Remove superseded Cosmos3-Edge checkpoints

cosmos3edge_libero_10_full_finetune_bs16/checkpoints/step-002000-epoch-39-loss=0.7326.safetensors

@@ -1,3 +0,0 @@
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-size 16297490208

cosmos3edge_libero_10_full_finetune_bs16/config.json

@@ -1,669 +0,0 @@
-{
-  "eval": {
-    "dataset": {
-      "extra_tensor_keys": [
-        "conditioning_fps",
-        "prepend_state_to_action"
-      ],
-      "img_buffer_len": 1,
-      "transforms": [
-        {
-          "embodiment_id": 5,
-          "img_keys": [
-            "agentview_image",
-            "robot0_eye_in_hand_image"
-          ],
-          "type": "ProcessLiberoEvalInputs"
-        },
-        {
-          "conditioning_fps": 20.0,
-          "prepend_state_to_action": false,
-          "type": "SetCosmos3ActionMetadata"
-        },
-        {
-          "image_resize_strategy": "resize-naive",
-          "input_sizes": [
-            [
-              3,
-              256,
-              256
-            ],
-            [
-              3,
-              256,
-              256
-            ]
-          ],
-          "means": [
-            [
-              127.5,
-              127.5,
-              127.5
-            ],
-            [
-              127.5,
-              127.5,
-              127.5
-            ]
-          ],
-          "stds": [
-            [
-              127.5,
-              127.5,
-              127.5
-            ],
-            [
-              127.5,
-              127.5,
-              127.5
-            ]
-          ],
-          "type": "TransformImage"
-        },
-        {
-          "action_metadata": {
-            "append_viewpoint": false,
-            "conditioning_fps": 20.0,
-            "frame_window_size": 17,
-            "video_height": 256,
-            "video_width": 512
-          },
-          "cfg_dropout_rate": 0.0,
-          "max_len": 512,
-          "output_attention_mask_key": "lang_masks",
-          "output_key": "lang_tokens",
-          "tokenizer": {
-            "model_max_length": 4096,
-            "model_path": "./checkpoints/Cosmos3-Edge",
-            "padding_side": "right",
-            "trust_remote_code": true,
-            "type": "PretrainedTokenizer"
-          },
-          "type": "ProcessCosmos3Prompt"
-        },
-        {
-          "gripper_key": "robot0_gripper_qpos",
-          "norm_type": "mean_std",
-          "out_key": "states",
-          "pos_key": "robot0_eef_pos",
-          "quat_key": "robot0_eef_quat",
-          "state_dim": 64,
-          "type": "LiberoProprioFromInputs"
-        },
-        {
-          "frame_window_size": 1,
-          "num_views": 2,
-          "tile_direction": "horizontal",
-          "type": "PrepareVideo"
-        }
-      ],
-      "type": "LiberoParquetEvalDataset"
-    },
-    "denormalize_action": {
-      "action_dim": 10,
-      "norm_type": "quantile_rot",
-      "type": "DenormalizeLiberoFramewiseRot6DAction"
-    },
-    "enable_mixed_precision_training": true,
-    "eval_chunk_size": 16,
-    "inference_seed": 7,
-    "mixed_precision_dtype": "bf16",
-    "model_family": "cosmos3",
-    "norm_stats_key": "libero_10_no_noops",
-    "num_inference_steps": 30,
-    "num_steps_wait": 10,
-    "num_trials_per_task": 50,
-    "resize_size": 256,
-    "seed": 7,
-    "task_ids": null,
-    "task_suite_name": "libero_10",
-    "type": "LiberoEvalRunner"
-  },
-  "inference_model": {
-    "action_horizon": 16,
-    "action_in_proj": {
-      "input_size": 64,
-      "num_domains": 32,
-      "output_size": 2048,
-      "type": "DomainAwareLinear"
-    },
-    "action_out_proj": {
-      "input_size": 2048,
-      "num_domains": 32,
-      "output_size": 64,
-      "type": "DomainAwareLinear"
-    },
-    "base_fps": 24.0,
-    "enable_fps_modulation": true,
-    "enable_vision_loss": true,
-    "freeze_non_moe_vlm_backbone": true,
-    "freeze_vlm_backbone": false,
-    "latent_patch_size": 2,
-    "max_action_dim": 64,
-    "name_mapping": {
-      ".self_attn.k_norm_moe_gen.": ".self_attn.norm_added_k.",
-      ".self_attn.k_proj.": ".self_attn.to_k.",
-      ".self_attn.k_proj_moe_gen.": ".self_attn.add_k_proj.",
-      ".self_attn.o_proj.": ".self_attn.to_out.",
-      ".self_attn.o_proj_moe_gen.": ".self_attn.to_add_out.",
-      ".self_attn.q_norm_moe_gen.": ".self_attn.norm_added_q.",
-      ".self_attn.q_proj.": ".self_attn.to_q.",
-      ".self_attn.q_proj_moe_gen.": ".self_attn.add_q_proj.",
-      ".self_attn.v_proj.": ".self_attn.to_v.",
-      ".self_attn.v_proj_moe_gen.": ".self_attn.add_v_proj.",
-      "action_in_proj.": "action_proj_in.",
-      "action_modality_embed": "action_modality_embed",
-      "action_out_proj.": "action_proj_out.",
-      "time_embedder.mlp.0.": "time_embedder.linear_1.",
-      "time_embedder.mlp.2.": "time_embedder.linear_2.",
-      "vision_in_proj.projector.": "proj_in.",
-      "vision_out_proj.projector.": "proj_out.",
-      "vlm_backbone.lm_head.weight": "lm_head.weight",
-      "vlm_backbone.model.language_model.embed_tokens.weight": "embed_tokens.weight",
-      "vlm_backbone.model.language_model.layers.": "layers.",
-      "vlm_backbone.model.language_model.norm.weight": "norm.weight",
-      "vlm_backbone.model.language_model.norm_moe_gen.weight": "norm_moe_gen.weight"
-    },
-    "num_embodiment_domains": 32,
-    "ori_action_dim": 10,
-    "packed_attention_backend": "flash2",
-    "position_embedding_type": "unified_3d_mrope",
-    "pretrained_name_or_path": "./checkpoints/Cosmos3-Edge/transformer",
-    "rectified_flow_inference_config": {
-      "num_steps": 30,
-      "num_train_timesteps": 1000,
-      "scheduler_type": "unipc",
-      "shift": 10.0,
-      "use_dynamic_shifting": false,
-      "use_karras_sigmas": false
-    },
-    "rectified_flow_training_config": {
-      "action_loss_weight": 10.0,
-      "independent_action_schedule": false,
-      "normalize_loss_by_active": false,
-      "shift": {
-        "256": 3,
-        "480": 5,
-        "720": 10
-      },
-      "shift_action": null,
-      "train_time_action_distribution": "logitnormal",
-      "train_time_image_distribution": "logitnormal",
-      "train_time_video_distribution": "waver",
-      "train_time_weight": "uniform",
-      "use_discrete_rf": false,
-      "use_dynamic_shift": false,
-      "use_high_sigma_strategy": false,
-      "use_high_sigma_strategy_action": false,
-      "vision_loss_weight": 10.0
-    },
-    "reinitialize_action_policy": true,
-    "special_tokens": {
-      "end_of_generation": 21,
-      "eos_token_id": 11,
-      "start_of_generation": 20
-    },
-    "strict_mapping": true,
-    "timestep_scale": 0.001,
-    "type": "Cosmos3FlowMatching",
-    "unified_3d_mrope_reset_spatial_ids": true,
-    "unified_3d_mrope_temporal_modality_margin": 15000,
-    "vision_in_proj": {
-      "in_dim": 192,
-      "out_dim": 2048,
-      "type": "LinearProjector"
-    },
-    "vision_latent_dim": 48,
-    "vision_out_proj": {
-      "in_dim": 2048,
-      "out_dim": 192,
-      "type": "LinearProjector"
-    },
-    "vision_vae": {
-      "encode_exact_durations": [
-        17
-      ],
-      "pretrained_name_or_path": "./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth",
-      "type": "Cosmos3Wan22VAE"
-    },
-    "vlm_backbone": {
-      "include_visual": false,
-      "skip_init_weights": true,
-      "type": "Cosmos3MoTBackbone",
-      "vlm_config": {
-        "attention_bias": false,
-        "bos_token_id": 1,
-        "enable_mrope": true,
-        "eos_token_id": 11,
-        "head_dim": 128,
-        "hidden_size": 2048,
-        "intermediate_size": 9216,
-        "layer_norm_epsilon": 1e-05,
-        "max_position_embeddings": 131072,
-        "mlp_bias": false,
-        "mlp_hidden_act": "relu2",
-        "model_type": "nemotron_3_dense_vl_text",
-        "mrope_section": [
-          24,
-          20,
-          20
-        ],
-        "num_attention_heads": 16,
-        "num_hidden_layers": 28,
-        "num_key_value_heads": 8,
-        "pad_token_id": 11,
-        "rope_theta": 100000000.0,
-        "tie_word_embeddings": false,
-        "use_und_k_norm_for_gen": true,
-        "vocab_size": 131072
-      }
-    }
-  },
-  "model": {
-    "action_horizon": 16,
-    "action_in_proj": {
-      "input_size": 64,
-      "num_domains": 32,
-      "output_size": 2048,
-      "type": "DomainAwareLinear"
-    },
-    "action_out_proj": {
-      "input_size": 2048,
-      "num_domains": 32,
-      "output_size": 64,
-      "type": "DomainAwareLinear"
-    },
-    "base_fps": 24.0,
-    "enable_fps_modulation": true,
-    "enable_vision_loss": true,
-    "freeze_non_moe_vlm_backbone": true,
-    "freeze_vlm_backbone": false,
-    "latent_patch_size": 2,
-    "max_action_dim": 64,
-    "name_mapping": {
-      ".self_attn.k_norm_moe_gen.": ".self_attn.norm_added_k.",
-      ".self_attn.k_proj.": ".self_attn.to_k.",
-      ".self_attn.k_proj_moe_gen.": ".self_attn.add_k_proj.",
-      ".self_attn.o_proj.": ".self_attn.to_out.",
-      ".self_attn.o_proj_moe_gen.": ".self_attn.to_add_out.",
-      ".self_attn.q_norm_moe_gen.": ".self_attn.norm_added_q.",
-      ".self_attn.q_proj.": ".self_attn.to_q.",
-      ".self_attn.q_proj_moe_gen.": ".self_attn.add_q_proj.",
-      ".self_attn.v_proj.": ".self_attn.to_v.",
-      ".self_attn.v_proj_moe_gen.": ".self_attn.add_v_proj.",
-      "action_in_proj.": "action_proj_in.",
-      "action_modality_embed": "action_modality_embed",
-      "action_out_proj.": "action_proj_out.",
-      "time_embedder.mlp.0.": "time_embedder.linear_1.",
-      "time_embedder.mlp.2.": "time_embedder.linear_2.",
-      "vision_in_proj.projector.": "proj_in.",
-      "vision_out_proj.projector.": "proj_out.",
-      "vlm_backbone.lm_head.weight": "lm_head.weight",
-      "vlm_backbone.model.language_model.embed_tokens.weight": "embed_tokens.weight",
-      "vlm_backbone.model.language_model.layers.": "layers.",
-      "vlm_backbone.model.language_model.norm.weight": "norm.weight",
-      "vlm_backbone.model.language_model.norm_moe_gen.weight": "norm_moe_gen.weight"
-    },
-    "num_embodiment_domains": 32,
-    "ori_action_dim": 10,
-    "packed_attention_backend": "flash2",
-    "position_embedding_type": "unified_3d_mrope",
-    "pretrained_name_or_path": "./checkpoints/Cosmos3-Edge/transformer",
-    "rectified_flow_inference_config": {
-      "num_steps": 30,
-      "num_train_timesteps": 1000,
-      "scheduler_type": "unipc",
-      "shift": 10.0,
-      "use_dynamic_shifting": false,
-      "use_karras_sigmas": false
-    },
-    "rectified_flow_training_config": {
-      "action_loss_weight": 10.0,
-      "independent_action_schedule": false,
-      "normalize_loss_by_active": false,
-      "shift": {
-        "256": 3,
-        "480": 5,
-        "720": 10
-      },
-      "shift_action": null,
-      "train_time_action_distribution": "logitnormal",
-      "train_time_image_distribution": "logitnormal",
-      "train_time_video_distribution": "waver",
-      "train_time_weight": "uniform",
-      "use_discrete_rf": false,
-      "use_dynamic_shift": false,
-      "use_high_sigma_strategy": false,
-      "use_high_sigma_strategy_action": false,
-      "vision_loss_weight": 10.0
-    },
-    "reinitialize_action_policy": true,
-    "special_tokens": {
-      "end_of_generation": 21,
-      "eos_token_id": 11,
-      "start_of_generation": 20
-    },
-    "strict_mapping": true,
-    "timestep_scale": 0.001,
-    "type": "Cosmos3FlowMatching",
-    "unified_3d_mrope_reset_spatial_ids": true,
-    "unified_3d_mrope_temporal_modality_margin": 15000,
-    "vision_in_proj": {
-      "in_dim": 192,
-      "out_dim": 2048,
-      "type": "LinearProjector"
-    },
-    "vision_latent_dim": 48,
-    "vision_out_proj": {
-      "in_dim": 2048,
-      "out_dim": 192,
-      "type": "LinearProjector"
-    },
-    "vision_vae": {
-      "encode_exact_durations": [
-        17
-      ],
-      "pretrained_name_or_path": "./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth",
-      "type": "Cosmos3Wan22VAE"
-    },
-    "vlm_backbone": {
-      "include_visual": false,
-      "skip_init_weights": true,
-      "type": "Cosmos3MoTBackbone",
-      "vlm_config": {
-        "attention_bias": false,
-        "bos_token_id": 1,
-        "enable_mrope": true,
-        "eos_token_id": 11,
-        "head_dim": 128,
-        "hidden_size": 2048,
-        "intermediate_size": 9216,
-        "layer_norm_epsilon": 1e-05,
-        "max_position_embeddings": 131072,
-        "mlp_bias": false,
-        "mlp_hidden_act": "relu2",
-        "model_type": "nemotron_3_dense_vl_text",
-        "mrope_section": [
-          24,
-          20,
-          20
-        ],
-        "num_attention_heads": 16,
-        "num_hidden_layers": 28,
-        "num_key_value_heads": 8,
-        "pad_token_id": 11,
-        "rope_theta": 100000000.0,
-        "tie_word_embeddings": false,
-        "use_und_k_norm_for_gen": true,
-        "vocab_size": 131072
-      }
-    }
-  },
-  "runner": {
-    "change_key_name": false,
-    "collator": {
-      "list_keys": [
-        "sequence_plan"
-      ],
-      "meta_keys": [
-        "task_description",
-        "stats",
-        "info",
-        "timestamp"
-      ],
-      "pad_id": 11,
-      "sequence_keys": [
-        "text_token_ids"
-      ],
-      "tensor_keys": [
-        "images",
-        "actions",
-        "embodiment_ids",
-        "raw_action_dim",
-        "conditioning_fps",
-        "action_fps"
-      ],
-      "type": "Cosmos3Collator"
-    },
-    "enable_gradient_checkpointing": true,
-    "enable_mixed_precision_training": true,
-    "grad_accumulation_steps": 16,
-    "lr_scheduler": {
-      "cycle_length": 16000,
-      "type": "linear-warmup+linear-decay",
-      "warmup_steps": 500
-    },
-    "max_epochs": null,
-    "max_grad_norm": 1.0,
-    "max_keep_ckpts": 2,
-    "max_steps": 2000,
-    "metric": {
-      "active_trackers": [
-        "jsonl",
-        "wandb"
-      ],
-      "grad_accumulation_steps": 16,
-      "run_dir": "work_dirs",
-      "type": "VLAMetric",
-      "window_size": 1
-    },
-    "mixed_precision_dtype": "bf16",
-    "optimizer": {
-      "betas": [
-        0.9,
-        0.99
-      ],
-      "eps": 1e-08,
-      "exclude_1d_from_weight_decay": false,
-      "fused": true,
-      "lr": 5e-05,
-      "paramwise_learning_rate": {
-        "action_in_proj.": 0.00025,
-        "action_modality_embed": 0.00025,
-        "action_out_proj.": 0.00025
-      },
-      "type": "AdamW",
-      "weight_decay": 0.05
-    },
-    "sampler": null,
-    "save_iter_interval": 500,
-    "sharding_strategy": "full-shard",
-    "tokenizer": {
-      "model_max_length": 4096,
-      "model_path": "./checkpoints/Cosmos3-Edge",
-      "padding_side": "right",
-      "trust_remote_code": true,
-      "type": "PretrainedTokenizer"
-    },
-    "type": "FSDPTrainRunner"
-  },
-  "seed": 7,
-  "train_dataloader": {
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-      "datasets": {
-        "action_key": "action",
-        "action_window_size": 16,
-        "data_root_path": "/mnt/data/cpfs/mnt/data/yanis/FastWAM/data/libero_mujoco3.3.2/libero_10_no_noops_lerobot",
-        "frame_window_size": 17,
-        "require_full_window": true,
-        "statistic_name": "libero_10_no_noops",
-        "transforms": [
-          {
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-            "name_mappings": {
-              "actions": [
-                "actions"
-              ],
-              "observation.state": [
-                "states"
-              ]
-            },
-            "parquet_keys": [
-              "observation.state",
-              "timestamp",
-              "actions",
-              "info",
-              "stats"
-            ],
-            "type": "ProcessParquetInputs",
-            "video_keys": [
-              "observation.images.image",
-              "observation.images.wrist_image"
-            ]
-          },
-          {
-            "type": "LiberoFramewiseActionToRot6D"
-          },
-          {
-            "action_metadata": {
-              "append_viewpoint": false,
-              "conditioning_fps": 20.0,
-              "frame_window_size": 17,
-              "video_height": 256,
-              "video_width": 512
-            },
-            "cfg_dropout_rate": 0.1,
-            "max_len": 512,
-            "tokenizer": {
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-              "model_path": "./checkpoints/Cosmos3-Edge",
-              "padding_side": "right",
-              "trust_remote_code": true,
-              "type": "PretrainedTokenizer"
-            },
-            "type": "ProcessCosmos3Prompt"
-          },
-          {
-            "height": 256,
-            "type": "ResizeImages",
-            "width": 256
-          },
-          {
-            "type": "SimpleNormalizeImages"
-          },
-          {
-            "action_dim": 64,
-            "action_key": "action",
-            "action_norm_type": "quantile",
-            "state_dim": 64,
-            "state_key": "proprio",
-            "state_norm_type": "none",
-            "type": "NormalizeStatesAndActions"
-          },
-          {
-            "conditioning_fps": 20.0,
-            "frame_window_size": 17,
-            "mode": "wam",
-            "prepend_state_to_action": false,
-            "raw_action_dim": 10,
-            "type": "BuildCosmos3Sequence"
-          },
-          {
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-            "num_views": 2,
-            "tile_direction": "horizontal",
-            "type": "PrepareVideo"
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-        "type": "ParquetDataset",
-        "use_delta": false,
-        "window_start_idx": 0
-      },
-      "name_mappings": {
-        "action": [
-          "action"
-        ],
-        "observation.state": [
-          "proprio"
-        ]
-      },
-      "statistic_keys": [
-        "observation.state",
-        "timestamp",
-        "action"
-      ],
-      "statistic_name": "libero_10_no_noops",
-      "statistics_overrides": {
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-    },
-    "per_device_batch_size": 16,
-    "per_device_num_workers": 4
-  }
-}

