loss=0.3600.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..6d7e6812bba2c43d58ce67107f318f71f194be8e --- /dev/null +++ b/openvla_dino_siglip_llama2_libero_spatial_full_finetune_bs64/checkpoints/step-019872-epoch-24-loss=0.3600.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47fa787741a766f882899b4308d3b27c9eba8ad121cc3a76fe430c0fe2e4d91b +size 30165078344 diff --git a/openvla_dino_siglip_llama2_libero_spatial_full_finetune_bs64/config.json b/openvla_dino_siglip_llama2_libero_spatial_full_finetune_bs64/config.json new file mode 100644 index 0000000000000000000000000000000000000000..c0b020e4157d1d1156f174fad6ffc9685ddb9622 --- /dev/null +++ b/openvla_dino_siglip_llama2_libero_spatial_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_spatial", + "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_spatial", + "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_spatial_no_noops_lerobotv2.1", + "repeat_to_full_length": true, + "statistic_name": "libero_spatial_no_noops", + "train_episode_fraction": 0.95, + "transforms": [ + { + "dataset_name": "libero_spatial_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_spatial_no_noops", + "statistics_overrides": { + "libero_spatial_no_noops": { + "action": { + "q01": [ + -0.7454732114076613, + -0.6616071462631226, + -0.9375, + -0.1071428582072258, + -0.20678570866584778, + -0.1842857152223587, + 0.0 + ], + "q99": [ + 0.9375, + 0.8758928775787354, + 0.9321428537368774, + 0.1039285734295845, + 0.17678570747375488, + 0.14571428298950195, + 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_spatial_full_finetune_bs64/config.yaml b/openvla_dino_siglip_llama2_libero_spatial_full_finetune_bs64/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b747d322d3300b25d057ea458686551220dd4c67 --- /dev/null +++ b/openvla_dino_siglip_llama2_libero_spatial_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_spatial + 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_spatial + 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_spatial_no_noops_lerobotv2.1 + repeat_to_full_length: true + statistic_name: libero_spatial_no_noops + train_episode_fraction: 0.95 + transforms: + - dataset_name: libero_spatial_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_spatial_no_noops + statistics_overrides: + libero_spatial_no_noops: + action: + q01: + - -0.7454732114076613 + - -0.6616071462631226 + - -0.9375 + - -0.1071428582072258 + - -0.20678570866584778 + - -0.1842857152223587 + - 0.0 + q99: + - 0.9375 + - 0.8758928775787354 + - 0.9321428537368774 + - 0.1039285734295845 + - 0.17678570747375488 + - 0.14571428298950195 + - 1.0 + type: DistributedRepeatingDataset + per_device_batch_size: 8 + per_device_num_workers: 4 diff --git a/openvla_dino_siglip_llama2_libero_spatial_full_finetune_bs64/dataset_statistics.json b/openvla_dino_siglip_llama2_libero_spatial_full_finetune_bs64/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..7b275708f950c2ed23b2af99e746e7f0ec01b162 --- /dev/null +++ b/openvla_dino_siglip_llama2_libero_spatial_full_finetune_bs64/dataset_statistics.json @@ -0,0 +1,120 @@ +{ + "libero_spatial_no_noops": { + "proprio": { + "mean": [ + -0.024462566693947342, + 0.10653030478388664, + 1.0580495716300307, + 3.062855007870368, + -0.10464045916348884, + 0.08307320236969534, + 0.019954609054627596, + -0.02016269208612657 + ], + "std": [ + 0.03894316411915835, + 0.04873628070932603, + 0.03692094784082842, + 0.0369502396792774, + 0.14538513627309543, + 0.07695788947742314, + 0.006102641532497049, + 0.006049884044502419 + ], + "min": [ + -0.3095473051071167, + -0.29250794649124146, + 0.9095591306686401, + 2.497488260269165, + -1.8006486892700195, + -0.7207611203193665, + -0.0004703797458205372, + -0.041536275297403336 + ], + "max": [ + 0.1759040206670761, + 0.3904820382595062, + 1.3290715217590332, + 3.4566118717193604, + 1.2268599271774292, + 1.0429412126541138, + 0.041053611785173416, + 0.000775813648942858 + ], + "q01": null, + "q99": null + }, + "timestamp": { + "mean": [ + 3.1281914291108173 + ], + "std": [ + 1.9190018719668336 + ], + "min": [ + 0.0 + ], + "max": [ + 9.6 + ], + "q01": null, + "q99": null + }, + "action": { + "mean": [ + 0.15312488430795423, + 0.13707241597825376, + -0.15526779033841448, + -0.005176474488725037, + -0.011208756940533639, + -0.02019425420384803, + 0.4578818200364616 + ], + "std": [ + 0.15599777645651164, + 0.13125442554438385, + 0.19226097301543327, + 0.014084604392168992, + 0.02738322007326005, + 0.021779582921450876, + 0.18831055119433956 + ], + "min": [ + -0.9375, + -0.9375, + -0.9375, + -0.1875, + -0.3675000071525574, + -0.36000001430511475, + 0.0 + ], + "max": [ + 0.9375, + 0.9375, + 0.9375, + 0.1971428543329239, + 0.33642858266830444, + 0.375, + 1.0 + ], + "q01": [ + -0.7454732114076613, + -0.6616071462631226, + -0.9375, + -0.1071428582072258, + -0.20678570866584778, + -0.1842857152223587, + 0.0 + ], + "q99": [ + 0.9375, + 0.8758928775787354, + 0.9321428537368774, + 0.1039285734295845, + 0.17678570747375488, + 0.14571428298950195, + 1.0 + ] + } + } +} \ No newline at end of file diff --git a/openvla_dino_siglip_llama2_libero_spatial_full_finetune_bs64/llm_backbone_config.json b/openvla_dino_siglip_llama2_libero_spatial_full_finetune_bs64/llm_backbone_config.json new file mode 100644 index 0000000000000000000000000000000000000000..df908128e7c8157009632737135e61c3972c7e22 --- /dev/null +++ b/openvla_dino_siglip_llama2_libero_spatial_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", + "num_attention_heads": 32, + "num_hidden_layers": 32, + "num_key_value_heads": 32, + "pad_token_id": 0, + "pretraining_tp": 1, + "rms_norm_eps": 1e-05, + "rope_scaling": null, + "rope_theta": 10000.0, + "tie_word_embeddings": false, + 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work_dir='work_dirs/openvla_dino_siglip_llama2_libero_spatial_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_spatial', 'type': 'LiberoEvalRunner'}, 'per_device_num_workers': 8}", "run_id": "openvla_dino_siglip_llama2_libero_spatial_full_finetune_2026_05_27_09_34_01"}