cosmos3edge_libero_10_full_finetune_bs16/config.yaml

@@ -1,549 +0,0 @@
-eval:
-  dataset:
-    extra_tensor_keys:
-    - conditioning_fps
-    - prepend_state_to_action
-    img_buffer_len: 1
-    transforms:
-    - embodiment_id: 5
-      img_keys:
-      - agentview_image
-      - robot0_eye_in_hand_image
-      type: ProcessLiberoEvalInputs
-    - conditioning_fps: 20.0
-      prepend_state_to_action: false
-      type: SetCosmos3ActionMetadata
-    - image_resize_strategy: resize-naive
-      input_sizes:
-      - - 3
-        - 256
-        - 256
-      - - 3
-        - 256
-        - 256
-      means:
-      - - 127.5
-        - 127.5
-        - 127.5
-      - - 127.5
-        - 127.5
-        - 127.5
-      stds:
-      - - 127.5
-        - 127.5
-        - 127.5
-      - - 127.5
-        - 127.5
-        - 127.5
-      type: TransformImage
-    - action_metadata:
-        append_viewpoint: false
-        conditioning_fps: 20.0
-        frame_window_size: 17
-        video_height: 256
-        video_width: 512
-      cfg_dropout_rate: 0.0
-      max_len: 512
-      output_attention_mask_key: lang_masks
-      output_key: lang_tokens
-      tokenizer:
-        model_max_length: 4096
-        model_path: ./checkpoints/Cosmos3-Edge
-        padding_side: right
-        trust_remote_code: true
-        type: PretrainedTokenizer
-      type: ProcessCosmos3Prompt
-    - gripper_key: robot0_gripper_qpos
-      norm_type: mean_std
-      out_key: states
-      pos_key: robot0_eef_pos
-      quat_key: robot0_eef_quat
-      state_dim: 64
-      type: LiberoProprioFromInputs
-    - frame_window_size: 1
-      num_views: 2
-      tile_direction: horizontal
-      type: PrepareVideo
-    type: LiberoParquetEvalDataset
-  denormalize_action:
-    action_dim: 10
-    norm_type: quantile_rot
-    type: DenormalizeLiberoFramewiseRot6DAction
-  enable_mixed_precision_training: true
-  eval_chunk_size: 16
-  inference_seed: 7
-  mixed_precision_dtype: bf16
-  model_family: cosmos3
-  norm_stats_key: libero_10_no_noops
-  num_inference_steps: 30
-  num_steps_wait: 10
-  num_trials_per_task: 50
-  resize_size: 256
-  seed: 7
-  task_ids: null
-  task_suite_name: libero_10
-  type: LiberoEvalRunner
-inference_model:
-  action_horizon: 16
-  action_in_proj:
-    input_size: 64
-    num_domains: 32
-    output_size: 2048
-    type: DomainAwareLinear
-  action_out_proj:
-    input_size: 2048
-    num_domains: 32
-    output_size: 64
-    type: DomainAwareLinear
-  base_fps: 24.0
-  enable_fps_modulation: true
-  enable_vision_loss: true
-  freeze_non_moe_vlm_backbone: true
-  freeze_vlm_backbone: false
-  latent_patch_size: 2
-  max_action_dim: 64
-  name_mapping:
-    .self_attn.k_norm_moe_gen.: .self_attn.norm_added_k.
-    .self_attn.k_proj.: .self_attn.to_k.
-    .self_attn.k_proj_moe_gen.: .self_attn.add_k_proj.
-    .self_attn.o_proj.: .self_attn.to_out.
-    .self_attn.o_proj_moe_gen.: .self_attn.to_add_out.
-    .self_attn.q_norm_moe_gen.: .self_attn.norm_added_q.
-    .self_attn.q_proj.: .self_attn.to_q.
-    .self_attn.q_proj_moe_gen.: .self_attn.add_q_proj.
-    .self_attn.v_proj.: .self_attn.to_v.
-    .self_attn.v_proj_moe_gen.: .self_attn.add_v_proj.
-    action_in_proj.: action_proj_in.
-    action_modality_embed: action_modality_embed
-    action_out_proj.: action_proj_out.
-    time_embedder.mlp.0.: time_embedder.linear_1.
-    time_embedder.mlp.2.: time_embedder.linear_2.
-    vision_in_proj.projector.: proj_in.
-    vision_out_proj.projector.: proj_out.
-    vlm_backbone.lm_head.weight: lm_head.weight
-    vlm_backbone.model.language_model.embed_tokens.weight: embed_tokens.weight
-    vlm_backbone.model.language_model.layers.: layers.
-    vlm_backbone.model.language_model.norm.weight: norm.weight
-    vlm_backbone.model.language_model.norm_moe_gen.weight: norm_moe_gen.weight
-  num_embodiment_domains: 32
-  ori_action_dim: 10
-  packed_attention_backend: flash2
-  position_embedding_type: unified_3d_mrope
-  pretrained_name_or_path: ./checkpoints/Cosmos3-Edge/transformer
-  rectified_flow_inference_config:
-    num_steps: 30
-    num_train_timesteps: 1000
-    scheduler_type: unipc
-    shift: 10.0
-    use_dynamic_shifting: false
-    use_karras_sigmas: false
-  rectified_flow_training_config:
-    action_loss_weight: 10.0
-    independent_action_schedule: false
-    normalize_loss_by_active: false
-    shift:
-      '256': 3
-      '480': 5
-      '720': 10
-    shift_action: null
-    train_time_action_distribution: logitnormal
-    train_time_image_distribution: logitnormal
-    train_time_video_distribution: waver
-    train_time_weight: uniform
-    use_discrete_rf: false
-    use_dynamic_shift: false
-    use_high_sigma_strategy: false
-    use_high_sigma_strategy_action: false
-    vision_loss_weight: 10.0
-  reinitialize_action_policy: true
-  special_tokens:
-    end_of_generation: 21
-    eos_token_id: 11
-    start_of_generation: 20
-  strict_mapping: true
-  timestep_scale: 0.001
-  type: Cosmos3FlowMatching
-  unified_3d_mrope_reset_spatial_ids: true
-  unified_3d_mrope_temporal_modality_margin: 15000
-  vision_in_proj:
-    in_dim: 192
-    out_dim: 2048
-    type: LinearProjector
-  vision_latent_dim: 48
-  vision_out_proj:
-    in_dim: 2048
-    out_dim: 192
-    type: LinearProjector
-  vision_vae:
-    encode_exact_durations:
-    - 17
-    pretrained_name_or_path: ./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth
-    type: Cosmos3Wan22VAE
-  vlm_backbone:
-    include_visual: false
-    skip_init_weights: true
-    type: Cosmos3MoTBackbone
-    vlm_config:
-      attention_bias: false
-      bos_token_id: 1
-      enable_mrope: true
-      eos_token_id: 11
-      head_dim: 128
-      hidden_size: 2048
-      intermediate_size: 9216
-      layer_norm_epsilon: 1.0e-05
-      max_position_embeddings: 131072
-      mlp_bias: false
-      mlp_hidden_act: relu2
-      model_type: nemotron_3_dense_vl_text
-      mrope_section:
-      - 24
-      - 20
-      - 20
-      num_attention_heads: 16
-      num_hidden_layers: 28
-      num_key_value_heads: 8
-      pad_token_id: 11
-      rope_theta: 100000000.0
-      tie_word_embeddings: false
-      use_und_k_norm_for_gen: true
-      vocab_size: 131072
-model:
-  action_horizon: 16
-  action_in_proj:
-    input_size: 64
-    num_domains: 32
-    output_size: 2048
-    type: DomainAwareLinear
-  action_out_proj:
-    input_size: 2048
-    num_domains: 32
-    output_size: 64
-    type: DomainAwareLinear
-  base_fps: 24.0
-  enable_fps_modulation: true
-  enable_vision_loss: true
-  freeze_non_moe_vlm_backbone: true
-  freeze_vlm_backbone: false
-  latent_patch_size: 2
-  max_action_dim: 64
-  name_mapping:
-    .self_attn.k_norm_moe_gen.: .self_attn.norm_added_k.
-    .self_attn.k_proj.: .self_attn.to_k.
-    .self_attn.k_proj_moe_gen.: .self_attn.add_k_proj.
-    .self_attn.o_proj.: .self_attn.to_out.
-    .self_attn.o_proj_moe_gen.: .self_attn.to_add_out.
-    .self_attn.q_norm_moe_gen.: .self_attn.norm_added_q.
-    .self_attn.q_proj.: .self_attn.to_q.
-    .self_attn.q_proj_moe_gen.: .self_attn.add_q_proj.
-    .self_attn.v_proj.: .self_attn.to_v.
-    .self_attn.v_proj_moe_gen.: .self_attn.add_v_proj.
-    action_in_proj.: action_proj_in.
-    action_modality_embed: action_modality_embed
-    action_out_proj.: action_proj_out.
-    time_embedder.mlp.0.: time_embedder.linear_1.
-    time_embedder.mlp.2.: time_embedder.linear_2.
-    vision_in_proj.projector.: proj_in.
-    vision_out_proj.projector.: proj_out.
-    vlm_backbone.lm_head.weight: lm_head.weight
-    vlm_backbone.model.language_model.embed_tokens.weight: embed_tokens.weight
-    vlm_backbone.model.language_model.layers.: layers.
-    vlm_backbone.model.language_model.norm.weight: norm.weight
-    vlm_backbone.model.language_model.norm_moe_gen.weight: norm_moe_gen.weight
-  num_embodiment_domains: 32
-  ori_action_dim: 10
-  packed_attention_backend: flash2
-  position_embedding_type: unified_3d_mrope
-  pretrained_name_or_path: ./checkpoints/Cosmos3-Edge/transformer
-  rectified_flow_inference_config:
-    num_steps: 30
-    num_train_timesteps: 1000
-    scheduler_type: unipc
-    shift: 10.0
-    use_dynamic_shifting: false
-    use_karras_sigmas: false
-  rectified_flow_training_config:
-    action_loss_weight: 10.0
-    independent_action_schedule: false
-    normalize_loss_by_active: false
-    shift:
-      '256': 3
-      '480': 5
-      '720': 10
-    shift_action: null
-    train_time_action_distribution: logitnormal
-    train_time_image_distribution: logitnormal
-    train_time_video_distribution: waver
-    train_time_weight: uniform
-    use_discrete_rf: false
-    use_dynamic_shift: false
-    use_high_sigma_strategy: false
-    use_high_sigma_strategy_action: false
-    vision_loss_weight: 10.0
-  reinitialize_action_policy: true
-  special_tokens:
-    end_of_generation: 21
-    eos_token_id: 11
-    start_of_generation: 20
-  strict_mapping: true
-  timestep_scale: 0.001
-  type: Cosmos3FlowMatching
-  unified_3d_mrope_reset_spatial_ids: true
-  unified_3d_mrope_temporal_modality_margin: 15000
-  vision_in_proj:
-    in_dim: 192
-    out_dim: 2048
-    type: LinearProjector
-  vision_latent_dim: 48
-  vision_out_proj:
-    in_dim: 2048
-    out_dim: 192
-    type: LinearProjector
-  vision_vae:
-    encode_exact_durations:
-    - 17
-    pretrained_name_or_path: ./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth
-    type: Cosmos3Wan22VAE
-  vlm_backbone:
-    include_visual: false
-    skip_init_weights: true
-    type: Cosmos3MoTBackbone
-    vlm_config:
-      attention_bias: false
-      bos_token_id: 1
-      enable_mrope: true
-      eos_token_id: 11
-      head_dim: 128
-      hidden_size: 2048
-      intermediate_size: 9216
-      layer_norm_epsilon: 1.0e-05
-      max_position_embeddings: 131072
-      mlp_bias: false
-      mlp_hidden_act: relu2
-      model_type: nemotron_3_dense_vl_text
-      mrope_section:
-      - 24
-      - 20
-      - 20
-      num_attention_heads: 16
-      num_hidden_layers: 28
-      num_key_value_heads: 8
-      pad_token_id: 11
-      rope_theta: 100000000.0
-      tie_word_embeddings: false
-      use_und_k_norm_for_gen: true
-      vocab_size: 131072
-runner:
-  change_key_name: false
-  collator:
-    list_keys:
-    - sequence_plan
-    meta_keys:
-    - task_description
-    - stats
-    - info
-    - timestamp
-    pad_id: 11
-    sequence_keys:
-    - text_token_ids
-    tensor_keys:
-    - images
-    - actions
-    - embodiment_ids
-    - raw_action_dim
-    - conditioning_fps
-    - action_fps
-    type: Cosmos3Collator
-  enable_gradient_checkpointing: true
-  enable_mixed_precision_training: true
-  grad_accumulation_steps: 16
-  lr_scheduler:
-    cycle_length: 16000
-    type: linear-warmup+linear-decay
-    warmup_steps: 500
-  max_epochs: null
-  max_grad_norm: 1.0
-  max_keep_ckpts: 2
-  max_steps: 2000
-  metric:
-    active_trackers:
-    - jsonl
-    - wandb
-    grad_accumulation_steps: 16
-    run_dir: work_dirs
-    type: VLAMetric
-    window_size: 1
-  mixed_precision_dtype: bf16
-  optimizer:
-    betas:
-    - 0.9
-    - 0.99
-    eps: 1.0e-08
-    exclude_1d_from_weight_decay: false
-    fused: true
-    lr: 5.0e-05
-    paramwise_learning_rate:
-      action_in_proj.: 0.00025
-      action_modality_embed: 0.00025
-      action_out_proj.: 0.00025
-    type: AdamW
-    weight_decay: 0.05
-  sampler: null
-  save_iter_interval: 500
-  sharding_strategy: full-shard
-  tokenizer:
-    model_max_length: 4096
-    model_path: ./checkpoints/Cosmos3-Edge
-    padding_side: right
-    trust_remote_code: true
-    type: PretrainedTokenizer
-  type: FSDPTrainRunner
-seed: 7
-train_dataloader:
-  dataset:
-    datasets:
-      action_key: action
-      action_window_size: 16
-      data_root_path: /mnt/data/cpfs/mnt/data/yanis/FastWAM/data/libero_mujoco3.3.2/libero_10_no_noops_lerobot
-      frame_window_size: 17
-      require_full_window: true
-      statistic_name: libero_10_no_noops
-      transforms:
-      - embodiment_id: 5
-        name_mappings:
-          actions:
-          - actions
-          observation.state:
-          - states
-        parquet_keys:
-        - observation.state
-        - timestamp
-        - actions
-        - info
-        - stats
-        type: ProcessParquetInputs
-        video_keys:
-        - observation.images.image
-        - observation.images.wrist_image
-      - type: LiberoFramewiseActionToRot6D
-      - action_metadata:
-          append_viewpoint: false
-          conditioning_fps: 20.0
-          frame_window_size: 17
-          video_height: 256
-          video_width: 512
-        cfg_dropout_rate: 0.1
-        max_len: 512
-        tokenizer:
-          model_max_length: 4096
-          model_path: ./checkpoints/Cosmos3-Edge
-          padding_side: right
-          trust_remote_code: true
-          type: PretrainedTokenizer
-        type: ProcessCosmos3Prompt
-      - height: 256
-        type: ResizeImages
-        width: 256
-      - type: SimpleNormalizeImages
-      - action_dim: 64
-        action_key: action
-        action_norm_type: quantile
-        state_dim: 64
-        state_key: proprio
-        state_norm_type: none
-        type: NormalizeStatesAndActions
-      - conditioning_fps: 20.0
-        frame_window_size: 17
-        mode: wam
-        prepend_state_to_action: false
-        raw_action_dim: 10
-        type: BuildCosmos3Sequence
-      - frame_window_size: 17
-        num_views: 2
-        tile_direction: horizontal
-        type: PrepareVideo
-      type: ParquetDataset
-      use_delta: false
-      window_start_idx: 0
-    name_mappings:
-      action:
-      - action
-      observation.state:
-      - proprio
-    statistic_keys:
-    - observation.state
-    - timestamp
-    - action
-    statistic_name: libero_10_no_noops
-    statistics_overrides:
-      libero_10_no_noops:
-        action:
-          max:
-          - 0.9375
-          - 0.9375
-          - 0.9375
-          - 1.0
-          - 0.368853
-          - 0.341214
-          - 0.356395
-          - 1.0
-          - 0.348251
-          - 1.0
-          mean:
-          - 0.050704
-          - 0.097407
-          - -0.094833
-          - 0.994873
-          - -0.004579
-          - -0.004288
-          - 0.004389
-          - 0.996104
-          - 0.001109
-          - 0.476725
-          min:
-          - -0.9375
-          - -0.9375
-          - -0.9375
-          - 0.902028
-          - -0.356085
-          - -0.367416
-          - -0.370434
-          - 0.921907
-          - -0.255
-          - 0.0
-          q01:
-          - -0.723214
-          - -0.808929
-          - -0.9375
-          - 0.934955
-          - -0.223431
-          - -0.189878
-          - -0.334735
-          - 0.938516
-          - -0.107736
-          - 0.0
-          q99:
-          - 0.9375
-          - 0.870536
-          - 0.9375
-          - 1.0
-          - 0.331
-          - 0.163153
-          - 0.226216
-          - 1.0
-          - 0.127158
-          - 1.0
-          std:
-          - 0.333621
-          - 0.387175
-          - 0.45714
-          - 0.010807
-          - 0.077802
-          - 0.063386
-          - 0.078571
-          - 0.009994
-          - 0.038504
-          - 0.49946
-    type: DistributedRepeatingDataset
-  per_device_batch_size: 16
-  per_device_num_workers: 4

cosmos3edge_libero_10_full_finetune_bs16/dataset_statistics.json

@@ -1,138 +0,0 @@
-{
-  "libero_10_no_noops": {
-    "proprio": {
-      "mean": [
-        -0.0419132679050224,
-        0.034591788297521735,
-        0.8265881844959498,
-        2.90259518190321,
-        -0.5570652600832564,
-        -0.16592166873533284,
-        0.02845031351083622,
-        -0.02880236273799356
-      ],
-      "std": [
-        0.10624992665927362,
-        0.14401688728274314,
-        0.25759972426671174,
-        0.34867505600295295,
-        1.2496987475156769,
-        0.35329866308794083,
-        0.013186505244905122,
-        0.013033613316921894
-      ],
-      "min": [
-        -0.48278069496154785,
-        -0.3309336006641388,
-        0.44550687074661255,
-        1.1323540210723877,
-        -3.6312508583068848,
-        -1.842738389968872,
-        -0.005453015677630901,
-        -0.04112039878964424
-      ],
-      "max": [
-        0.2103137969970703,
-        0.38887521624565125,
-        1.333192229270935,
-        3.7248642444610596,
-        3.5618896484375,
-        1.3863215446472168,
-        0.041575800627470016,
-        0.0013126095291227102
-      ],
-      "q01": null,
-      "q99": null
-    },
-    "timestamp": {
-      "mean": [
-        7.007510548523206
-      ],
-      "std": [
-        4.457129586378845
-      ],
-      "min": [
-        0.0
-      ],
-      "max": [
-        25.2
-      ],
-      "q01": null,
-      "q99": null
-    },
-    "action": {
-      "mean": [
-        0.050704,
-        0.097407,
-        -0.094833,
-        0.994873,
-        -0.004579,
-        -0.004288,
-        0.004389,
-        0.996104,
-        0.001109,
-        0.476725
-      ],
-      "std": [
-        0.333621,
-        0.387175,
-        0.45714,
-        0.010807,
-        0.077802,
-        0.063386,
-        0.078571,
-        0.009994,
-        0.038504,
-        0.49946
-      ],
-      "min": [
-        -0.9375,
-        -0.9375,
-        -0.9375,
-        0.902028,
-        -0.356085,
-        -0.367416,
-        -0.370434,
-        0.921907,
-        -0.255,
-        0.0
-      ],
-      "max": [
-        0.9375,
-        0.9375,
-        0.9375,
-        1.0,
-        0.368853,
-        0.341214,
-        0.356395,
-        1.0,
-        0.348251,
-        1.0
-      ],
-      "q01": [
-        -0.723214,
-        -0.808929,
-        -0.9375,
-        0.934955,
-        -0.223431,
-        -0.189878,
-        -0.334735,
-        0.938516,
-        -0.107736,
-        0.0
-      ],
-      "q99": [
-        0.9375,
-        0.870536,
-        0.9375,
-        1.0,
-        0.331,
-        0.163153,
-        0.226216,
-        1.0,
-        0.127158,
-        1.0
-      ]
-    }
-  }
-}

cosmos3edge_libero_10_full_finetune_bs16/run-metrics.jsonl

@@ -1 +0,0 @@
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'normalize_loss_by_active': False, 'shift': {'256': 3, '480': 5, '720': 10}, 'shift_action': None, 'train_time_action_distribution': 'logitnormal', 'train_time_image_distribution': 'logitnormal', 'train_time_video_distribution': 'waver', 'train_time_weight': 'uniform', 'use_discrete_rf': False, 'use_dynamic_shift': False, 'use_high_sigma_strategy': False, 'use_high_sigma_strategy_action': False, 'vision_loss_weight': 10.0}, 'special_tokens': {'end_of_generation': 21, 'eos_token_id': 11, 'start_of_generation': 20}, 'strict_mapping': True, 'timestep_scale': 0.001, 'type': 'Cosmos3FlowMatching', 'unified_3d_mrope_reset_spatial_ids': True, 'unified_3d_mrope_temporal_modality_margin': 15000, 'vision_in_proj': {'in_dim': 192, 'out_dim': 2048, 'type': 'LinearProjector'}, 'vision_latent_dim': 48, 'vision_out_proj': {'in_dim': 2048, 'out_dim': 192, 'type': 'LinearProjector'}, 'vision_vae': {'encode_exact_durations': [17], 'pretrained_name_or_path': './checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth', 'type': 'Cosmos3Wan22VAE'}, 'vlm_backbone': {'include_visual': False, 'skip_init_weights': True, 'type': 'Cosmos3MoTBackbone', 'vlm_config': {'attention_bias': False, 'bos_token_id': 1, 'enable_mrope': True, 'eos_token_id': 11, 'head_dim': 128, 'hidden_size': 2048, 'intermediate_size': 9216, 'layer_norm_epsilon': 1e-05, 'max_position_embeddings': 131072, 'mlp_bias': False, 'mlp_hidden_act': 'relu2', 'model_type': 'nemotron_3_dense_vl_text', 'mrope_section': [24, 20, 20], 'num_attention_heads': 16, 'num_hidden_layers': 28, 'num_key_value_heads': 8, 'pad_token_id': 11, 'rope_theta': 100000000.0, 'tie_word_embeddings': False, 'use_und_k_norm_for_gen': True, 'vocab_size': 131072}}}, 'runner': {'change_key_name': False, 'collator': {'list_keys': ['sequence_plan'], 'meta_keys': ['task_description', 'stats', 'info', 'timestamp'], 'pad_id': 11, 'sequence_keys': ['text_token_ids'], 'tensor_keys': ['images', 'actions', 'embodiment_ids', 'raw_action_dim', 'conditioning_fps', 'action_fps'], 'type': 'Cosmos3Collator'}, 'enable_gradient_checkpointing': True, 'enable_mixed_precision_training': True, 'grad_accumulation_steps': 16, 'lr_scheduler': {'cycle_length': 16000, 'type': 'linear-warmup+linear-decay', 'warmup_steps': 500}, 'max_epochs': None, 'max_grad_norm': 1.0, 'max_keep_ckpts': 2, 'max_steps': 2000, 'metric': {'active_trackers': ('jsonl', 'wandb'), 'grad_accumulation_steps': 16, 'run_dir': '/mnt/data/cpfs/users/leo/wk_dir/cosmos3/libero_10_edge_pr51_latest_bs16', 'type': 'VLAMetric', 'window_size': 1}, 'mixed_precision_dtype': 'bf16', 'optimizer': {'betas': (0.9, 0.99), 'eps': 1e-08, 'exclude_1d_from_weight_decay': False, 'fused': True, 'lr': 5e-05, 'paramwise_learning_rate': {'action_in_proj.': 0.00025, 'action_modality_embed': 0.00025, 'action_out_proj.': 0.00025}, 'type': 'AdamW', 'weight_decay': 0.05}, 'sampler': None, 'save_iter_interval': 500, 'sharding_strategy': 'full-shard', 'tokenizer': {'model_max_length': 4096, 'model_path': './checkpoints/Cosmos3-Edge', 'padding_side': 'right', 'trust_remote_code': True, 'type': 'PretrainedTokenizer'}, 'type': 'FSDPTrainRunner', 'cfg': Config (path: configs/cosmos3/cosmos3edge_libero_10_full_finetune.py): {...}, 'args': Namespace(config='configs/cosmos3/cosmos3edge_libero_10_full_finetune.py', work_dir='/mnt/data/cpfs/users/leo/wk_dir/cosmos3/libero_10_edge_pr51_latest_bs16', cfg_options={'train_dataloader.per_device_batch_size': 16, 'runner.grad_accumulation_steps': 16, 'runner.metric.grad_accumulation_steps': 16}, eval_after_train=True, resume_from=None)}, 'seed': 7, 'train_dataloader': {'dataset': {'datasets': {'action_key': 'action', 'action_window_size': 16, 'data_root_path': '/mnt/data/cpfs/mnt/data/yanis/FastWAM/data/libero_mujoco3.3.2/libero_10_no_noops_lerobot', 'frame_window_size': 17, 'require_full_window': True, 'statistic_name': 'libero_10_no_noops', 'transforms': [{'embodiment_id': 5, 'name_mappings': {'actions': ['actions'], 'observation.state': ['states']}, 'parquet_keys': ['observation.state', 'timestamp', 'actions', 'info', 'stats'], 'type': 'ProcessParquetInputs', 'video_keys': ['observation.images.image', 'observation.images.wrist_image']}, {'type': 'LiberoFramewiseActionToRot6D'}, {'action_metadata': {'append_viewpoint': False, 'conditioning_fps': 20.0, 'frame_window_size': 17, 'video_height': 256, 'video_width': 512}, 'cfg_dropout_rate': 0.1, 'max_len': 512, 'tokenizer': {'model_max_length': 4096, 'model_path': './checkpoints/Cosmos3-Edge', 'padding_side': 'right', 'trust_remote_code': True, 'type': 'PretrainedTokenizer'}, 'type': 'ProcessCosmos3Prompt'}, {'height': 256, 'type': 'ResizeImages', 'width': 256}, {'type': 'SimpleNormalizeImages'}, {'action_dim': 64, 'action_key': 'action', 'action_norm_type': 'quantile', 'state_norm_type': 'none', 'state_dim': 64, 'state_key': 'proprio', 'type': 'NormalizeStatesAndActions'}, {'conditioning_fps': 20.0, 'frame_window_size': 17, 'mode': 'wam', 'prepend_state_to_action': False, 'raw_action_dim': 10, 'type': 'BuildCosmos3Sequence'}, {'frame_window_size': 17, 'num_views': 2, 'tile_direction': 'horizontal', 'type': 'PrepareVideo'}], 'type': 'ParquetDataset', 'use_delta': False, 'window_start_idx': 0}, 'name_mappings': {'action': ['action'], 'observation.state': ['proprio']}, 'statistic_keys': ['observation.state', 'timestamp', 'action'], 'statistic_name': 'libero_10_no_noops', 'statistics_overrides': {'libero_10_no_noops': {'action': {'mean': [0.050704, 0.097407, -0.094833, 0.994873, -0.004579, -0.004288, 0.004389, 0.996104, 0.001109, 0.476725], 'std': [0.333621, 0.387175, 0.45714, 0.010807, 0.077802, 0.063386, 0.078571, 0.009994, 0.038504, 0.49946], 'min': [-0.9375, -0.9375, -0.9375, 0.902028, -0.356085, -0.367416, -0.370434, 0.921907, -0.255, 0.0], 'max': [0.9375, 0.9375, 0.9375, 1.0, 0.368853, 0.341214, 0.356395, 1.0, 0.348251, 1.0], 'q01': [-0.723214, -0.808929, -0.9375, 0.934955, -0.223431, -0.189878, -0.334735, 0.938516, -0.107736, 0.0], 'q99': [0.9375, 0.870536, 0.9375, 1.0, 0.331, 0.163153, 0.226216, 1.0, 0.127158, 1.0]}}}, 'type': 'DistributedRepeatingDataset'}, 'per_device_batch_size': 16, 'per_device_num_workers': 4}}, 'args': Namespace(config='configs/cosmos3/cosmos3edge_libero_10_full_finetune.py', work_dir='/mnt/data/cpfs/users/leo/wk_dir/cosmos3/libero_10_edge_pr51_latest_bs16', cfg_options={'train_dataloader.per_device_batch_size': 16, 'runner.grad_accumulation_steps': 16, 'runner.metric.grad_accumulation_steps': 16}, eval_after_train=True, resume_from=None)}, 'seed': 7, 'train_dataloader': {'dataset': {'datasets': {'action_key': 'action', 'action_window_size': 16, 'data_root_path': '/mnt/data/cpfs/mnt/data/yanis/FastWAM/data/libero_mujoco3.3.2/libero_10_no_noops_lerobot', 'frame_window_size': 17, 'require_full_window': True, 'statistic_name': 'libero_10_no_noops', 'transforms': [{'embodiment_id': 5, 'name_mappings': {'actions': ['actions'], 'observation.state': ['states']}, 'parquet_keys': ['observation.state', 'timestamp', 'actions', 'info', 'stats'], 'type': 'ProcessParquetInputs', 'video_keys': ['observation.images.image', 'observation.images.wrist_image']}, {'type': 'LiberoFramewiseActionToRot6D'}, {'action_metadata': {'append_viewpoint': False, 'conditioning_fps': 20.0, 'frame_window_size': 17, 'video_height': 256, 'video_width': 512}, 'cfg_dropout_rate': 0.1, 'max_len': 512, 'tokenizer': {'model_max_length': 4096, 'model_path': './checkpoints/Cosmos3-Edge', 'padding_side': 'right', 'trust_remote_code': True, 'type': 'PretrainedTokenizer'}, 'type': 'ProcessCosmos3Prompt'}, {'height': 256, 'type': 'ResizeImages', 'width': 256}, {'type': 'SimpleNormalizeImages'}, {'action_dim': 64, 'action_key': 'action', 'action_norm_type': 'quantile', 'state_norm_type': 'none', 'state_dim': 64, 'state_key': 'proprio', 'type': 'NormalizeStatesAndActions'}, {'conditioning_fps': 20.0, 'frame_window_size': 17, 'mode': 'wam', 'prepend_state_to_action': False, 'raw_action_dim': 10, 'type': 'BuildCosmos3Sequence'}, {'frame_window_size': 17, 'num_views': 2, 'tile_direction': 'horizontal', 'type': 'PrepareVideo'}], 'type': 'ParquetDataset', 'use_delta': False, 'window_start_idx': 0}, 'name_mappings': {'action': ['action'], 'observation.state': ['proprio']}, 'statistic_keys': ['observation.state', 'timestamp', 'action'], 'statistic_name': 'libero_10_no_noops', 'statistics_overrides': {'libero_10_no_noops': {'action': {'mean': [0.050704, 0.097407, -0.094833, 0.994873, -0.004579, -0.004288, 0.004389, 0.996104, 0.001109, 0.476725], 'std': [0.333621, 0.387175, 0.45714, 0.010807, 0.077802, 0.063386, 0.078571, 0.009994, 0.038504, 0.49946], 'min': [-0.9375, -0.9375, -0.9375, 0.902028, -0.356085, -0.367416, -0.370434, 0.921907, -0.255, 0.0], 'max': [0.9375, 0.9375, 0.9375, 1.0, 0.368853, 0.341214, 0.356395, 1.0, 0.348251, 1.0], 'q01': [-0.723214, -0.808929, -0.9375, 0.934955, -0.223431, -0.189878, -0.334735, 0.938516, -0.107736, 0.0], 'q99': [0.9375, 0.870536, 0.9375, 1.0, 0.331, 0.163153, 0.226216, 1.0, 0.127158, 1.0]}}}, 'type': 'DistributedRepeatingDataset'}, 'per_device_batch_size': 16, 'per_device_num_workers': 4}}", "run_id": "cosmos3edge_libero_10_full_finetune_2026_08_04_16_56_51"}

cosmos3edge_libero_10_full_finetune_bs16/tokenizer/chat_template.jinja

@@ -1,324 +0,0 @@
-
-{% macro render_extra_keys(json_dict, handled_keys) %}
-    {%- if json_dict is mapping %}
-        {%- for json_key in json_dict if json_key not in handled_keys %}
-            {%- if json_dict[json_key] is mapping or (json_dict[json_key] is sequence and json_dict[json_key] is not string) %}
-                {{- '
-<' ~ json_key ~ '>' ~ (json_dict[json_key] | tojson | safe) ~ '</' ~ json_key ~ '>' }}
-            {%- else %}
-                {{-'
-<' ~ json_key ~ '>' ~ (json_dict[json_key] | string) ~ '</' ~ json_key ~ '>' }}
-            {%- endif %}
-        {%- endfor %}
-    {%- endif %}
-{% endmacro %}
-{%- set enable_thinking = enable_thinking if enable_thinking is defined else True %}
-{%- set truncate_history_thinking = truncate_history_thinking if truncate_history_thinking is defined else True %}
-
-{%- set ns = namespace(last_user_idx = -1) %}
-{%- set loop_messages = messages %}
-{%- for m in loop_messages %}
-  {%- if m["role"] == "user" %}
-    {%- set ns.last_user_idx = loop.index0 %}
-  {%- endif %}
-{%- endfor %}
-
-{%- if messages[0]["role"] == "system" %}
-    {%- if messages[0]["content"] is string %}
-        {%- set system_message = messages[0]["content"] %}
-    {%- else %}
-        {%- set ns = namespace(system_text="") %}
-        {%- for part in messages[0]["content"] %}
-            {%- if 'text' in part %}
-                {%- set ns.system_text = ns.system_text + part.text %}
-            {%- endif %}
-        {%- endfor %}
-        {%- set system_message = ns.system_text %}
-    {%- endif %}
-
-    {%- set loop_messages = messages[1:] %}
-{%- else %}
-    {%- set system_message = "" %}
-    {%- set loop_messages = messages %}
-{%- endif %}
-{%- if not tools is defined %}
-    {%- set tools = [] %}
-{%- endif %}
-{# Recompute last_user_idx relative to loop_messages after handling system #}
-{%- set ns = namespace(last_user_idx = -1) %}
-{%- for m in loop_messages %}
-  {%- if m["role"] == "user" %}
-    {%- set ns.last_user_idx = loop.index0 %}
-  {%- endif %}
-{%- endfor %}
-{%- if system_message is defined %}
-    {{- "<|im_start|>system
-" + system_message }}
-{%- else %}
-    {%- if tools is iterable and tools | length > 0 %}
-        {{- "<|im_start|>system
-" }}
-    {%- endif %}
-{%- endif %}
-{%- if tools is iterable and tools | length > 0 %}
-    {%- if system_message is defined and system_message | length > 0 %}
-        {{- "
-
-" }}
-    {%- endif %}
-    {{- "# Tools
-
-You have access to the following functions:
-
-" }}
-    {{- "<tools>" }}
-    {%- for tool in tools %}
-        {%- if tool.function is defined %}
-            {%- set tool = tool.function %}
-        {%- endif %}
-        {{- "
-<function>
-<name>" ~ tool.name ~ "</name>" }}
-        {%- if tool.description is defined %}
-            {{- '
-<description>' ~ (tool.description | trim) ~ '</description>' }}
-        {%- endif %}
-        {{- '
-<parameters>' }}
-        {%- if tool.parameters is defined and tool.parameters is mapping and tool.parameters.properties is defined and tool.parameters.properties is mapping %}
-            {%- for param_name, param_fields in tool.parameters.properties|items %}
-                {{- '
-<parameter>' }}
-                {{- '
-<name>' ~ param_name ~ '</name>' }}
-                {%- if param_fields.type is defined %}
-                    {{- '
-<type>' ~ (param_fields.type | string) ~ '</type>' }}
-                {%- endif %}
-                {%- if param_fields.description is defined %}
-                    {{- '
-<description>' ~ (param_fields.description | trim) ~ '</description>' }}
-                {%- endif %}
-                {%- if param_fields.enum is defined %}
-                    {{- '
-<enum>' ~ (param_fields.enum | tojson | safe) ~ '</enum>' }}
-                {%- endif %}
-                {%- set handled_keys = ['name', 'type', 'description', 'enum'] %}
-                {{- render_extra_keys(param_fields, handled_keys) }}
-                {{- '
-</parameter>' }}
-            {%- endfor %}
-        {%- endif %}
-        {% set handled_keys = ['type', 'properties', 'required'] %}
-        {{- render_extra_keys(tool.parameters, handled_keys) }}
-        {%- if tool.parameters is defined and tool.parameters.required is defined %}
-            {{- '
-<required>' ~ (tool.parameters.required | tojson | safe) ~ '</required>' }}
-        {%- endif %}
-        {{- '
-</parameters>' }}
-        {%- set handled_keys = ['type', 'name', 'description', 'parameters'] %}
-        {{- render_extra_keys(tool, handled_keys) }}
-        {{- '
-</function>' }}
-    {%- endfor %}
-    {{- "
-</tools>" }}
-
-    {{- '
-
-If you choose to call a function ONLY reply in the following format with NO suffix:
-
-<tool_call>
-<function=example_function_name>
-<parameter=example_parameter_1>
-value_1
-</parameter>
-<parameter=example_parameter_2>
-This is the value for the second parameter
-that can span
-multiple lines
-</parameter>
-</function>
-</tool_call>
-
-<IMPORTANT>
-Reminder:
-- Function calls MUST follow the specified format: an inner <function=...></function> block must be nested within <tool_call></tool_call> XML tags
-- Required parameters MUST be specified
-- You may provide optional reasoning for your function call in natural language BEFORE the function call, but NOT after
-- If there is no function call available, answer the question like normal with your current knowledge and do not tell the user about function calls
-</IMPORTANT>' }}
-{%- endif %}
-
-
-{%- if system_message is defined %}
-    {{- '<|im_end|>
-' }}
-{%- else %}
-    {%- if tools is iterable and tools | length > 0 %}
-        {{- '<|im_end|>
-' }}
-    {%- endif %}
-{%- endif %}
-
-{%- set image_count = namespace(value=0) %}
-{%- set video_count = namespace(value=0) %}
-{%- for message in loop_messages %}
-    {%- if message.role == "assistant" %}
-        {# Add reasoning content in to content field for unified processing below. #}
-        {%- set text_content = namespace(text_content="") -%}
-        {%- if message.content is string %}
-            {%- set text_content.text_content = message.content %}
-        {%- else %}
-            {%- for content in message.content %}
-                {%- if 'text' in content %}
-                    {%- set text_content.text_content = content.text %}
-                    {%- break %}
-                {%- endif %}
-            {%- endfor %}
-        {%- endif %}
-        {%- if message.reasoning_content is defined and message.reasoning_content is string and message.reasoning_content | trim | length > 0 %}
-            {%- set content = "<think>
-" ~ message.reasoning_content ~ "
-</think>
-" ~ (text_content.text_content | default('', true)) %}
-        {%- else %}
-            {%- set content = text_content.text_content | default('', true) %}
-            {# Allow downstream logic to to take care of broken thought, only handle coherent reasoning here. #}
-            {%- if '<think>' not in content and '</think>' not in content %}
-                {%- set content = "<think></think>" ~ content %}
-            {%- else %}
-                {%- set content = content %}
-            {%- endif -%}
-        {%- endif %}
-        {%- if message.tool_calls is defined and message.tool_calls is iterable and message.tool_calls | length > 0 %}
-            {# Assistant message has tool calls. #}
-            {{- '<|im_start|>assistant
-' }}
-                {%- set include_content = not (truncate_history_thinking and loop.index0 < ns.last_user_idx) %}
-                {%- if content is string and content | trim | length > 0 %}
-                    {%- if include_content %}
-                        {{- (content | trim) ~ '
-' -}}
-                    {%- else %}
-                        {%- set c = (content | string) %}
-                        {%- if '</think>' in c %}
-                            {# Keep only content after the last closing think. Also generation prompt causes this. #}
-                            {%- set c = c.split('</think>')[-1] %}
-                        {%- elif '<think>' in c %}
-                            {# If <think> was opened but never closed, drop the trailing think segment #}
-                            {%- set c = c.split('<think>')[0] %}
-                        {%- endif %}
-                        {%- set c = "<think></think>" ~ c | trim %}
-                        {%- if c | length > 0 %}
-                            {{- c ~ '
-' -}}
-                        {%- endif %}
-                    {%- endif %}
-                {%- else %}
-                    {{- "<think></think>" -}}
-                {%- endif %}
-                {%- for tool_call in message.tool_calls %}
-                    {%- if tool_call.function is defined %}
-                        {%- set tool_call = tool_call.function %}
-                    {%- endif %}
-                    {{- '<tool_call>
-<function=' ~ tool_call.name ~ '>
-' -}}
-                        {%- if tool_call.arguments is defined %}
-                            {%- for args_name, args_value in tool_call.arguments|items %}
-                                {{- '<parameter=' ~ args_name ~ '>
-' -}}
-                                    {%- set args_value = args_value | tojson | safe if args_value is mapping or (args_value is sequence and args_value is not string) else args_value | string %}
-                                {{- args_value ~ '
-</parameter>
-' -}}
-                            {%- endfor %}
-                        {%- endif %}
-                    {{- '</function>
-</tool_call>
-' -}}
-                {%- endfor %}
-                {{- '<|im_end|>
-' }}
-        {%- else %}
-            {# Assistant message doesn't have tool calls. #}
-            {%- if not (truncate_history_thinking and loop.index0 < ns.last_user_idx) %}
-                {{- '<|im_start|>assistant
-' ~ (content | default('', true) | string | trim) ~ '<|im_end|>
-' }}
-            {%- else %}
-                {%- set c = (content | default('', true) | string) %}
-                {%- if '<think>' in c and '</think>' in c %}
-                    {%- set c = "<think></think>" ~ c.split('</think>')[-1] %}
-                {%- endif %}
-                {%- set c = c | trim %}
-                {%- if c | length > 0 %}
-                    {{- '<|im_start|>assistant
-' ~ c ~ '<|im_end|>
-' }}
-                {%- else %}
-                    {{- '<|im_start|>assistant
-<|im_end|>
-' }}
-                {%- endif %}
-            {%- endif %}
-        {%- endif %}
-    {%- elif message.role == "user" or message.role == "system" %}
-        {{- '<|im_start|>' + message.role + '
-' }}
-        {%- if message.content is string %}
-            {{- message.content }}
-        {%- 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 %}
-        {%- endif %}
-        {{- '<|im_end|>
-' }}
-    {%- elif message.role == "tool" %}
-        {%- if loop.previtem and loop.previtem.role != "tool" %}
-            {{- '<|im_start|>user
-' }}
-        {%- endif %}
-        {{- '<tool_response>
-' }}
-        {{- message.content }}
-        {{- '
-</tool_response>
-' }}
-        {%- if not loop.last and loop.nextitem.role != "tool" %}
-            {{- '<|im_end|>
-' }}
-        {%- elif loop.last %}
-            {{- '<|im_end|>
-' }}
-        {%- endif %}
-    {%- else %}
-        {{- '<|im_start|>' + message.role + '
-' + message.content + '<|im_end|>
-' }}
-    {%- endif %}
-{%- endfor %}
-
-{%- if add_generation_prompt %}
-    {%- if enable_thinking %}
-        {{- '<|im_start|>assistant
-<think>
-' }}
-    {%- else %}
-        {{- '<|im_start|>assistant
-<think></think>' }}
-    {%- endif %}
-{%- endif %}

cosmos3edge_libero_10_full_finetune_bs16/tokenizer/special_tokens_map.json

@@ -1,30 +0,0 @@
-{
-  "bos_token": {
-    "content": "<s>",
-    "lstrip": false,
-    "normalized": false,
-    "rstrip": false,
-    "single_word": false
-  },
-  "eos_token": {
-    "content": "<|im_end|>",
-    "lstrip": false,
-    "normalized": false,
-    "rstrip": false,
-    "single_word": false
-  },
-  "pad_token": {
-    "content": "<|im_end|>",
-    "lstrip": false,
-    "normalized": false,
-    "rstrip": false,
-    "single_word": false
-  },
-  "unk_token": {
-    "content": "<unk>",
-    "lstrip": false,
-    "normalized": false,
-    "rstrip": false,
-    "single_word": false
-  }
-}

cosmos3edge_libero_10_full_finetune_bs16/tokenizer/tokenizer.json

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4dc692a99dca6d92a44e9529ffb53541eb79bb260eec7281bc51268c05d7311c
-size 17077500

cosmos3edge_libero_10_full_finetune_bs16/tokenizer/tokenizer_config.json

@@ -1,17 +0,0 @@
-{
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-  "pad_token": "<|im_end|>",
-  "tokenizer_class": "TokenizersBackend",
-  "unk_token": "<unk>"
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cosmos3edge_libero_10_full_finetune_bs16/vlm_backbone_config.json

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-{
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cosmos3edge_libero_goal_full_finetune_bs16/config.json

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-{
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-        "action"
-      ],
-      "statistic_name": "libero_goal_no_noops",
-      "statistics_overrides": {
-        "libero_goal_no_noops": {
-          "action": {
-            "max": [
-              0.9375,
-              0.9375,
-              0.9375,
-              1.0,
-              0.368853,
-              0.341214,
-              0.356395,
-              1.0,
-              0.348251,
-              1.0
-            ],
-            "mean": [
-              0.050704,
-              0.097407,
-              -0.094833,
-              0.994873,
-              -0.004579,
-              -0.004288,
-              0.004389,
-              0.996104,
-              0.001109,
-              0.476725
-            ],
-            "min": [
-              -0.9375,
-              -0.9375,
-              -0.9375,
-              0.902028,
-              -0.356085,
-              -0.367416,
-              -0.370434,
-              0.921907,
-              -0.255,
-              0.0
-            ],
-            "q01": [
-              -0.723214,
-              -0.808929,
-              -0.9375,
-              0.934955,
-              -0.223431,
-              -0.189878,
-              -0.334735,
-              0.938516,
-              -0.107736,
-              0.0
-            ],
-            "q99": [
-              0.9375,
-              0.870536,
-              0.9375,
-              1.0,
-              0.331,
-              0.163153,
-              0.226216,
-              1.0,
-              0.127158,
-              1.0
-            ],
-            "std": [
-              0.333621,
-              0.387175,
-              0.45714,
-              0.010807,
-              0.077802,
-              0.063386,
-              0.078571,
-              0.009994,
-              0.038504,
-              0.49946
-            ]
-          }
-        }
-      },
-      "type": "DistributedRepeatingDataset"
-    },
-    "per_device_batch_size": 16,
-    "per_device_num_workers": 4
-  }
-}

cosmos3edge_libero_goal_full_finetune_bs16/config.yaml

@@ -1,549 +0,0 @@
-eval:
-  dataset:
-    extra_tensor_keys:
-    - conditioning_fps
-    - prepend_state_to_action
-    img_buffer_len: 1
-    transforms:
-    - embodiment_id: 5
-      img_keys:
-      - agentview_image
-      - robot0_eye_in_hand_image
-      type: ProcessLiberoEvalInputs
-    - conditioning_fps: 20.0
-      prepend_state_to_action: false
-      type: SetCosmos3ActionMetadata
-    - image_resize_strategy: resize-naive
-      input_sizes:
-      - - 3
-        - 256
-        - 256
-      - - 3
-        - 256
-        - 256
-      means:
-      - - 127.5
-        - 127.5
-        - 127.5
-      - - 127.5
-        - 127.5
-        - 127.5
-      stds:
-      - - 127.5
-        - 127.5
-        - 127.5
-      - - 127.5
-        - 127.5
-        - 127.5
-      type: TransformImage
-    - action_metadata:
-        append_viewpoint: false
-        conditioning_fps: 20.0
-        frame_window_size: 17
-        video_height: 256
-        video_width: 512
-      cfg_dropout_rate: 0.0
-      max_len: 512
-      output_attention_mask_key: lang_masks
-      output_key: lang_tokens
-      tokenizer:
-        model_max_length: 4096
-        model_path: ./checkpoints/Cosmos3-Edge
-        padding_side: right
-        trust_remote_code: true
-        type: PretrainedTokenizer
-      type: ProcessCosmos3Prompt
-    - gripper_key: robot0_gripper_qpos
-      norm_type: mean_std
-      out_key: states
-      pos_key: robot0_eef_pos
-      quat_key: robot0_eef_quat
-      state_dim: 64
-      type: LiberoProprioFromInputs
-    - frame_window_size: 1
-      num_views: 2
-      tile_direction: horizontal
-      type: PrepareVideo
-    type: LiberoParquetEvalDataset
-  denormalize_action:
-    action_dim: 10
-    norm_type: quantile_rot
-    type: DenormalizeLiberoFramewiseRot6DAction
-  enable_mixed_precision_training: true
-  eval_chunk_size: 16
-  inference_seed: 7
-  mixed_precision_dtype: bf16
-  model_family: cosmos3
-  norm_stats_key: libero_goal_no_noops
-  num_inference_steps: 30
-  num_steps_wait: 10
-  num_trials_per_task: 50
-  resize_size: 256
-  seed: 7
-  task_ids: null
-  task_suite_name: libero_goal
-  type: LiberoEvalRunner
-inference_model:
-  action_horizon: 16
-  action_in_proj:
-    input_size: 64
-    num_domains: 32
-    output_size: 2048
-    type: DomainAwareLinear
-  action_out_proj:
-    input_size: 2048
-    num_domains: 32
-    output_size: 64
-    type: DomainAwareLinear
-  base_fps: 24.0
-  enable_fps_modulation: true
-  enable_vision_loss: true
-  freeze_non_moe_vlm_backbone: true
-  freeze_vlm_backbone: false
-  latent_patch_size: 2
-  max_action_dim: 64
-  name_mapping:
-    .self_attn.k_norm_moe_gen.: .self_attn.norm_added_k.
-    .self_attn.k_proj.: .self_attn.to_k.
-    .self_attn.k_proj_moe_gen.: .self_attn.add_k_proj.
-    .self_attn.o_proj.: .self_attn.to_out.
-    .self_attn.o_proj_moe_gen.: .self_attn.to_add_out.
-    .self_attn.q_norm_moe_gen.: .self_attn.norm_added_q.
-    .self_attn.q_proj.: .self_attn.to_q.
-    .self_attn.q_proj_moe_gen.: .self_attn.add_q_proj.
-    .self_attn.v_proj.: .self_attn.to_v.
-    .self_attn.v_proj_moe_gen.: .self_attn.add_v_proj.
-    action_in_proj.: action_proj_in.
-    action_modality_embed: action_modality_embed
-    action_out_proj.: action_proj_out.
-    time_embedder.mlp.0.: time_embedder.linear_1.
-    time_embedder.mlp.2.: time_embedder.linear_2.
-    vision_in_proj.projector.: proj_in.
-    vision_out_proj.projector.: proj_out.
-    vlm_backbone.lm_head.weight: lm_head.weight
-    vlm_backbone.model.language_model.embed_tokens.weight: embed_tokens.weight
-    vlm_backbone.model.language_model.layers.: layers.
-    vlm_backbone.model.language_model.norm.weight: norm.weight
-    vlm_backbone.model.language_model.norm_moe_gen.weight: norm_moe_gen.weight
-  num_embodiment_domains: 32
-  ori_action_dim: 10
-  packed_attention_backend: flash2
-  position_embedding_type: unified_3d_mrope
-  pretrained_name_or_path: ./checkpoints/Cosmos3-Edge/transformer
-  rectified_flow_inference_config:
-    num_steps: 30
-    num_train_timesteps: 1000
-    scheduler_type: unipc
-    shift: 10.0
-    use_dynamic_shifting: false
-    use_karras_sigmas: false
-  rectified_flow_training_config:
-    action_loss_weight: 10.0
-    independent_action_schedule: false
-    normalize_loss_by_active: false
-    shift:
-      '256': 3
-      '480': 5
-      '720': 10
-    shift_action: null
-    train_time_action_distribution: logitnormal
-    train_time_image_distribution: logitnormal
-    train_time_video_distribution: waver
-    train_time_weight: uniform
-    use_discrete_rf: false
-    use_dynamic_shift: false
-    use_high_sigma_strategy: false
-    use_high_sigma_strategy_action: false
-    vision_loss_weight: 10.0
-  reinitialize_action_policy: true
-  special_tokens:
-    end_of_generation: 21
-    eos_token_id: 11
-    start_of_generation: 20
-  strict_mapping: true
-  timestep_scale: 0.001
-  type: Cosmos3FlowMatching
-  unified_3d_mrope_reset_spatial_ids: true
-  unified_3d_mrope_temporal_modality_margin: 15000
-  vision_in_proj:
-    in_dim: 192
-    out_dim: 2048
-    type: LinearProjector
-  vision_latent_dim: 48
-  vision_out_proj:
-    in_dim: 2048
-    out_dim: 192
-    type: LinearProjector
-  vision_vae:
-    encode_exact_durations:
-    - 17
-    pretrained_name_or_path: ./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth
-    type: Cosmos3Wan22VAE
-  vlm_backbone:
-    include_visual: false
-    skip_init_weights: true
-    type: Cosmos3MoTBackbone
-    vlm_config:
-      attention_bias: false
-      bos_token_id: 1
-      enable_mrope: true
-      eos_token_id: 11
-      head_dim: 128
-      hidden_size: 2048
-      intermediate_size: 9216
-      layer_norm_epsilon: 1.0e-05
-      max_position_embeddings: 131072
-      mlp_bias: false
-      mlp_hidden_act: relu2
-      model_type: nemotron_3_dense_vl_text
-      mrope_section:
-      - 24
-      - 20
-      - 20
-      num_attention_heads: 16
-      num_hidden_layers: 28
-      num_key_value_heads: 8
-      pad_token_id: 11
-      rope_theta: 100000000.0
-      tie_word_embeddings: false
-      use_und_k_norm_for_gen: true
-      vocab_size: 131072
-model:
-  action_horizon: 16
-  action_in_proj:
-    input_size: 64
-    num_domains: 32
-    output_size: 2048
-    type: DomainAwareLinear
-  action_out_proj:
-    input_size: 2048
-    num_domains: 32
-    output_size: 64
-    type: DomainAwareLinear
-  base_fps: 24.0
-  enable_fps_modulation: true
-  enable_vision_loss: true
-  freeze_non_moe_vlm_backbone: true
-  freeze_vlm_backbone: false
-  latent_patch_size: 2
-  max_action_dim: 64
-  name_mapping:
-    .self_attn.k_norm_moe_gen.: .self_attn.norm_added_k.
-    .self_attn.k_proj.: .self_attn.to_k.
-    .self_attn.k_proj_moe_gen.: .self_attn.add_k_proj.
-    .self_attn.o_proj.: .self_attn.to_out.
-    .self_attn.o_proj_moe_gen.: .self_attn.to_add_out.
-    .self_attn.q_norm_moe_gen.: .self_attn.norm_added_q.
-    .self_attn.q_proj.: .self_attn.to_q.
-    .self_attn.q_proj_moe_gen.: .self_attn.add_q_proj.
-    .self_attn.v_proj.: .self_attn.to_v.
-    .self_attn.v_proj_moe_gen.: .self_attn.add_v_proj.
-    action_in_proj.: action_proj_in.
-    action_modality_embed: action_modality_embed
-    action_out_proj.: action_proj_out.
-    time_embedder.mlp.0.: time_embedder.linear_1.
-    time_embedder.mlp.2.: time_embedder.linear_2.
-    vision_in_proj.projector.: proj_in.
-    vision_out_proj.projector.: proj_out.
-    vlm_backbone.lm_head.weight: lm_head.weight
-    vlm_backbone.model.language_model.embed_tokens.weight: embed_tokens.weight
-    vlm_backbone.model.language_model.layers.: layers.
-    vlm_backbone.model.language_model.norm.weight: norm.weight
-    vlm_backbone.model.language_model.norm_moe_gen.weight: norm_moe_gen.weight
-  num_embodiment_domains: 32
-  ori_action_dim: 10
-  packed_attention_backend: flash2
-  position_embedding_type: unified_3d_mrope
-  pretrained_name_or_path: ./checkpoints/Cosmos3-Edge/transformer
-  rectified_flow_inference_config:
-    num_steps: 30
-    num_train_timesteps: 1000
-    scheduler_type: unipc
-    shift: 10.0
-    use_dynamic_shifting: false
-    use_karras_sigmas: false
-  rectified_flow_training_config:
-    action_loss_weight: 10.0
-    independent_action_schedule: false
-    normalize_loss_by_active: false
-    shift:
-      '256': 3
-      '480': 5
-      '720': 10
-    shift_action: null
-    train_time_action_distribution: logitnormal
-    train_time_image_distribution: logitnormal
-    train_time_video_distribution: waver
-    train_time_weight: uniform
-    use_discrete_rf: false
-    use_dynamic_shift: false
-    use_high_sigma_strategy: false
-    use_high_sigma_strategy_action: false
-    vision_loss_weight: 10.0
-  reinitialize_action_policy: true
-  special_tokens:
-    end_of_generation: 21
-    eos_token_id: 11
-    start_of_generation: 20
-  strict_mapping: true
-  timestep_scale: 0.001
-  type: Cosmos3FlowMatching
-  unified_3d_mrope_reset_spatial_ids: true
-  unified_3d_mrope_temporal_modality_margin: 15000
-  vision_in_proj:
-    in_dim: 192
-    out_dim: 2048
-    type: LinearProjector
-  vision_latent_dim: 48
-  vision_out_proj:
-    in_dim: 2048
-    out_dim: 192
-    type: LinearProjector
-  vision_vae:
-    encode_exact_durations:
-    - 17
-    pretrained_name_or_path: ./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth
-    type: Cosmos3Wan22VAE
-  vlm_backbone:
-    include_visual: false
-    skip_init_weights: true
-    type: Cosmos3MoTBackbone
-    vlm_config:
-      attention_bias: false
-      bos_token_id: 1
-      enable_mrope: true
-      eos_token_id: 11
-      head_dim: 128
-      hidden_size: 2048
-      intermediate_size: 9216
-      layer_norm_epsilon: 1.0e-05
-      max_position_embeddings: 131072
-      mlp_bias: false
-      mlp_hidden_act: relu2
-      model_type: nemotron_3_dense_vl_text
-      mrope_section:
-      - 24
-      - 20
-      - 20
-      num_attention_heads: 16
-      num_hidden_layers: 28
-      num_key_value_heads: 8
-      pad_token_id: 11
-      rope_theta: 100000000.0
-      tie_word_embeddings: false
-      use_und_k_norm_for_gen: true
-      vocab_size: 131072
-runner:
-  change_key_name: false
-  collator:
-    list_keys:
-    - sequence_plan
-    meta_keys:
-    - task_description
-    - stats
-    - info
-    - timestamp
-    pad_id: 11
-    sequence_keys:
-    - text_token_ids
-    tensor_keys:
-    - images
-    - actions
-    - embodiment_ids
-    - raw_action_dim
-    - conditioning_fps
-    - action_fps
-    type: Cosmos3Collator
-  enable_gradient_checkpointing: true
-  enable_mixed_precision_training: true
-  grad_accumulation_steps: 16
-  lr_scheduler:
-    cycle_length: 16000
-    type: linear-warmup+linear-decay
-    warmup_steps: 500
-  max_epochs: null
-  max_grad_norm: 1.0
-  max_keep_ckpts: 2
-  max_steps: 2000
-  metric:
-    active_trackers:
-    - jsonl
-    - wandb
-    grad_accumulation_steps: 16
-    run_dir: work_dirs
-    type: VLAMetric
-    window_size: 1
-  mixed_precision_dtype: bf16
-  optimizer:
-    betas:
-    - 0.9
-    - 0.99
-    eps: 1.0e-08
-    exclude_1d_from_weight_decay: false
-    fused: true
-    lr: 5.0e-05
-    paramwise_learning_rate:
-      action_in_proj.: 0.00025
-      action_modality_embed: 0.00025
-      action_out_proj.: 0.00025
-    type: AdamW
-    weight_decay: 0.05
-  sampler: null
-  save_iter_interval: 500
-  sharding_strategy: full-shard
-  tokenizer:
-    model_max_length: 4096
-    model_path: ./checkpoints/Cosmos3-Edge
-    padding_side: right
-    trust_remote_code: true
-    type: PretrainedTokenizer
-  type: FSDPTrainRunner
-seed: 7
-train_dataloader:
-  dataset:
-    datasets:
-      action_key: action
-      action_window_size: 16
-      data_root_path: /mnt/data/cpfs/mnt/data/yanis/FastWAM/data/libero_mujoco3.3.2/libero_goal_no_noops_lerobot
-      frame_window_size: 17
-      require_full_window: true
-      statistic_name: libero_goal_no_noops
-      transforms:
-      - embodiment_id: 5
-        name_mappings:
-          actions:
-          - actions
-          observation.state:
-          - states
-        parquet_keys:
-        - observation.state
-        - timestamp
-        - actions
-        - info
-        - stats
-        type: ProcessParquetInputs
-        video_keys:
-        - observation.images.image
-        - observation.images.wrist_image
-      - type: LiberoFramewiseActionToRot6D
-      - action_metadata:
-          append_viewpoint: false
-          conditioning_fps: 20.0
-          frame_window_size: 17
-          video_height: 256
-          video_width: 512
-        cfg_dropout_rate: 0.1
-        max_len: 512
-        tokenizer:
-          model_max_length: 4096
-          model_path: ./checkpoints/Cosmos3-Edge
-          padding_side: right
-          trust_remote_code: true
-          type: PretrainedTokenizer
-        type: ProcessCosmos3Prompt
-      - height: 256
-        type: ResizeImages
-        width: 256
-      - type: SimpleNormalizeImages
-      - action_dim: 64
-        action_key: action
-        action_norm_type: quantile
-        state_dim: 64
-        state_key: proprio
-        state_norm_type: none
-        type: NormalizeStatesAndActions
-      - conditioning_fps: 20.0
-        frame_window_size: 17
-        mode: wam
-        prepend_state_to_action: false
-        raw_action_dim: 10
-        type: BuildCosmos3Sequence
-      - frame_window_size: 17
-        num_views: 2
-        tile_direction: horizontal
-        type: PrepareVideo
-      type: ParquetDataset
-      use_delta: false
-      window_start_idx: 0
-    name_mappings:
-      action:
-      - action
-      observation.state:
-      - proprio
-    statistic_keys:
-    - observation.state
-    - timestamp
-    - action
-    statistic_name: libero_goal_no_noops
-    statistics_overrides:
-      libero_goal_no_noops:
-        action:
-          max:
-          - 0.9375
-          - 0.9375
-          - 0.9375
-          - 1.0
-          - 0.368853
-          - 0.341214
-          - 0.356395
-          - 1.0
-          - 0.348251
-          - 1.0
-          mean:
-          - 0.050704
-          - 0.097407
-          - -0.094833
-          - 0.994873
-          - -0.004579
-          - -0.004288
-          - 0.004389
-          - 0.996104
-          - 0.001109
-          - 0.476725
-          min:
-          - -0.9375
-          - -0.9375
-          - -0.9375
-          - 0.902028
-          - -0.356085
-          - -0.367416
-          - -0.370434
-          - 0.921907
-          - -0.255
-          - 0.0
-          q01:
-          - -0.723214
-          - -0.808929
-          - -0.9375
-          - 0.934955
-          - -0.223431
-          - -0.189878
-          - -0.334735
-          - 0.938516
-          - -0.107736
-          - 0.0
-          q99:
-          - 0.9375
-          - 0.870536
-          - 0.9375
-          - 1.0
-          - 0.331
-          - 0.163153
-          - 0.226216
-          - 1.0
-          - 0.127158
-          - 1.0
-          std:
-          - 0.333621
-          - 0.387175
-          - 0.45714
-          - 0.010807
-          - 0.077802
-          - 0.063386
-          - 0.078571
-          - 0.009994
-          - 0.038504
-          - 0.49946
-    type: DistributedRepeatingDataset
-  per_device_batch_size: 16
-  per_device_num_workers: 4

cosmos3edge_libero_goal_full_finetune_bs16/cosmos3edge_libero_goal_full_finetune_2026_08_03_16_53_28.jsonl

@@ -1,24 +0,0 @@
-{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000005", "VLA Train/Loss": 15.760736465454102, "VLA Train/Loss (Raw)": 15.760736465454102, "VLA Train/Step": 1, "VLA Train/Step Time": 86.29620456695557}
-{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000010", "VLA Train/Loss": 15.803648948669434, "VLA Train/Loss (Raw)": 15.803648948669434, "VLA Train/Step": 2, "VLA Train/Step Time": 46.33137822151184}
-{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000015", "VLA Train/Loss": 16.197032928466797, "VLA Train/Loss (Raw)": 16.197032928466797, "VLA Train/Step": 3, "VLA Train/Step Time": 44.767229318618774}
-{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000020", "VLA Train/Loss": 15.76694393157959, "VLA Train/Loss (Raw)": 15.76694393157959, "VLA Train/Step": 4, "VLA Train/Step Time": 46.072197914123535}
-{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000025", "VLA Train/Loss": 15.86616039276123, "VLA Train/Loss (Raw)": 15.86616039276123, "VLA Train/Step": 5, "VLA Train/Step Time": 44.942532539367676}
-{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000030", "VLA Train/Loss": 15.99901008605957, "VLA Train/Loss (Raw)": 15.99901008605957, "VLA Train/Step": 6, "VLA Train/Step Time": 46.97072434425354}
-{"VLA Train/Action Token Accuracy": 0.0, "VLA Train/Epoch": 0, "VLA Train/L1 Loss": 0.0, "VLA Train/Learning Rate": "0.0000035", "VLA Train/Loss": 15.73391342163086, "VLA Train/Loss (Raw)": 15.73391342163086, "VLA Train/Step": 7, "VLA Train/Step Time": 45.47095084190369}
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cosmos3edge_libero_goal_full_finetune_bs16/dataset_statistics.json

@@ -1,138 +0,0 @@
-{
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-    "timestamp": {
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-      "std": [
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-      "min": [
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-  }
-}

cosmos3edge_libero_goal_full_finetune_bs16/run-metrics.jsonl

@@ -1 +0,0 @@
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True, 'grad_accumulation_steps': 16, 'lr_scheduler': {'cycle_length': 16000, 'type': 'linear-warmup+linear-decay', 'warmup_steps': 500}, 'max_epochs': None, 'max_grad_norm': 1.0, 'max_keep_ckpts': 2, 'max_steps': 2000, 'metric': {'active_trackers': ('jsonl', 'wandb'), 'grad_accumulation_steps': 16, 'run_dir': '/mnt/data/cpfs/users/leo/wk_dir/cosmos3/libero_goal_edge_pr51_latest_bs16', 'type': 'VLAMetric', 'window_size': 1}, 'mixed_precision_dtype': 'bf16', 'optimizer': {'betas': (0.9, 0.99), 'eps': 1e-08, 'exclude_1d_from_weight_decay': False, 'fused': True, 'lr': 5e-05, 'paramwise_learning_rate': {'action_in_proj.': 0.00025, 'action_modality_embed': 0.00025, 'action_out_proj.': 0.00025}, 'type': 'AdamW', 'weight_decay': 0.05}, 'sampler': None, 'save_iter_interval': 500, 'sharding_strategy': 'full-shard', 'tokenizer': {'model_max_length': 4096, 'model_path': './checkpoints/Cosmos3-Edge', 'padding_side': 'right', 'trust_remote_code': True, 'type': 'PretrainedTokenizer'}, 'type': 'FSDPTrainRunner', 'cfg': Config (path: configs/cosmos3/cosmos3edge_libero_goal_full_finetune.py): {'eval': {'dataset': {'extra_tensor_keys': ['conditioning_fps', 'prepend_state_to_action'], 'img_buffer_len': 1, 'transforms': [{'embodiment_id': 5, 'img_keys': ['agentview_image', 'robot0_eye_in_hand_image'], 'type': 'ProcessLiberoEvalInputs'}, {'conditioning_fps': 20.0, 'prepend_state_to_action': False, 'type': 'SetCosmos3ActionMetadata'}, {'image_resize_strategy': 'resize-naive', 'input_sizes': [[3, 256, 256], [3, 256, 256]], 'means': [[127.5, 127.5, 127.5], [127.5, 127.5, 127.5]], 'stds': [[127.5, 127.5, 127.5], [127.5, 127.5, 127.5]], 'type': 'TransformImage'}, {'action_metadata': {'append_viewpoint': False, 'conditioning_fps': 20.0, 'frame_window_size': 17, 'video_height': 256, 'video_width': 512}, 'cfg_dropout_rate': 0.0, 'max_len': 512, 'output_attention_mask_key': 'lang_masks', 'output_key': 'lang_tokens', 'tokenizer': {'model_max_length': 4096, 'model_path': './checkpoints/Cosmos3-Edge', 'padding_side': 'right', 'trust_remote_code': True, 'type': 'PretrainedTokenizer'}, 'type': 'ProcessCosmos3Prompt'}, {'gripper_key': 'robot0_gripper_qpos', 'norm_type': 'mean_std', 'out_key': 'states', 'pos_key': 'robot0_eef_pos', 'quat_key': 'robot0_eef_quat', 'state_dim': 64, 'type': 'LiberoProprioFromInputs'}, {'frame_window_size': 1, 'num_views': 2, 'tile_direction': 'horizontal', 'type': 'PrepareVideo'}], 'type': 'LiberoParquetEvalDataset'}, 'denormalize_action': {'action_dim': 10, 'norm_type': 'quantile_rot', 'type': 'DenormalizeLiberoFramewiseRot6DAction'}, 'enable_mixed_precision_training': True, 'eval_chunk_size': 16, 'inference_seed': 7, 'mixed_precision_dtype': 'bf16', 'model_family': 'cosmos3', 'norm_stats_key': 'libero_goal_no_noops', 'num_inference_steps': 30, 'num_steps_wait': 10, 'num_trials_per_task': 50, 'resize_size': 256, 'seed': 7, 'task_ids': None, 'task_suite_name': 'libero_goal', 'type': 'LiberoEvalRunner'}, 'inference_model': {'action_horizon': 16, 'action_in_proj': {'input_size': 64, 'num_domains': 32, 'output_size': 2048, 'type': 'DomainAwareLinear'}, 'action_out_proj': {'input_size': 2048, 'num_domains': 32, 'output_size': 64, 'type': 'DomainAwareLinear'}, 'base_fps': 24.0, 'enable_fps_modulation': True, 'enable_vision_loss': True, 'freeze_non_moe_vlm_backbone': True, 'freeze_vlm_backbone': False, 'latent_patch_size': 2, 'max_action_dim': 64, 'name_mapping': {'.self_attn.k_norm_moe_gen.': '.self_attn.norm_added_k.', '.self_attn.k_proj.': '.self_attn.to_k.', '.self_attn.k_proj_moe_gen.': '.self_attn.add_k_proj.', '.self_attn.o_proj.': '.self_attn.to_out.', '.self_attn.o_proj_moe_gen.': '.self_attn.to_add_out.', '.self_attn.q_norm_moe_gen.': '.self_attn.norm_added_q.', '.self_attn.q_proj.': '.self_attn.to_q.', '.self_attn.q_proj_moe_gen.': '.self_attn.add_q_proj.', '.self_attn.v_proj.': '.self_attn.to_v.', '.self_attn.v_proj_moe_gen.': '.self_attn.add_v_proj.', 'action_in_proj.': 'action_proj_in.', 'action_modality_embed': 'action_modality_embed', 'action_out_proj.': 'action_proj_out.', 'time_embedder.mlp.0.': 'time_embedder.linear_1.', 'time_embedder.mlp.2.': 'time_embedder.linear_2.', 'vision_in_proj.projector.': 'proj_in.', 'vision_out_proj.projector.': 'proj_out.', 'vlm_backbone.lm_head.weight': 'lm_head.weight', 'vlm_backbone.model.language_model.embed_tokens.weight': 'embed_tokens.weight', 'vlm_backbone.model.language_model.layers.': 'layers.', 'vlm_backbone.model.language_model.norm.weight': 'norm.weight', 'vlm_backbone.model.language_model.norm_moe_gen.weight': 'norm_moe_gen.weight'}, 'num_embodiment_domains': 32, 'ori_action_dim': 10, 'packed_attention_backend': 'flash2', 'position_embedding_type': 'unified_3d_mrope', 'pretrained_name_or_path': './checkpoints/Cosmos3-Edge/transformer', 'reinitialize_action_policy': True, 'rectified_flow_inference_config': {'num_steps': 30, 'num_train_timesteps': 1000, 'scheduler_type': 'unipc', 'shift': 10.0, 'use_dynamic_shifting': False, 'use_karras_sigmas': False}, 'rectified_flow_training_config': {'action_loss_weight': 10.0, 'independent_action_schedule': False, 'normalize_loss_by_active': False, 'shift': {'256': 3, '480': 5, '720': 10}, 'shift_action': None, 'train_time_action_distribution': 'logitnormal', 'train_time_image_distribution': 'logitnormal', 'train_time_video_distribution': 'waver', 'train_time_weight': 'uniform', 'use_discrete_rf': False, 'use_dynamic_shift': False, 'use_high_sigma_strategy': False, 'use_high_sigma_strategy_action': False, 'vision_loss_weight': 10.0}, 'special_tokens': {'end_of_generation': 21, 'eos_token_id': 11, 'start_of_generation': 20}, 'strict_mapping': True, 'timestep_scale': 0.001, 'type': 'Cosmos3FlowMatching', 'unified_3d_mrope_reset_spatial_ids': True, 'unified_3d_mrope_temporal_modality_margin': 15000, 'vision_in_proj': {'in_dim': 192, 'out_dim': 2048, 'type': 'LinearProjector'}, 'vision_latent_dim': 48, 'vision_out_proj': {'in_dim': 2048, 'out_dim': 192, 'type': 'LinearProjector'}, 'vision_vae': {'encode_exact_durations': [17], 'pretrained_name_or_path': './checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth', 'type': 'Cosmos3Wan22VAE'}, 'vlm_backbone': {'include_visual': False, 'skip_init_weights': True, 'type': 'Cosmos3MoTBackbone', 'vlm_config': {'attention_bias': False, 'bos_token_id': 1, 'enable_mrope': True, 'eos_token_id': 11, 'head_dim': 128, 'hidden_size': 2048, 'intermediate_size': 9216, 'layer_norm_epsilon': 1e-05, 'max_position_embeddings': 131072, 'mlp_bias': False, 'mlp_hidden_act': 'relu2', 'model_type': 'nemotron_3_dense_vl_text', 'mrope_section': [24, 20, 20], 'num_attention_heads': 16, 'num_hidden_layers': 28, 'num_key_value_heads': 8, 'pad_token_id': 11, 'rope_theta': 100000000.0, 'tie_word_embeddings': False, 'use_und_k_norm_for_gen': True, 'vocab_size': 131072}}}, 'model': {'action_horizon': 16, 'action_in_proj': {'input_size': 64, 'num_domains': 32, 'output_size': 2048, 'type': 'DomainAwareLinear'}, 'action_out_proj': {'input_size': 2048, 'num_domains': 32, 'output_size': 64, 'type': 'DomainAwareLinear'}, 'base_fps': 24.0, 'enable_fps_modulation': True, 'enable_vision_loss': True, 'freeze_non_moe_vlm_backbone': True, 'freeze_vlm_backbone': False, 'latent_patch_size': 2, 'max_action_dim': 64, 'name_mapping': {'.self_attn.k_norm_moe_gen.': '.self_attn.norm_added_k.', '.self_attn.k_proj.': '.self_attn.to_k.', '.self_attn.k_proj_moe_gen.': '.self_attn.add_k_proj.', '.self_attn.o_proj.': '.self_attn.to_out.', '.self_attn.o_proj_moe_gen.': '.self_attn.to_add_out.', '.self_attn.q_norm_moe_gen.': '.self_attn.norm_added_q.', '.self_attn.q_proj.': '.self_attn.to_q.', '.self_attn.q_proj_moe_gen.': '.self_attn.add_q_proj.', '.self_attn.v_proj.': '.self_attn.to_v.', '.self_attn.v_proj_moe_gen.': '.self_attn.add_v_proj.', 'action_in_proj.': 'action_proj_in.', 'action_modality_embed': 'action_modality_embed', 'action_out_proj.': 'action_proj_out.', 'time_embedder.mlp.0.': 'time_embedder.linear_1.', 'time_embedder.mlp.2.': 'time_embedder.linear_2.', 'vision_in_proj.projector.': 'proj_in.', 'vision_out_proj.projector.': 'proj_out.', 'vlm_backbone.lm_head.weight': 'lm_head.weight', 'vlm_backbone.model.language_model.embed_tokens.weight': 'embed_tokens.weight', 'vlm_backbone.model.language_model.layers.': 'layers.', 'vlm_backbone.model.language_model.norm.weight': 'norm.weight', 'vlm_backbone.model.language_model.norm_moe_gen.weight': 'norm_moe_gen.weight'}, 'num_embodiment_domains': 32, 'ori_action_dim': 10, 'packed_attention_backend': 'flash2', 'position_embedding_type': 'unified_3d_mrope', 'pretrained_name_or_path': './checkpoints/Cosmos3-Edge/transformer', 'reinitialize_action_policy': True, 'rectified_flow_inference_config': {'num_steps': 30, 'num_train_timesteps': 1000, 'scheduler_type': 'unipc', 'shift': 10.0, 'use_dynamic_shifting': False, 'use_karras_sigmas': False}, 'rectified_flow_training_config': {'action_loss_weight': 10.0, 'independent_action_schedule': False, 'normalize_loss_by_active': False, 'shift': {'256': 3, '480': 5, '720': 10}, 'shift_action': None, 'train_time_action_distribution': 'logitnormal', 'train_time_image_distribution': 'logitnormal', 'train_time_video_distribution': 'waver', 'train_time_weight': 'uniform', 'use_discrete_rf': False, 'use_dynamic_shift': False, 'use_high_sigma_strategy': False, 'use_high_sigma_strategy_action': False, 'vision_loss_weight': 10.0}, 'special_tokens': {'end_of_generation': 21, 'eos_token_id': 11, 'start_of_generation': 20}, 'strict_mapping': True, 'timestep_scale': 0.001, 'type': 'Cosmos3FlowMatching', 'unified_3d_mrope_reset_spatial_ids': True, 'unified_3d_mrope_temporal_modality_margin': 15000, 'vision_in_proj': {'in_dim': 192, 'out_dim': 2048, 'type': 'LinearProjector'}, 'vision_latent_dim': 48, 'vision_out_proj': {'in_dim': 2048, 'out_dim': 192, 'type': 'LinearProjector'}, 'vision_vae': {'encode_exact_durations': [17], 'pretrained_name_or_path': './checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth', 'type': 'Cosmos3Wan22VAE'}, 'vlm_backbone': {'include_visual': False, 'skip_init_weights': True, 'type': 'Cosmos3MoTBackbone', 'vlm_config': {'attention_bias': False, 'bos_token_id': 1, 'enable_mrope': True, 'eos_token_id': 11, 'head_dim': 128, 'hidden_size': 2048, 'intermediate_size': 9216, 'layer_norm_epsilon': 1e-05, 'max_position_embeddings': 131072, 'mlp_bias': False, 'mlp_hidden_act': 'relu2', 'model_type': 'nemotron_3_dense_vl_text', 'mrope_section': [24, 20, 20], 'num_attention_heads': 16, 'num_hidden_layers': 28, 'num_key_value_heads': 8, 'pad_token_id': 11, 'rope_theta': 100000000.0, 'tie_word_embeddings': False, 'use_und_k_norm_for_gen': True, 'vocab_size': 131072}}}, 'runner': {'change_key_name': False, 'collator': {'list_keys': ['sequence_plan'], 'meta_keys': ['task_description', 'stats', 'info', 'timestamp'], 'pad_id': 11, 'sequence_keys': ['text_token_ids'], 'tensor_keys': ['images', 'actions', 'embodiment_ids', 'raw_action_dim', 'conditioning_fps', 'action_fps'], 'type': 'Cosmos3Collator'}, 'enable_gradient_checkpointing': True, 'enable_mixed_precision_training': True, 'grad_accumulation_steps': 16, 'lr_scheduler': {'cycle_length': 16000, 'type': 'linear-warmup+linear-decay', 'warmup_steps': 500}, 'max_epochs': None, 'max_grad_norm': 1.0, 'max_keep_ckpts': 2, 'max_steps': 2000, 'metric': {'active_trackers': ('jsonl', 'wandb'), 'grad_accumulation_steps': 16, 'run_dir': '/mnt/data/cpfs/users/leo/wk_dir/cosmos3/libero_goal_edge_pr51_latest_bs16', 'type': 'VLAMetric', 'window_size': 1}, 'mixed_precision_dtype': 'bf16', 'optimizer': {'betas': (0.9, 0.99), 'eps': 1e-08, 'exclude_1d_from_weight_decay': False, 'fused': True, 'lr': 5e-05, 'paramwise_learning_rate': {'action_in_proj.': 0.00025, 'action_modality_embed': 0.00025, 'action_out_proj.': 0.00025}, 'type': 'AdamW', 'weight_decay': 0.05}, 'sampler': None, 'save_iter_interval': 500, 'sharding_strategy': 'full-shard', 'tokenizer': {'model_max_length': 4096, 'model_path': './checkpoints/Cosmos3-Edge', 'padding_side': 'right', 'trust_remote_code': True, 'type': 'PretrainedTokenizer'}, 'type': 'FSDPTrainRunner', 'cfg': Config (path: configs/cosmos3/cosmos3edge_libero_goal_full_finetune.py): {...}, 'args': Namespace(config='configs/cosmos3/cosmos3edge_libero_goal_full_finetune.py', work_dir='/mnt/data/cpfs/users/leo/wk_dir/cosmos3/libero_goal_edge_pr51_latest_bs16', cfg_options={'train_dataloader.per_device_batch_size': 16, 'runner.grad_accumulation_steps': 16, 'runner.metric.grad_accumulation_steps': 16}, eval_after_train=True, resume_from=None)}, 'seed': 7, 'train_dataloader': {'dataset': {'datasets': {'action_key': 'action', 'action_window_size': 16, 'data_root_path': '/mnt/data/cpfs/mnt/data/yanis/FastWAM/data/libero_mujoco3.3.2/libero_goal_no_noops_lerobot', 'frame_window_size': 17, 'require_full_window': True, 'statistic_name': 'libero_goal_no_noops', 'transforms': [{'embodiment_id': 5, 'name_mappings': {'actions': ['actions'], 'observation.state': ['states']}, 'parquet_keys': ['observation.state', 'timestamp', 'actions', 'info', 'stats'], 'type': 'ProcessParquetInputs', 'video_keys': ['observation.images.image', 'observation.images.wrist_image']}, {'type': 'LiberoFramewiseActionToRot6D'}, {'action_metadata': {'append_viewpoint': False, 'conditioning_fps': 20.0, 'frame_window_size': 17, 'video_height': 256, 'video_width': 512}, 'cfg_dropout_rate': 0.1, 'max_len': 512, 'tokenizer': {'model_max_length': 4096, 'model_path': './checkpoints/Cosmos3-Edge', 'padding_side': 'right', 'trust_remote_code': True, 'type': 'PretrainedTokenizer'}, 'type': 'ProcessCosmos3Prompt'}, {'height': 256, 'type': 'ResizeImages', 'width': 256}, {'type': 'SimpleNormalizeImages'}, {'action_dim': 64, 'action_key': 'action', 'action_norm_type': 'quantile', 'state_norm_type': 'none', 'state_dim': 64, 'state_key': 'proprio', 'type': 'NormalizeStatesAndActions'}, {'conditioning_fps': 20.0, 'frame_window_size': 17, 'mode': 'wam', 'prepend_state_to_action': False, 'raw_action_dim': 10, 'type': 'BuildCosmos3Sequence'}, {'frame_window_size': 17, 'num_views': 2, 'tile_direction': 'horizontal', 'type': 'PrepareVideo'}], 'type': 'ParquetDataset', 'use_delta': False, 'window_start_idx': 0}, 'name_mappings': {'action': ['action'], 'observation.state': ['proprio']}, 'statistic_keys': ['observation.state', 'timestamp', 'action'], 'statistic_name': 'libero_goal_no_noops', 'statistics_overrides': {'libero_goal_no_noops': {'action': {'mean': [0.050704, 0.097407, -0.094833, 0.994873, -0.004579, -0.004288, 0.004389, 0.996104, 0.001109, 0.476725], 'std': [0.333621, 0.387175, 0.45714, 0.010807, 0.077802, 0.063386, 0.078571, 0.009994, 0.038504, 0.49946], 'min': [-0.9375, -0.9375, -0.9375, 0.902028, -0.356085, -0.367416, -0.370434, 0.921907, -0.255, 0.0], 'max': [0.9375, 0.9375, 0.9375, 1.0, 0.368853, 0.341214, 0.356395, 1.0, 0.348251, 1.0], 'q01': [-0.723214, -0.808929, -0.9375, 0.934955, -0.223431, -0.189878, -0.334735, 0.938516, -0.107736, 0.0], 'q99': [0.9375, 0.870536, 0.9375, 1.0, 0.331, 0.163153, 0.226216, 1.0, 0.127158, 1.0]}}}, 'type': 'DistributedRepeatingDataset'}, 'per_device_batch_size': 16, 'per_device_num_workers': 4}}, 'args': Namespace(config='configs/cosmos3/cosmos3edge_libero_goal_full_finetune.py', work_dir='/mnt/data/cpfs/users/leo/wk_dir/cosmos3/libero_goal_edge_pr51_latest_bs16', cfg_options={'train_dataloader.per_device_batch_size': 16, 'runner.grad_accumulation_steps': 16, 'runner.metric.grad_accumulation_steps': 16}, eval_after_train=True, resume_from=None)}, 'seed': 7, 'train_dataloader': {'dataset': {'datasets': {'action_key': 'action', 'action_window_size': 16, 'data_root_path': '/mnt/data/cpfs/mnt/data/yanis/FastWAM/data/libero_mujoco3.3.2/libero_goal_no_noops_lerobot', 'frame_window_size': 17, 'require_full_window': True, 'statistic_name': 'libero_goal_no_noops', 'transforms': [{'embodiment_id': 5, 'name_mappings': {'actions': ['actions'], 'observation.state': ['states']}, 'parquet_keys': ['observation.state', 'timestamp', 'actions', 'info', 'stats'], 'type': 'ProcessParquetInputs', 'video_keys': ['observation.images.image', 'observation.images.wrist_image']}, {'type': 'LiberoFramewiseActionToRot6D'}, {'action_metadata': {'append_viewpoint': False, 'conditioning_fps': 20.0, 'frame_window_size': 17, 'video_height': 256, 'video_width': 512}, 'cfg_dropout_rate': 0.1, 'max_len': 512, 'tokenizer': {'model_max_length': 4096, 'model_path': './checkpoints/Cosmos3-Edge', 'padding_side': 'right', 'trust_remote_code': True, 'type': 'PretrainedTokenizer'}, 'type': 'ProcessCosmos3Prompt'}, {'height': 256, 'type': 'ResizeImages', 'width': 256}, {'type': 'SimpleNormalizeImages'}, {'action_dim': 64, 'action_key': 'action', 'action_norm_type': 'quantile', 'state_norm_type': 'none', 'state_dim': 64, 'state_key': 'proprio', 'type': 'NormalizeStatesAndActions'}, {'conditioning_fps': 20.0, 'frame_window_size': 17, 'mode': 'wam', 'prepend_state_to_action': False, 'raw_action_dim': 10, 'type': 'BuildCosmos3Sequence'}, {'frame_window_size': 17, 'num_views': 2, 'tile_direction': 'horizontal', 'type': 'PrepareVideo'}], 'type': 'ParquetDataset', 'use_delta': False, 'window_start_idx': 0}, 'name_mappings': {'action': ['action'], 'observation.state': ['proprio']}, 'statistic_keys': ['observation.state', 'timestamp', 'action'], 'statistic_name': 'libero_goal_no_noops', 'statistics_overrides': {'libero_goal_no_noops': {'action': {'mean': [0.050704, 0.097407, -0.094833, 0.994873, -0.004579, -0.004288, 0.004389, 0.996104, 0.001109, 0.476725], 'std': [0.333621, 0.387175, 0.45714, 0.010807, 0.077802, 0.063386, 0.078571, 0.009994, 0.038504, 0.49946], 'min': [-0.9375, -0.9375, -0.9375, 0.902028, -0.356085, -0.367416, -0.370434, 0.921907, -0.255, 0.0], 'max': [0.9375, 0.9375, 0.9375, 1.0, 0.368853, 0.341214, 0.356395, 1.0, 0.348251, 1.0], 'q01': [-0.723214, -0.808929, -0.9375, 0.934955, -0.223431, -0.189878, -0.334735, 0.938516, -0.107736, 0.0], 'q99': [0.9375, 0.870536, 0.9375, 1.0, 0.331, 0.163153, 0.226216, 1.0, 0.127158, 1.0]}}}, 'type': 'DistributedRepeatingDataset'}, 'per_device_batch_size': 16, 'per_device_num_workers': 4}}", "run_id": "cosmos3edge_libero_goal_full_finetune_2026_08_03_17_19_06"}

cosmos3edge_libero_goal_full_finetune_bs16/tokenizer/chat_template.jinja

@@ -1,324 +0,0 @@
-
-{% macro render_extra_keys(json_dict, handled_keys) %}
-    {%- if json_dict is mapping %}
-        {%- for json_key in json_dict if json_key not in handled_keys %}
-            {%- if json_dict[json_key] is mapping or (json_dict[json_key] is sequence and json_dict[json_key] is not string) %}
-                {{- '
-<' ~ json_key ~ '>' ~ (json_dict[json_key] | tojson | safe) ~ '</' ~ json_key ~ '>' }}
-            {%- else %}
-                {{-'
-<' ~ json_key ~ '>' ~ (json_dict[json_key] | string) ~ '</' ~ json_key ~ '>' }}
-            {%- endif %}
-        {%- endfor %}
-    {%- endif %}
-{% endmacro %}
-{%- set enable_thinking = enable_thinking if enable_thinking is defined else True %}
-{%- set truncate_history_thinking = truncate_history_thinking if truncate_history_thinking is defined else True %}
-
-{%- set ns = namespace(last_user_idx = -1) %}
-{%- set loop_messages = messages %}
-{%- for m in loop_messages %}
-  {%- if m["role"] == "user" %}
-    {%- set ns.last_user_idx = loop.index0 %}
-  {%- endif %}
-{%- endfor %}
-
-{%- if messages[0]["role"] == "system" %}
-    {%- if messages[0]["content"] is string %}
-        {%- set system_message = messages[0]["content"] %}
-    {%- else %}
-        {%- set ns = namespace(system_text="") %}
-        {%- for part in messages[0]["content"] %}
-            {%- if 'text' in part %}
-                {%- set ns.system_text = ns.system_text + part.text %}
-            {%- endif %}
-        {%- endfor %}
-        {%- set system_message = ns.system_text %}
-    {%- endif %}
-
-    {%- set loop_messages = messages[1:] %}
-{%- else %}
-    {%- set system_message = "" %}
-    {%- set loop_messages = messages %}
-{%- endif %}
-{%- if not tools is defined %}
-    {%- set tools = [] %}
-{%- endif %}
-{# Recompute last_user_idx relative to loop_messages after handling system #}
-{%- set ns = namespace(last_user_idx = -1) %}
-{%- for m in loop_messages %}
-  {%- if m["role"] == "user" %}
-    {%- set ns.last_user_idx = loop.index0 %}
-  {%- endif %}
-{%- endfor %}
-{%- if system_message is defined %}
-    {{- "<|im_start|>system
-" + system_message }}
-{%- else %}
-    {%- if tools is iterable and tools | length > 0 %}
-        {{- "<|im_start|>system
-" }}
-    {%- endif %}
-{%- endif %}
-{%- if tools is iterable and tools | length > 0 %}
-    {%- if system_message is defined and system_message | length > 0 %}
-        {{- "
-
-" }}
-    {%- endif %}
-    {{- "# Tools
-
-You have access to the following functions:
-
-" }}
-    {{- "<tools>" }}
-    {%- for tool in tools %}
-        {%- if tool.function is defined %}
-            {%- set tool = tool.function %}
-        {%- endif %}
-        {{- "
-<function>
-<name>" ~ tool.name ~ "</name>" }}
-        {%- if tool.description is defined %}
-            {{- '
-<description>' ~ (tool.description | trim) ~ '</description>' }}
-        {%- endif %}
-        {{- '
-<parameters>' }}
-        {%- if tool.parameters is defined and tool.parameters is mapping and tool.parameters.properties is defined and tool.parameters.properties is mapping %}
-            {%- for param_name, param_fields in tool.parameters.properties|items %}
-                {{- '
-<parameter>' }}
-                {{- '
-<name>' ~ param_name ~ '</name>' }}
-                {%- if param_fields.type is defined %}
-                    {{- '
-<type>' ~ (param_fields.type | string) ~ '</type>' }}
-                {%- endif %}
-                {%- if param_fields.description is defined %}
-                    {{- '
-<description>' ~ (param_fields.description | trim) ~ '</description>' }}
-                {%- endif %}
-                {%- if param_fields.enum is defined %}
-                    {{- '
-<enum>' ~ (param_fields.enum | tojson | safe) ~ '</enum>' }}
-                {%- endif %}
-                {%- set handled_keys = ['name', 'type', 'description', 'enum'] %}
-                {{- render_extra_keys(param_fields, handled_keys) }}
-                {{- '
-</parameter>' }}
-            {%- endfor %}
-        {%- endif %}
-        {% set handled_keys = ['type', 'properties', 'required'] %}
-        {{- render_extra_keys(tool.parameters, handled_keys) }}
-        {%- if tool.parameters is defined and tool.parameters.required is defined %}
-            {{- '
-<required>' ~ (tool.parameters.required | tojson | safe) ~ '</required>' }}
-        {%- endif %}
-        {{- '
-</parameters>' }}
-        {%- set handled_keys = ['type', 'name', 'description', 'parameters'] %}
-        {{- render_extra_keys(tool, handled_keys) }}
-        {{- '
-</function>' }}
-    {%- endfor %}
-    {{- "
-</tools>" }}
-
-    {{- '
-
-If you choose to call a function ONLY reply in the following format with NO suffix:
-
-<tool_call>
-<function=example_function_name>
-<parameter=example_parameter_1>
-value_1
-</parameter>
-<parameter=example_parameter_2>
-This is the value for the second parameter
-that can span
-multiple lines
-</parameter>
-</function>
-</tool_call>
-
-<IMPORTANT>
-Reminder:
-- Function calls MUST follow the specified format: an inner <function=...></function> block must be nested within <tool_call></tool_call> XML tags
-- Required parameters MUST be specified
-- You may provide optional reasoning for your function call in natural language BEFORE the function call, but NOT after
-- If there is no function call available, answer the question like normal with your current knowledge and do not tell the user about function calls
-</IMPORTANT>' }}
-{%- endif %}
-
-
-{%- if system_message is defined %}
-    {{- '<|im_end|>
-' }}
-{%- else %}
-    {%- if tools is iterable and tools | length > 0 %}
-        {{- '<|im_end|>
-' }}
-    {%- endif %}
-{%- endif %}
-
-{%- set image_count = namespace(value=0) %}
-{%- set video_count = namespace(value=0) %}
-{%- for message in loop_messages %}
-    {%- if message.role == "assistant" %}
-        {# Add reasoning content in to content field for unified processing below. #}
-        {%- set text_content = namespace(text_content="") -%}
-        {%- if message.content is string %}
-            {%- set text_content.text_content = message.content %}
-        {%- else %}
-            {%- for content in message.content %}
-                {%- if 'text' in content %}
-                    {%- set text_content.text_content = content.text %}
-                    {%- break %}
-                {%- endif %}
-            {%- endfor %}
-        {%- endif %}
-        {%- if message.reasoning_content is defined and message.reasoning_content is string and message.reasoning_content | trim | length > 0 %}
-            {%- set content = "<think>
-" ~ message.reasoning_content ~ "
-</think>
-" ~ (text_content.text_content | default('', true)) %}
-        {%- else %}
-            {%- set content = text_content.text_content | default('', true) %}
-            {# Allow downstream logic to to take care of broken thought, only handle coherent reasoning here. #}
-            {%- if '<think>' not in content and '</think>' not in content %}
-                {%- set content = "<think></think>" ~ content %}
-            {%- else %}
-                {%- set content = content %}
-            {%- endif -%}
-        {%- endif %}
-        {%- if message.tool_calls is defined and message.tool_calls is iterable and message.tool_calls | length > 0 %}
-            {# Assistant message has tool calls. #}
-            {{- '<|im_start|>assistant
-' }}
-                {%- set include_content = not (truncate_history_thinking and loop.index0 < ns.last_user_idx) %}
-                {%- if content is string and content | trim | length > 0 %}
-                    {%- if include_content %}
-                        {{- (content | trim) ~ '
-' -}}
-                    {%- else %}
-                        {%- set c = (content | string) %}
-                        {%- if '</think>' in c %}
-                            {# Keep only content after the last closing think. Also generation prompt causes this. #}
-                            {%- set c = c.split('</think>')[-1] %}
-                        {%- elif '<think>' in c %}
-                            {# If <think> was opened but never closed, drop the trailing think segment #}
-                            {%- set c = c.split('<think>')[0] %}
-                        {%- endif %}
-                        {%- set c = "<think></think>" ~ c | trim %}
-                        {%- if c | length > 0 %}
-                            {{- c ~ '
-' -}}
-                        {%- endif %}
-                    {%- endif %}
-                {%- else %}
-                    {{- "<think></think>" -}}
-                {%- endif %}
-                {%- for tool_call in message.tool_calls %}
-                    {%- if tool_call.function is defined %}
-                        {%- set tool_call = tool_call.function %}
-                    {%- endif %}
-                    {{- '<tool_call>
-<function=' ~ tool_call.name ~ '>
-' -}}
-                        {%- if tool_call.arguments is defined %}
-                            {%- for args_name, args_value in tool_call.arguments|items %}
-                                {{- '<parameter=' ~ args_name ~ '>
-' -}}
-                                    {%- set args_value = args_value | tojson | safe if args_value is mapping or (args_value is sequence and args_value is not string) else args_value | string %}
-                                {{- args_value ~ '
-</parameter>
-' -}}
-                            {%- endfor %}
-                        {%- endif %}
-                    {{- '</function>
-</tool_call>
-' -}}
-                {%- endfor %}
-                {{- '<|im_end|>
-' }}
-        {%- else %}
-            {# Assistant message doesn't have tool calls. #}
-            {%- if not (truncate_history_thinking and loop.index0 < ns.last_user_idx) %}
-                {{- '<|im_start|>assistant
-' ~ (content | default('', true) | string | trim) ~ '<|im_end|>
-' }}
-            {%- else %}
-                {%- set c = (content | default('', true) | string) %}
-                {%- if '<think>' in c and '</think>' in c %}
-                    {%- set c = "<think></think>" ~ c.split('</think>')[-1] %}
-                {%- endif %}
-                {%- set c = c | trim %}
-                {%- if c | length > 0 %}
-                    {{- '<|im_start|>assistant
-' ~ c ~ '<|im_end|>
-' }}
-                {%- else %}
-                    {{- '<|im_start|>assistant
-<|im_end|>
-' }}
-                {%- endif %}
-            {%- endif %}
-        {%- endif %}
-    {%- elif message.role == "user" or message.role == "system" %}
-        {{- '<|im_start|>' + message.role + '
-' }}
-        {%- if message.content is string %}
-            {{- message.content }}
-        {%- 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 %}
-        {%- endif %}
-        {{- '<|im_end|>
-' }}
-    {%- elif message.role == "tool" %}
-        {%- if loop.previtem and loop.previtem.role != "tool" %}
-            {{- '<|im_start|>user
-' }}
-        {%- endif %}
-        {{- '<tool_response>
-' }}
-        {{- message.content }}
-        {{- '
-</tool_response>
-' }}
-        {%- if not loop.last and loop.nextitem.role != "tool" %}
-            {{- '<|im_end|>
-' }}
-        {%- elif loop.last %}
-            {{- '<|im_end|>
-' }}
-        {%- endif %}
-    {%- else %}
-        {{- '<|im_start|>' + message.role + '
-' + message.content + '<|im_end|>
-' }}
-    {%- endif %}
-{%- endfor %}
-
-{%- if add_generation_prompt %}
-    {%- if enable_thinking %}
-        {{- '<|im_start|>assistant
-<think>
-' }}
-    {%- else %}
-        {{- '<|im_start|>assistant
-<think></think>' }}
-    {%- endif %}
-{%- endif %}

cosmos3edge_libero_goal_full_finetune_bs16/tokenizer/special_tokens_map.json

@@ -1,30 +0,0 @@
-{
-  "bos_token": {
-    "content": "<s>",
-    "lstrip": false,
-    "normalized": false,
-    "rstrip": false,
-    "single_word": false
-  },
-  "eos_token": {
-    "content": "<|im_end|>",
-    "lstrip": false,
-    "normalized": false,
-    "rstrip": false,
-    "single_word": false
-  },
-  "pad_token": {
-    "content": "<|im_end|>",
-    "lstrip": false,
-    "normalized": false,
-    "rstrip": false,
-    "single_word": false
-  },
-  "unk_token": {
-    "content": "<unk>",
-    "lstrip": false,
-    "normalized": false,
-    "rstrip": false,
-    "single_word": false
-  }
-}

cosmos3edge_libero_goal_full_finetune_bs16/tokenizer/tokenizer.json

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4dc692a99dca6d92a44e9529ffb53541eb79bb260eec7281bc51268c05d7311c
-size 17077500

cosmos3edge_libero_goal_full_finetune_bs16/tokenizer/tokenizer_config.json

@@ -1,17 +0,0 @@
-{
-  "add_prefix_space": false,
-  "backend": "tokenizers",
-  "bos_token": "<s>",
-  "clean_up_tokenization_spaces": false,
-  "eos_token": "<|im_end|>",
-  "is_local": true,
-  "local_files_only": false,
-  "model_input_names": [
-    "input_ids",
-    "attention_mask"
-  ],
-  "model_max_length": 262144,
-  "pad_token": "<|im_end|>",
-  "tokenizer_class": "TokenizersBackend",
-  "unk_token": "<unk>"
-}

cosmos3edge_libero_goal_full_finetune_bs16/vlm_backbone_config.json

@@ -1,41 +0,0 @@
-{
-  "attention_bias": false,
-  "attention_dropout": 0.0,
-  "bos_token_id": 1,
-  "enable_mrope": true,
-  "enable_rope": true,
-  "eos_token_id": 11,
-  "head_dim": 128,
-  "hidden_dropout": 0.0,
-  "hidden_size": 2048,
-  "initializer_range": 0.02,
-  "intermediate_size": 9216,
-  "layer_norm_epsilon": 1e-05,
-  "max_position_embeddings": 131072,
-  "mlp_bias": false,
-  "mlp_hidden_act": "relu2",
-  "model_type": "nemotron_3_dense_vl_text",
-  "mrope_section": [
-    24,
-    20,
-    20
-  ],
-  "num_attention_heads": 16,
-  "num_hidden_layers": 28,
-  "num_key_value_heads": 8,
-  "num_logits_to_keep": 1,
-  "packed_attention_backend": "flash2",
-  "pad_token_id": 11,
-  "residual_in_fp32": false,
-  "rope_parameters": {
-    "rope_theta": 100000000.0,
-    "rope_type": "default"
-  },
-  "rope_theta": 100000000.0,
-  "sliding_window": null,
-  "tie_word_embeddings": false,
-  "transformers_version": "5.3.0",
-  "use_cache": true,
-  "use_und_k_norm_for_gen": true,
-  "vocab_size": 131072
-}

cosmos3edge_libero_object_full_finetune_bs16/checkpoints/step-002000-epoch-60-loss=0.6041.safetensors

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:158e1d9a29accb4fe6d9834b215f129290b94db1c1ffdbaafbd6209482021a24
-size 16297490208

cosmos3edge_libero_object_full_finetune_bs16/config.json

@@ -1,669 +0,0 @@
-{
-  "eval": {
-    "dataset": {
-      "extra_tensor_keys": [
-        "conditioning_fps",
-        "prepend_state_to_action"
-      ],
-      "img_buffer_len": 1,
-      "transforms": [
-        {
-          "embodiment_id": 5,
-          "img_keys": [
-            "agentview_image",
-            "robot0_eye_in_hand_image"
-          ],
-          "type": "ProcessLiberoEvalInputs"
-        },
-        {
-          "conditioning_fps": 20.0,
-          "prepend_state_to_action": false,
-          "type": "SetCosmos3ActionMetadata"
-        },
-        {
-          "image_resize_strategy": "resize-naive",
-          "input_sizes": [
-            [
-              3,
-              256,
-              256
-            ],
-            [
-              3,
-              256,
-              256
-            ]
-          ],
-          "means": [
-            [
-              127.5,
-              127.5,
-              127.5
-            ],
-            [
-              127.5,
-              127.5,
-              127.5
-            ]
-          ],
-          "stds": [
-            [
-              127.5,
-              127.5,
-              127.5
-            ],
-            [
-              127.5,
-              127.5,
-              127.5
-            ]
-          ],
-          "type": "TransformImage"
-        },
-        {
-          "action_metadata": {
-            "append_viewpoint": false,
-            "conditioning_fps": 20.0,
-            "frame_window_size": 17,
-            "video_height": 256,
-            "video_width": 512
-          },
-          "cfg_dropout_rate": 0.0,
-          "max_len": 512,
-          "output_attention_mask_key": "lang_masks",
-          "output_key": "lang_tokens",
-          "tokenizer": {
-            "model_max_length": 4096,
-            "model_path": "./checkpoints/Cosmos3-Edge",
-            "padding_side": "right",
-            "trust_remote_code": true,
-            "type": "PretrainedTokenizer"
-          },
-          "type": "ProcessCosmos3Prompt"
-        },
-        {
-          "gripper_key": "robot0_gripper_qpos",
-          "norm_type": "mean_std",
-          "out_key": "states",
-          "pos_key": "robot0_eef_pos",
-          "quat_key": "robot0_eef_quat",
-          "state_dim": 64,
-          "type": "LiberoProprioFromInputs"
-        },
-        {
-          "frame_window_size": 1,
-          "num_views": 2,
-          "tile_direction": "horizontal",
-          "type": "PrepareVideo"
-        }
-      ],
-      "type": "LiberoParquetEvalDataset"
-    },
-    "denormalize_action": {
-      "action_dim": 10,
-      "norm_type": "quantile_rot",
-      "type": "DenormalizeLiberoFramewiseRot6DAction"
-    },
-    "enable_mixed_precision_training": true,
-    "eval_chunk_size": 16,
-    "inference_seed": 7,
-    "mixed_precision_dtype": "bf16",
-    "model_family": "cosmos3",
-    "norm_stats_key": "libero_object_no_noops",
-    "num_inference_steps": 30,
-    "num_steps_wait": 10,
-    "num_trials_per_task": 50,
-    "resize_size": 256,
-    "seed": 7,
-    "task_ids": null,
-    "task_suite_name": "libero_object",
-    "type": "LiberoEvalRunner"
-  },
-  "inference_model": {
-    "action_horizon": 16,
-    "action_in_proj": {
-      "input_size": 64,
-      "num_domains": 32,
-      "output_size": 2048,
-      "type": "DomainAwareLinear"
-    },
-    "action_out_proj": {
-      "input_size": 2048,
-      "num_domains": 32,
-      "output_size": 64,
-      "type": "DomainAwareLinear"
-    },
-    "base_fps": 24.0,
-    "enable_fps_modulation": true,
-    "enable_vision_loss": true,
-    "freeze_non_moe_vlm_backbone": true,
-    "freeze_vlm_backbone": false,
-    "latent_patch_size": 2,
-    "max_action_dim": 64,
-    "name_mapping": {
-      ".self_attn.k_norm_moe_gen.": ".self_attn.norm_added_k.",
-      ".self_attn.k_proj.": ".self_attn.to_k.",
-      ".self_attn.k_proj_moe_gen.": ".self_attn.add_k_proj.",
-      ".self_attn.o_proj.": ".self_attn.to_out.",
-      ".self_attn.o_proj_moe_gen.": ".self_attn.to_add_out.",
-      ".self_attn.q_norm_moe_gen.": ".self_attn.norm_added_q.",
-      ".self_attn.q_proj.": ".self_attn.to_q.",
-      ".self_attn.q_proj_moe_gen.": ".self_attn.add_q_proj.",
-      ".self_attn.v_proj.": ".self_attn.to_v.",
-      ".self_attn.v_proj_moe_gen.": ".self_attn.add_v_proj.",
-      "action_in_proj.": "action_proj_in.",
-      "action_modality_embed": "action_modality_embed",
-      "action_out_proj.": "action_proj_out.",
-      "time_embedder.mlp.0.": "time_embedder.linear_1.",
-      "time_embedder.mlp.2.": "time_embedder.linear_2.",
-      "vision_in_proj.projector.": "proj_in.",
-      "vision_out_proj.projector.": "proj_out.",
-      "vlm_backbone.lm_head.weight": "lm_head.weight",
-      "vlm_backbone.model.language_model.embed_tokens.weight": "embed_tokens.weight",
-      "vlm_backbone.model.language_model.layers.": "layers.",
-      "vlm_backbone.model.language_model.norm.weight": "norm.weight",
-      "vlm_backbone.model.language_model.norm_moe_gen.weight": "norm_moe_gen.weight"
-    },
-    "num_embodiment_domains": 32,
-    "ori_action_dim": 10,
-    "packed_attention_backend": "flash2",
-    "position_embedding_type": "unified_3d_mrope",
-    "pretrained_name_or_path": "./checkpoints/Cosmos3-Edge/transformer",
-    "rectified_flow_inference_config": {
-      "num_steps": 30,
-      "num_train_timesteps": 1000,
-      "scheduler_type": "unipc",
-      "shift": 10.0,
-      "use_dynamic_shifting": false,
-      "use_karras_sigmas": false
-    },
-    "rectified_flow_training_config": {
-      "action_loss_weight": 10.0,
-      "independent_action_schedule": false,
-      "normalize_loss_by_active": false,
-      "shift": {
-        "256": 3,
-        "480": 5,
-        "720": 10
-      },
-      "shift_action": null,
-      "train_time_action_distribution": "logitnormal",
-      "train_time_image_distribution": "logitnormal",
-      "train_time_video_distribution": "waver",
-      "train_time_weight": "uniform",
-      "use_discrete_rf": false,
-      "use_dynamic_shift": false,
-      "use_high_sigma_strategy": false,
-      "use_high_sigma_strategy_action": false,
-      "vision_loss_weight": 10.0
-    },
-    "reinitialize_action_policy": true,
-    "special_tokens": {
-      "end_of_generation": 21,
-      "eos_token_id": 11,
-      "start_of_generation": 20
-    },
-    "strict_mapping": true,
-    "timestep_scale": 0.001,
-    "type": "Cosmos3FlowMatching",
-    "unified_3d_mrope_reset_spatial_ids": true,
-    "unified_3d_mrope_temporal_modality_margin": 15000,
-    "vision_in_proj": {
-      "in_dim": 192,
-      "out_dim": 2048,
-      "type": "LinearProjector"
-    },
-    "vision_latent_dim": 48,
-    "vision_out_proj": {
-      "in_dim": 2048,
-      "out_dim": 192,
-      "type": "LinearProjector"
-    },
-    "vision_vae": {
-      "encode_exact_durations": [
-        17
-      ],
-      "pretrained_name_or_path": "./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth",
-      "type": "Cosmos3Wan22VAE"
-    },
-    "vlm_backbone": {
-      "include_visual": false,
-      "skip_init_weights": true,
-      "type": "Cosmos3MoTBackbone",
-      "vlm_config": {
-        "attention_bias": false,
-        "bos_token_id": 1,
-        "enable_mrope": true,
-        "eos_token_id": 11,
-        "head_dim": 128,
-        "hidden_size": 2048,
-        "intermediate_size": 9216,
-        "layer_norm_epsilon": 1e-05,
-        "max_position_embeddings": 131072,
-        "mlp_bias": false,
-        "mlp_hidden_act": "relu2",
-        "model_type": "nemotron_3_dense_vl_text",
-        "mrope_section": [
-          24,
-          20,
-          20
-        ],
-        "num_attention_heads": 16,
-        "num_hidden_layers": 28,
-        "num_key_value_heads": 8,
-        "pad_token_id": 11,
-        "rope_theta": 100000000.0,
-        "tie_word_embeddings": false,
-        "use_und_k_norm_for_gen": true,
-        "vocab_size": 131072
-      }
-    }
-  },
-  "model": {
-    "action_horizon": 16,
-    "action_in_proj": {
-      "input_size": 64,
-      "num_domains": 32,
-      "output_size": 2048,
-      "type": "DomainAwareLinear"
-    },
-    "action_out_proj": {
-      "input_size": 2048,
-      "num_domains": 32,
-      "output_size": 64,
-      "type": "DomainAwareLinear"
-    },
-    "base_fps": 24.0,
-    "enable_fps_modulation": true,
-    "enable_vision_loss": true,
-    "freeze_non_moe_vlm_backbone": true,
-    "freeze_vlm_backbone": false,
-    "latent_patch_size": 2,
-    "max_action_dim": 64,
-    "name_mapping": {
-      ".self_attn.k_norm_moe_gen.": ".self_attn.norm_added_k.",
-      ".self_attn.k_proj.": ".self_attn.to_k.",
-      ".self_attn.k_proj_moe_gen.": ".self_attn.add_k_proj.",
-      ".self_attn.o_proj.": ".self_attn.to_out.",
-      ".self_attn.o_proj_moe_gen.": ".self_attn.to_add_out.",
-      ".self_attn.q_norm_moe_gen.": ".self_attn.norm_added_q.",
-      ".self_attn.q_proj.": ".self_attn.to_q.",
-      ".self_attn.q_proj_moe_gen.": ".self_attn.add_q_proj.",
-      ".self_attn.v_proj.": ".self_attn.to_v.",
-      ".self_attn.v_proj_moe_gen.": ".self_attn.add_v_proj.",
-      "action_in_proj.": "action_proj_in.",
-      "action_modality_embed": "action_modality_embed",
-      "action_out_proj.": "action_proj_out.",
-      "time_embedder.mlp.0.": "time_embedder.linear_1.",
-      "time_embedder.mlp.2.": "time_embedder.linear_2.",
-      "vision_in_proj.projector.": "proj_in.",
-      "vision_out_proj.projector.": "proj_out.",
-      "vlm_backbone.lm_head.weight": "lm_head.weight",
-      "vlm_backbone.model.language_model.embed_tokens.weight": "embed_tokens.weight",
-      "vlm_backbone.model.language_model.layers.": "layers.",
-      "vlm_backbone.model.language_model.norm.weight": "norm.weight",
-      "vlm_backbone.model.language_model.norm_moe_gen.weight": "norm_moe_gen.weight"
-    },
-    "num_embodiment_domains": 32,
-    "ori_action_dim": 10,
-    "packed_attention_backend": "flash2",
-    "position_embedding_type": "unified_3d_mrope",
-    "pretrained_name_or_path": "./checkpoints/Cosmos3-Edge/transformer",
-    "rectified_flow_inference_config": {
-      "num_steps": 30,
-      "num_train_timesteps": 1000,
-      "scheduler_type": "unipc",
-      "shift": 10.0,
-      "use_dynamic_shifting": false,
-      "use_karras_sigmas": false
-    },
-    "rectified_flow_training_config": {
-      "action_loss_weight": 10.0,
-      "independent_action_schedule": false,
-      "normalize_loss_by_active": false,
-      "shift": {
-        "256": 3,
-        "480": 5,
-        "720": 10
-      },
-      "shift_action": null,
-      "train_time_action_distribution": "logitnormal",
-      "train_time_image_distribution": "logitnormal",
-      "train_time_video_distribution": "waver",
-      "train_time_weight": "uniform",
-      "use_discrete_rf": false,
-      "use_dynamic_shift": false,
-      "use_high_sigma_strategy": false,
-      "use_high_sigma_strategy_action": false,
-      "vision_loss_weight": 10.0
-    },
-    "reinitialize_action_policy": true,
-    "special_tokens": {
-      "end_of_generation": 21,
-      "eos_token_id": 11,
-      "start_of_generation": 20
-    },
-    "strict_mapping": true,
-    "timestep_scale": 0.001,
-    "type": "Cosmos3FlowMatching",
-    "unified_3d_mrope_reset_spatial_ids": true,
-    "unified_3d_mrope_temporal_modality_margin": 15000,
-    "vision_in_proj": {
-      "in_dim": 192,
-      "out_dim": 2048,
-      "type": "LinearProjector"
-    },
-    "vision_latent_dim": 48,
-    "vision_out_proj": {
-      "in_dim": 2048,
-      "out_dim": 192,
-      "type": "LinearProjector"
-    },
-    "vision_vae": {
-      "encode_exact_durations": [
-        17
-      ],
-      "pretrained_name_or_path": "./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth",
-      "type": "Cosmos3Wan22VAE"
-    },
-    "vlm_backbone": {
-      "include_visual": false,
-      "skip_init_weights": true,
-      "type": "Cosmos3MoTBackbone",
-      "vlm_config": {
-        "attention_bias": false,
-        "bos_token_id": 1,
-        "enable_mrope": true,
-        "eos_token_id": 11,
-        "head_dim": 128,
-        "hidden_size": 2048,
-        "intermediate_size": 9216,
-        "layer_norm_epsilon": 1e-05,
-        "max_position_embeddings": 131072,
-        "mlp_bias": false,
-        "mlp_hidden_act": "relu2",
-        "model_type": "nemotron_3_dense_vl_text",
-        "mrope_section": [
-          24,
-          20,
-          20
-        ],
-        "num_attention_heads": 16,
-        "num_hidden_layers": 28,
-        "num_key_value_heads": 8,
-        "pad_token_id": 11,
-        "rope_theta": 100000000.0,
-        "tie_word_embeddings": false,
-        "use_und_k_norm_for_gen": true,
-        "vocab_size": 131072
-      }
-    }
-  },
-  "runner": {
-    "change_key_name": false,
-    "collator": {
-      "list_keys": [
-        "sequence_plan"
-      ],
-      "meta_keys": [
-        "task_description",
-        "stats",
-        "info",
-        "timestamp"
-      ],
-      "pad_id": 11,
-      "sequence_keys": [
-        "text_token_ids"
-      ],
-      "tensor_keys": [
-        "images",
-        "actions",
-        "embodiment_ids",
-        "raw_action_dim",
-        "conditioning_fps",
-        "action_fps"
-      ],
-      "type": "Cosmos3Collator"
-    },
-    "enable_gradient_checkpointing": true,
-    "enable_mixed_precision_training": true,
-    "grad_accumulation_steps": 16,
-    "lr_scheduler": {
-      "cycle_length": 16000,
-      "type": "linear-warmup+linear-decay",
-      "warmup_steps": 500
-    },
-    "max_epochs": null,
-    "max_grad_norm": 1.0,
-    "max_keep_ckpts": 2,
-    "max_steps": 2000,
-    "metric": {
-      "active_trackers": [
-        "jsonl",
-        "wandb"
-      ],
-      "grad_accumulation_steps": 16,
-      "run_dir": "work_dirs",
-      "type": "VLAMetric",
-      "window_size": 1
-    },
-    "mixed_precision_dtype": "bf16",
-    "optimizer": {
-      "betas": [
-        0.9,
-        0.99
-      ],
-      "eps": 1e-08,
-      "exclude_1d_from_weight_decay": false,
-      "fused": true,
-      "lr": 5e-05,
-      "paramwise_learning_rate": {
-        "action_in_proj.": 0.00025,
-        "action_modality_embed": 0.00025,
-        "action_out_proj.": 0.00025
-      },
-      "type": "AdamW",
-      "weight_decay": 0.05
-    },
-    "sampler": null,
-    "save_iter_interval": 500,
-    "sharding_strategy": "full-shard",
-    "tokenizer": {
-      "model_max_length": 4096,
-      "model_path": "./checkpoints/Cosmos3-Edge",
-      "padding_side": "right",
-      "trust_remote_code": true,
-      "type": "PretrainedTokenizer"
-    },
-    "type": "FSDPTrainRunner"
-  },
-  "seed": 7,
-  "train_dataloader": {
-    "dataset": {
-      "datasets": {
-        "action_key": "action",
-        "action_window_size": 16,
-        "data_root_path": "/mnt/data/cpfs/mnt/data/yanis/FastWAM/data/libero_mujoco3.3.2/libero_object_no_noops_lerobot",
-        "frame_window_size": 17,
-        "require_full_window": true,
-        "statistic_name": "libero_object_no_noops",
-        "transforms": [
-          {
-            "embodiment_id": 5,
-            "name_mappings": {
-              "actions": [
-                "actions"
-              ],
-              "observation.state": [
-                "states"
-              ]
-            },
-            "parquet_keys": [
-              "observation.state",
-              "timestamp",
-              "actions",
-              "info",
-              "stats"
-            ],
-            "type": "ProcessParquetInputs",
-            "video_keys": [
-              "observation.images.image",
-              "observation.images.wrist_image"
-            ]
-          },
-          {
-            "type": "LiberoFramewiseActionToRot6D"
-          },
-          {
-            "action_metadata": {
-              "append_viewpoint": false,
-              "conditioning_fps": 20.0,
-              "frame_window_size": 17,
-              "video_height": 256,
-              "video_width": 512
-            },
-            "cfg_dropout_rate": 0.1,
-            "max_len": 512,
-            "tokenizer": {
-              "model_max_length": 4096,
-              "model_path": "./checkpoints/Cosmos3-Edge",
-              "padding_side": "right",
-              "trust_remote_code": true,
-              "type": "PretrainedTokenizer"
-            },
-            "type": "ProcessCosmos3Prompt"
-          },
-          {
-            "height": 256,
-            "type": "ResizeImages",
-            "width": 256
-          },
-          {
-            "type": "SimpleNormalizeImages"
-          },
-          {
-            "action_dim": 64,
-            "action_key": "action",
-            "action_norm_type": "quantile",
-            "state_dim": 64,
-            "state_key": "proprio",
-            "state_norm_type": "none",
-            "type": "NormalizeStatesAndActions"
-          },
-          {
-            "conditioning_fps": 20.0,
-            "frame_window_size": 17,
-            "mode": "wam",
-            "prepend_state_to_action": false,
-            "raw_action_dim": 10,
-            "type": "BuildCosmos3Sequence"
-          },
-          {
-            "frame_window_size": 17,
-            "num_views": 2,
-            "tile_direction": "horizontal",
-            "type": "PrepareVideo"
-          }
-        ],
-        "type": "ParquetDataset",
-        "use_delta": false,
-        "window_start_idx": 0
-      },
-      "name_mappings": {
-        "action": [
-          "action"
-        ],
-        "observation.state": [
-          "proprio"
-        ]
-      },
-      "statistic_keys": [
-        "observation.state",
-        "timestamp",
-        "action"
-      ],
-      "statistic_name": "libero_object_no_noops",
-      "statistics_overrides": {
-        "libero_object_no_noops": {
-          "action": {
-            "max": [
-              0.9375,
-              0.9375,
-              0.9375,
-              1.0,
-              0.368853,
-              0.341214,
-              0.356395,
-              1.0,
-              0.348251,
-              1.0
-            ],
-            "mean": [
-              0.050704,
-              0.097407,
-              -0.094833,
-              0.994873,
-              -0.004579,
-              -0.004288,
-              0.004389,
-              0.996104,
-              0.001109,
-              0.476725
-            ],
-            "min": [
-              -0.9375,
-              -0.9375,
-              -0.9375,
-              0.902028,
-              -0.356085,
-              -0.367416,
-              -0.370434,
-              0.921907,
-              -0.255,
-              0.0
-            ],
-            "q01": [
-              -0.723214,
-              -0.808929,
-              -0.9375,
-              0.934955,
-              -0.223431,
-              -0.189878,
-              -0.334735,
-              0.938516,
-              -0.107736,
-              0.0
-            ],
-            "q99": [
-              0.9375,
-              0.870536,
-              0.9375,
-              1.0,
-              0.331,
-              0.163153,
-              0.226216,
-              1.0,
-              0.127158,
-              1.0
-            ],
-            "std": [
-              0.333621,
-              0.387175,
-              0.45714,
-              0.010807,
-              0.077802,
-              0.063386,
-              0.078571,
-              0.009994,
-              0.038504,
-              0.49946
-            ]
-          }
-        }
-      },
-      "type": "DistributedRepeatingDataset"
-    },
-    "per_device_batch_size": 16,
-    "per_device_num_workers": 4
-  }
-}

cosmos3edge_libero_object_full_finetune_bs16/config.yaml

@@ -1,549 +0,0 @@
-eval:
-  dataset:
-    extra_tensor_keys:
-    - conditioning_fps
-    - prepend_state_to_action
-    img_buffer_len: 1
-    transforms:
-    - embodiment_id: 5
-      img_keys:
-      - agentview_image
-      - robot0_eye_in_hand_image
-      type: ProcessLiberoEvalInputs
-    - conditioning_fps: 20.0
-      prepend_state_to_action: false
-      type: SetCosmos3ActionMetadata
-    - image_resize_strategy: resize-naive
-      input_sizes:
-      - - 3
-        - 256
-        - 256
-      - - 3
-        - 256
-        - 256
-      means:
-      - - 127.5
-        - 127.5
-        - 127.5
-      - - 127.5
-        - 127.5
-        - 127.5
-      stds:
-      - - 127.5
-        - 127.5
-        - 127.5
-      - - 127.5
-        - 127.5
-        - 127.5
-      type: TransformImage
-    - action_metadata:
-        append_viewpoint: false
-        conditioning_fps: 20.0
-        frame_window_size: 17
-        video_height: 256
-        video_width: 512
-      cfg_dropout_rate: 0.0
-      max_len: 512
-      output_attention_mask_key: lang_masks
-      output_key: lang_tokens
-      tokenizer:
-        model_max_length: 4096
-        model_path: ./checkpoints/Cosmos3-Edge
-        padding_side: right
-        trust_remote_code: true
-        type: PretrainedTokenizer
-      type: ProcessCosmos3Prompt
-    - gripper_key: robot0_gripper_qpos
-      norm_type: mean_std
-      out_key: states
-      pos_key: robot0_eef_pos
-      quat_key: robot0_eef_quat
-      state_dim: 64
-      type: LiberoProprioFromInputs
-    - frame_window_size: 1
-      num_views: 2
-      tile_direction: horizontal
-      type: PrepareVideo
-    type: LiberoParquetEvalDataset
-  denormalize_action:
-    action_dim: 10
-    norm_type: quantile_rot
-    type: DenormalizeLiberoFramewiseRot6DAction
-  enable_mixed_precision_training: true
-  eval_chunk_size: 16
-  inference_seed: 7
-  mixed_precision_dtype: bf16
-  model_family: cosmos3
-  norm_stats_key: libero_object_no_noops
-  num_inference_steps: 30
-  num_steps_wait: 10
-  num_trials_per_task: 50
-  resize_size: 256
-  seed: 7
-  task_ids: null
-  task_suite_name: libero_object
-  type: LiberoEvalRunner
-inference_model:
-  action_horizon: 16
-  action_in_proj:
-    input_size: 64
-    num_domains: 32
-    output_size: 2048
-    type: DomainAwareLinear
-  action_out_proj:
-    input_size: 2048
-    num_domains: 32
-    output_size: 64
-    type: DomainAwareLinear
-  base_fps: 24.0
-  enable_fps_modulation: true
-  enable_vision_loss: true
-  freeze_non_moe_vlm_backbone: true
-  freeze_vlm_backbone: false
-  latent_patch_size: 2
-  max_action_dim: 64
-  name_mapping:
-    .self_attn.k_norm_moe_gen.: .self_attn.norm_added_k.
-    .self_attn.k_proj.: .self_attn.to_k.
-    .self_attn.k_proj_moe_gen.: .self_attn.add_k_proj.
-    .self_attn.o_proj.: .self_attn.to_out.
-    .self_attn.o_proj_moe_gen.: .self_attn.to_add_out.
-    .self_attn.q_norm_moe_gen.: .self_attn.norm_added_q.
-    .self_attn.q_proj.: .self_attn.to_q.
-    .self_attn.q_proj_moe_gen.: .self_attn.add_q_proj.
-    .self_attn.v_proj.: .self_attn.to_v.
-    .self_attn.v_proj_moe_gen.: .self_attn.add_v_proj.
-    action_in_proj.: action_proj_in.
-    action_modality_embed: action_modality_embed
-    action_out_proj.: action_proj_out.
-    time_embedder.mlp.0.: time_embedder.linear_1.
-    time_embedder.mlp.2.: time_embedder.linear_2.
-    vision_in_proj.projector.: proj_in.
-    vision_out_proj.projector.: proj_out.
-    vlm_backbone.lm_head.weight: lm_head.weight
-    vlm_backbone.model.language_model.embed_tokens.weight: embed_tokens.weight
-    vlm_backbone.model.language_model.layers.: layers.
-    vlm_backbone.model.language_model.norm.weight: norm.weight
-    vlm_backbone.model.language_model.norm_moe_gen.weight: norm_moe_gen.weight
-  num_embodiment_domains: 32
-  ori_action_dim: 10
-  packed_attention_backend: flash2
-  position_embedding_type: unified_3d_mrope
-  pretrained_name_or_path: ./checkpoints/Cosmos3-Edge/transformer
-  rectified_flow_inference_config:
-    num_steps: 30
-    num_train_timesteps: 1000
-    scheduler_type: unipc
-    shift: 10.0
-    use_dynamic_shifting: false
-    use_karras_sigmas: false
-  rectified_flow_training_config:
-    action_loss_weight: 10.0
-    independent_action_schedule: false
-    normalize_loss_by_active: false
-    shift:
-      '256': 3
-      '480': 5
-      '720': 10
-    shift_action: null
-    train_time_action_distribution: logitnormal
-    train_time_image_distribution: logitnormal
-    train_time_video_distribution: waver
-    train_time_weight: uniform
-    use_discrete_rf: false
-    use_dynamic_shift: false
-    use_high_sigma_strategy: false
-    use_high_sigma_strategy_action: false
-    vision_loss_weight: 10.0
-  reinitialize_action_policy: true
-  special_tokens:
-    end_of_generation: 21
-    eos_token_id: 11
-    start_of_generation: 20
-  strict_mapping: true
-  timestep_scale: 0.001
-  type: Cosmos3FlowMatching
-  unified_3d_mrope_reset_spatial_ids: true
-  unified_3d_mrope_temporal_modality_margin: 15000
-  vision_in_proj:
-    in_dim: 192
-    out_dim: 2048
-    type: LinearProjector
-  vision_latent_dim: 48
-  vision_out_proj:
-    in_dim: 2048
-    out_dim: 192
-    type: LinearProjector
-  vision_vae:
-    encode_exact_durations:
-    - 17
-    pretrained_name_or_path: ./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth
-    type: Cosmos3Wan22VAE
-  vlm_backbone:
-    include_visual: false
-    skip_init_weights: true
-    type: Cosmos3MoTBackbone
-    vlm_config:
-      attention_bias: false
-      bos_token_id: 1
-      enable_mrope: true
-      eos_token_id: 11
-      head_dim: 128
-      hidden_size: 2048
-      intermediate_size: 9216
-      layer_norm_epsilon: 1.0e-05
-      max_position_embeddings: 131072
-      mlp_bias: false
-      mlp_hidden_act: relu2
-      model_type: nemotron_3_dense_vl_text
-      mrope_section:
-      - 24
-      - 20
-      - 20
-      num_attention_heads: 16
-      num_hidden_layers: 28
-      num_key_value_heads: 8
-      pad_token_id: 11
-      rope_theta: 100000000.0
-      tie_word_embeddings: false
-      use_und_k_norm_for_gen: true
-      vocab_size: 131072
-model:
-  action_horizon: 16
-  action_in_proj:
-    input_size: 64
-    num_domains: 32
-    output_size: 2048
-    type: DomainAwareLinear
-  action_out_proj:
-    input_size: 2048
-    num_domains: 32
-    output_size: 64
-    type: DomainAwareLinear
-  base_fps: 24.0
-  enable_fps_modulation: true
-  enable_vision_loss: true
-  freeze_non_moe_vlm_backbone: true
-  freeze_vlm_backbone: false
-  latent_patch_size: 2
-  max_action_dim: 64
-  name_mapping:
-    .self_attn.k_norm_moe_gen.: .self_attn.norm_added_k.
-    .self_attn.k_proj.: .self_attn.to_k.
-    .self_attn.k_proj_moe_gen.: .self_attn.add_k_proj.
-    .self_attn.o_proj.: .self_attn.to_out.
-    .self_attn.o_proj_moe_gen.: .self_attn.to_add_out.
-    .self_attn.q_norm_moe_gen.: .self_attn.norm_added_q.
-    .self_attn.q_proj.: .self_attn.to_q.
-    .self_attn.q_proj_moe_gen.: .self_attn.add_q_proj.
-    .self_attn.v_proj.: .self_attn.to_v.
-    .self_attn.v_proj_moe_gen.: .self_attn.add_v_proj.
-    action_in_proj.: action_proj_in.
-    action_modality_embed: action_modality_embed
-    action_out_proj.: action_proj_out.
-    time_embedder.mlp.0.: time_embedder.linear_1.
-    time_embedder.mlp.2.: time_embedder.linear_2.
-    vision_in_proj.projector.: proj_in.
-    vision_out_proj.projector.: proj_out.
-    vlm_backbone.lm_head.weight: lm_head.weight
-    vlm_backbone.model.language_model.embed_tokens.weight: embed_tokens.weight
-    vlm_backbone.model.language_model.layers.: layers.
-    vlm_backbone.model.language_model.norm.weight: norm.weight
-    vlm_backbone.model.language_model.norm_moe_gen.weight: norm_moe_gen.weight
-  num_embodiment_domains: 32
-  ori_action_dim: 10
-  packed_attention_backend: flash2
-  position_embedding_type: unified_3d_mrope
-  pretrained_name_or_path: ./checkpoints/Cosmos3-Edge/transformer
-  rectified_flow_inference_config:
-    num_steps: 30
-    num_train_timesteps: 1000
-    scheduler_type: unipc
-    shift: 10.0
-    use_dynamic_shifting: false
-    use_karras_sigmas: false
-  rectified_flow_training_config:
-    action_loss_weight: 10.0
-    independent_action_schedule: false
-    normalize_loss_by_active: false
-    shift:
-      '256': 3
-      '480': 5
-      '720': 10
-    shift_action: null
-    train_time_action_distribution: logitnormal
-    train_time_image_distribution: logitnormal
-    train_time_video_distribution: waver
-    train_time_weight: uniform
-    use_discrete_rf: false
-    use_dynamic_shift: false
-    use_high_sigma_strategy: false
-    use_high_sigma_strategy_action: false
-    vision_loss_weight: 10.0
-  reinitialize_action_policy: true
-  special_tokens:
-    end_of_generation: 21
-    eos_token_id: 11
-    start_of_generation: 20
-  strict_mapping: true
-  timestep_scale: 0.001
-  type: Cosmos3FlowMatching
-  unified_3d_mrope_reset_spatial_ids: true
-  unified_3d_mrope_temporal_modality_margin: 15000
-  vision_in_proj:
-    in_dim: 192
-    out_dim: 2048
-    type: LinearProjector
-  vision_latent_dim: 48
-  vision_out_proj:
-    in_dim: 2048
-    out_dim: 192
-    type: LinearProjector
-  vision_vae:
-    encode_exact_durations:
-    - 17
-    pretrained_name_or_path: ./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth
-    type: Cosmos3Wan22VAE
-  vlm_backbone:
-    include_visual: false
-    skip_init_weights: true
-    type: Cosmos3MoTBackbone
-    vlm_config:
-      attention_bias: false
-      bos_token_id: 1
-      enable_mrope: true
-      eos_token_id: 11
-      head_dim: 128
-      hidden_size: 2048
-      intermediate_size: 9216
-      layer_norm_epsilon: 1.0e-05
-      max_position_embeddings: 131072
-      mlp_bias: false
-      mlp_hidden_act: relu2
-      model_type: nemotron_3_dense_vl_text
-      mrope_section:
-      - 24
-      - 20
-      - 20
-      num_attention_heads: 16
-      num_hidden_layers: 28
-      num_key_value_heads: 8
-      pad_token_id: 11
-      rope_theta: 100000000.0
-      tie_word_embeddings: false
-      use_und_k_norm_for_gen: true
-      vocab_size: 131072
-runner:
-  change_key_name: false
-  collator:
-    list_keys:
-    - sequence_plan
-    meta_keys:
-    - task_description
-    - stats
-    - info
-    - timestamp
-    pad_id: 11
-    sequence_keys:
-    - text_token_ids
-    tensor_keys:
-    - images
-    - actions
-    - embodiment_ids
-    - raw_action_dim
-    - conditioning_fps
-    - action_fps
-    type: Cosmos3Collator
-  enable_gradient_checkpointing: true
-  enable_mixed_precision_training: true
-  grad_accumulation_steps: 16
-  lr_scheduler:
-    cycle_length: 16000
-    type: linear-warmup+linear-decay
-    warmup_steps: 500
-  max_epochs: null
-  max_grad_norm: 1.0
-  max_keep_ckpts: 2
-  max_steps: 2000
-  metric:
-    active_trackers:
-    - jsonl
-    - wandb
-    grad_accumulation_steps: 16
-    run_dir: work_dirs
-    type: VLAMetric
-    window_size: 1
-  mixed_precision_dtype: bf16
-  optimizer:
-    betas:
-    - 0.9
-    - 0.99
-    eps: 1.0e-08
-    exclude_1d_from_weight_decay: false
-    fused: true
-    lr: 5.0e-05
-    paramwise_learning_rate:
-      action_in_proj.: 0.00025
-      action_modality_embed: 0.00025
-      action_out_proj.: 0.00025
-    type: AdamW
-    weight_decay: 0.05
-  sampler: null
-  save_iter_interval: 500
-  sharding_strategy: full-shard
-  tokenizer:
-    model_max_length: 4096
-    model_path: ./checkpoints/Cosmos3-Edge
-    padding_side: right
-    trust_remote_code: true
-    type: PretrainedTokenizer
-  type: FSDPTrainRunner
-seed: 7
-train_dataloader:
-  dataset:
-    datasets:
-      action_key: action
-      action_window_size: 16
-      data_root_path: /mnt/data/cpfs/mnt/data/yanis/FastWAM/data/libero_mujoco3.3.2/libero_object_no_noops_lerobot
-      frame_window_size: 17
-      require_full_window: true
-      statistic_name: libero_object_no_noops
-      transforms:
-      - embodiment_id: 5
-        name_mappings:
-          actions:
-          - actions
-          observation.state:
-          - states
-        parquet_keys:
-        - observation.state
-        - timestamp
-        - actions
-        - info
-        - stats
-        type: ProcessParquetInputs
-        video_keys:
-        - observation.images.image
-        - observation.images.wrist_image
-      - type: LiberoFramewiseActionToRot6D
-      - action_metadata:
-          append_viewpoint: false
-          conditioning_fps: 20.0
-          frame_window_size: 17
-          video_height: 256
-          video_width: 512
-        cfg_dropout_rate: 0.1
-        max_len: 512
-        tokenizer:
-          model_max_length: 4096
-          model_path: ./checkpoints/Cosmos3-Edge
-          padding_side: right
-          trust_remote_code: true
-          type: PretrainedTokenizer
-        type: ProcessCosmos3Prompt
-      - height: 256
-        type: ResizeImages
-        width: 256
-      - type: SimpleNormalizeImages
-      - action_dim: 64
-        action_key: action
-        action_norm_type: quantile
-        state_dim: 64
-        state_key: proprio
-        state_norm_type: none
-        type: NormalizeStatesAndActions
-      - conditioning_fps: 20.0
-        frame_window_size: 17
-        mode: wam
-        prepend_state_to_action: false
-        raw_action_dim: 10
-        type: BuildCosmos3Sequence
-      - frame_window_size: 17
-        num_views: 2
-        tile_direction: horizontal
-        type: PrepareVideo
-      type: ParquetDataset
-      use_delta: false
-      window_start_idx: 0
-    name_mappings:
-      action:
-      - action
-      observation.state:
-      - proprio
-    statistic_keys:
-    - observation.state
-    - timestamp
-    - action
-    statistic_name: libero_object_no_noops
-    statistics_overrides:
-      libero_object_no_noops:
-        action:
-          max:
-          - 0.9375
-          - 0.9375
-          - 0.9375
-          - 1.0
-          - 0.368853
-          - 0.341214
-          - 0.356395
-          - 1.0
-          - 0.348251
-          - 1.0
-          mean:
-          - 0.050704
-          - 0.097407
-          - -0.094833
-          - 0.994873
-          - -0.004579
-          - -0.004288
-          - 0.004389
-          - 0.996104
-          - 0.001109
-          - 0.476725
-          min:
-          - -0.9375
-          - -0.9375
-          - -0.9375
-          - 0.902028
-          - -0.356085
-          - -0.367416
-          - -0.370434
-          - 0.921907
-          - -0.255
-          - 0.0
-          q01:
-          - -0.723214
-          - -0.808929
-          - -0.9375
-          - 0.934955
-          - -0.223431
-          - -0.189878
-          - -0.334735
-          - 0.938516
-          - -0.107736
-          - 0.0
-          q99:
-          - 0.9375
-          - 0.870536
-          - 0.9375
-          - 1.0
-          - 0.331
-          - 0.163153
-          - 0.226216
-          - 1.0
-          - 0.127158
-          - 1.0
-          std:
-          - 0.333621
-          - 0.387175
-          - 0.45714
-          - 0.010807
-          - 0.077802
-          - 0.063386
-          - 0.078571
-          - 0.009994
-          - 0.038504
-          - 0.49946
-    type: DistributedRepeatingDataset
-  per_device_batch_size: 16
-  per_device_num_workers: 4

cosmos3edge_libero_object_full_finetune_bs16/dataset_statistics.json

@@ -1,138 +0,0 @@
-{
-  "libero_object_no_noops": {
-    "proprio": {
-      "mean": [
-        -0.02959009765696081,
-        -0.007297964015682315,
-        0.20263691055831187,
-        3.1073476010684877,
-        -0.21535565380497632,
-        -0.11427672452118069,
-        0.029502614808226878,
-        -0.03067214427533492
-      ],
-      "std": [
-        0.0671578373258587,
-        0.17582774738783646,
-        0.07806197269088859,
-        0.0883791687231981,
-        0.33845984974158555,
-        0.2067143171047819,
-        0.00947681692760627,
-        0.009059544465447626
-      ],
-      "min": [
-        -0.17652566730976105,
-        -0.28169912099838257,
-        0.008128181099891663,
-        2.2889645099639893,
-        -1.8830392360687256,
-        -1.0428133010864258,
-        0.0006782737909816206,
-        -0.041782498359680176
-      ],
-      "max": [
-        0.14580604434013367,
-        0.3322660028934479,
-        0.38492220640182495,
-        3.4003379344940186,
-        0.7954724431037903,
-        0.6642153263092041,
-        0.04104502499103546,
-        -0.0005043679848313332
-      ],
-      "q01": null,
-      "q99": null
-    },
-    "timestamp": {
-      "mean": [
-        3.7123616455451725
-      ],
-      "std": [
-        2.2276645050279424
-      ],
-      "min": [
-        0.0
-      ],
-      "max": [
-        12.65
-      ],
-      "q01": null,
-      "q99": null
-    },
-    "action": {
-      "mean": [
-        0.050704,
-        0.097407,
-        -0.094833,
-        0.994873,
-        -0.004579,
-        -0.004288,
-        0.004389,
-        0.996104,
-        0.001109,
-        0.476725
-      ],
-      "std": [
-        0.333621,
-        0.387175,
-        0.45714,
-        0.010807,
-        0.077802,
-        0.063386,
-        0.078571,
-        0.009994,
-        0.038504,
-        0.49946
-      ],
-      "min": [
-        -0.9375,
-        -0.9375,
-        -0.9375,
-        0.902028,
-        -0.356085,
-        -0.367416,
-        -0.370434,
-        0.921907,
-        -0.255,
-        0.0
-      ],
-      "max": [
-        0.9375,
-        0.9375,
-        0.9375,
-        1.0,
-        0.368853,
-        0.341214,
-        0.356395,
-        1.0,
-        0.348251,
-        1.0
-      ],
-      "q01": [
-        -0.723214,
-        -0.808929,
-        -0.9375,
-        0.934955,
-        -0.223431,
-        -0.189878,
-        -0.334735,
-        0.938516,
-        -0.107736,
-        0.0
-      ],
-      "q99": [
-        0.9375,
-        0.870536,
-        0.9375,
-        1.0,
-        0.331,
-        0.163153,
-        0.226216,
-        1.0,
-        0.127158,
-        1.0
-      ]
-    }
-  }
-}

cosmos3edge_libero_object_full_finetune_bs16/run-metrics.jsonl

@@ -1 +0,0 @@
-{"hparams": "{'eval': {'dataset': {'extra_tensor_keys': ['conditioning_fps', 'prepend_state_to_action'], 'img_buffer_len': 1, 'transforms': [{'embodiment_id': 5, 'img_keys': ['agentview_image', 'robot0_eye_in_hand_image'], 'type': 'ProcessLiberoEvalInputs'}, {'conditioning_fps': 20.0, 'prepend_state_to_action': False, 'type': 'SetCosmos3ActionMetadata'}, {'image_resize_strategy': 'resize-naive', 'input_sizes': [[3, 256, 256], [3, 256, 256]], 'means': [[127.5, 127.5, 127.5], [127.5, 127.5, 127.5]], 'stds': [[127.5, 127.5, 127.5], [127.5, 127.5, 127.5]], 'type': 'TransformImage'}, {'action_metadata': {'append_viewpoint': False, 'conditioning_fps': 20.0, 'frame_window_size': 17, 'video_height': 256, 'video_width': 512}, 'cfg_dropout_rate': 0.0, 'max_len': 512, 'output_attention_mask_key': 'lang_masks', 'output_key': 'lang_tokens', 'tokenizer': {'model_max_length': 4096, 'model_path': './checkpoints/Cosmos3-Edge', 'padding_side': 'right', 'trust_remote_code': True, 'type': 'PretrainedTokenizer'}, 'type': 'ProcessCosmos3Prompt'}, {'gripper_key': 'robot0_gripper_qpos', 'norm_type': 'mean_std', 'out_key': 'states', 'pos_key': 'robot0_eef_pos', 'quat_key': 'robot0_eef_quat', 'state_dim': 64, 'type': 'LiberoProprioFromInputs'}, {'frame_window_size': 1, 'num_views': 2, 'tile_direction': 'horizontal', 'type': 'PrepareVideo'}], 'type': 'LiberoParquetEvalDataset'}, 'denormalize_action': {'action_dim': 10, 'norm_type': 'quantile_rot', 'type': 'DenormalizeLiberoFramewiseRot6DAction'}, 'enable_mixed_precision_training': True, 'eval_chunk_size': 16, 'inference_seed': 7, 'mixed_precision_dtype': 'bf16', 'model_family': 'cosmos3', 'norm_stats_key': 'libero_object_no_noops', 'num_inference_steps': 30, 'num_steps_wait': 10, 'num_trials_per_task': 50, 'resize_size': 256, 'seed': 7, 'task_ids': None, 'task_suite_name': 'libero_object', 'type': 'LiberoEvalRunner'}, 'inference_model': {'action_horizon': 16, 'action_in_proj': {'input_size': 64, 'num_domains': 32, 'output_size': 2048, 'type': 'DomainAwareLinear'}, 'action_out_proj': {'input_size': 2048, 'num_domains': 32, 'output_size': 64, 'type': 'DomainAwareLinear'}, 'base_fps': 24.0, 'enable_fps_modulation': True, 'enable_vision_loss': True, 'freeze_non_moe_vlm_backbone': True, 'freeze_vlm_backbone': False, 'latent_patch_size': 2, 'max_action_dim': 64, 'name_mapping': {'.self_attn.k_norm_moe_gen.': '.self_attn.norm_added_k.', '.self_attn.k_proj.': '.self_attn.to_k.', '.self_attn.k_proj_moe_gen.': '.self_attn.add_k_proj.', '.self_attn.o_proj.': '.self_attn.to_out.', '.self_attn.o_proj_moe_gen.': '.self_attn.to_add_out.', '.self_attn.q_norm_moe_gen.': '.self_attn.norm_added_q.', '.self_attn.q_proj.': '.self_attn.to_q.', '.self_attn.q_proj_moe_gen.': '.self_attn.add_q_proj.', '.self_attn.v_proj.': '.self_attn.to_v.', '.self_attn.v_proj_moe_gen.': '.self_attn.add_v_proj.', 'action_in_proj.': 'action_proj_in.', 'action_modality_embed': 'action_modality_embed', 'action_out_proj.': 'action_proj_out.', 'time_embedder.mlp.0.': 'time_embedder.linear_1.', 'time_embedder.mlp.2.': 'time_embedder.linear_2.', 'vision_in_proj.projector.': 'proj_in.', 'vision_out_proj.projector.': 'proj_out.', 'vlm_backbone.lm_head.weight': 'lm_head.weight', 'vlm_backbone.model.language_model.embed_tokens.weight': 'embed_tokens.weight', 'vlm_backbone.model.language_model.layers.': 'layers.', 'vlm_backbone.model.language_model.norm.weight': 'norm.weight', 'vlm_backbone.model.language_model.norm_moe_gen.weight': 'norm_moe_gen.weight'}, 'num_embodiment_domains': 32, 'ori_action_dim': 10, 'packed_attention_backend': 'flash2', 'position_embedding_type': 'unified_3d_mrope', 'pretrained_name_or_path': './checkpoints/Cosmos3-Edge/transformer', 'reinitialize_action_policy': True, 'rectified_flow_inference_config': {'num_steps': 30, 'num_train_timesteps': 1000, 'scheduler_type': 'unipc', 'shift': 10.0, 'use_dynamic_shifting': False, 'use_karras_sigmas': False}, 'rectified_flow_training_config': {'action_loss_weight': 10.0, 'independent_action_schedule': False, 'normalize_loss_by_active': False, 'shift': {'256': 3, '480': 5, '720': 10}, 'shift_action': None, 'train_time_action_distribution': 'logitnormal', 'train_time_image_distribution': 'logitnormal', 'train_time_video_distribution': 'waver', 'train_time_weight': 'uniform', 'use_discrete_rf': False, 'use_dynamic_shift': False, 'use_high_sigma_strategy': False, 'use_high_sigma_strategy_action': False, 'vision_loss_weight': 10.0}, 'special_tokens': {'end_of_generation': 21, 'eos_token_id': 11, 'start_of_generation': 20}, 'strict_mapping': True, 'timestep_scale': 0.001, 'type': 'Cosmos3FlowMatching', 'unified_3d_mrope_reset_spatial_ids': True, 'unified_3d_mrope_temporal_modality_margin': 15000, 'vision_in_proj': {'in_dim': 192, 'out_dim': 2048, 'type': 'LinearProjector'}, 'vision_latent_dim': 48, 'vision_out_proj': {'in_dim': 2048, 'out_dim': 192, 'type': 'LinearProjector'}, 'vision_vae': {'encode_exact_durations': [17], 'pretrained_name_or_path': './checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth', 'type': 'Cosmos3Wan22VAE'}, 'vlm_backbone': {'include_visual': False, 'skip_init_weights': True, 'type': 'Cosmos3MoTBackbone', 'vlm_config': {'attention_bias': False, 'bos_token_id': 1, 'enable_mrope': True, 'eos_token_id': 11, 'head_dim': 128, 'hidden_size': 2048, 'intermediate_size': 9216, 'layer_norm_epsilon': 1e-05, 'max_position_embeddings': 131072, 'mlp_bias': False, 'mlp_hidden_act': 'relu2', 'model_type': 'nemotron_3_dense_vl_text', 'mrope_section': [24, 20, 20], 'num_attention_heads': 16, 'num_hidden_layers': 28, 'num_key_value_heads': 8, 'pad_token_id': 11, 'rope_theta': 100000000.0, 'tie_word_embeddings': False, 'use_und_k_norm_for_gen': True, 'vocab_size': 131072}}}, 'model': {'action_horizon': 16, 'action_in_proj': {'input_size': 64, 'num_domains': 32, 'output_size': 2048, 'type': 'DomainAwareLinear'}, 'action_out_proj': {'input_size': 2048, 'num_domains': 32, 'output_size': 64, 'type': 'DomainAwareLinear'}, 'base_fps': 24.0, 'enable_fps_modulation': True, 'enable_vision_loss': True, 'freeze_non_moe_vlm_backbone': True, 'freeze_vlm_backbone': False, 'latent_patch_size': 2, 'max_action_dim': 64, 'name_mapping': {'.self_attn.k_norm_moe_gen.': '.self_attn.norm_added_k.', '.self_attn.k_proj.': '.self_attn.to_k.', '.self_attn.k_proj_moe_gen.': '.self_attn.add_k_proj.', '.self_attn.o_proj.': '.self_attn.to_out.', '.self_attn.o_proj_moe_gen.': '.self_attn.to_add_out.', '.self_attn.q_norm_moe_gen.': '.self_attn.norm_added_q.', '.self_attn.q_proj.': '.self_attn.to_q.', '.self_attn.q_proj_moe_gen.': '.self_attn.add_q_proj.', '.self_attn.v_proj.': '.self_attn.to_v.', '.self_attn.v_proj_moe_gen.': '.self_attn.add_v_proj.', 'action_in_proj.': 'action_proj_in.', 'action_modality_embed': 'action_modality_embed', 'action_out_proj.': 'action_proj_out.', 'time_embedder.mlp.0.': 'time_embedder.linear_1.', 'time_embedder.mlp.2.': 'time_embedder.linear_2.', 'vision_in_proj.projector.': 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-0.334735, 0.938516, -0.107736, 0.0], 'q99': [0.9375, 0.870536, 0.9375, 1.0, 0.331, 0.163153, 0.226216, 1.0, 0.127158, 1.0]}}}, 'type': 'DistributedRepeatingDataset'}, 'per_device_batch_size': 16, 'per_device_num_workers': 4}}", "run_id": "cosmos3edge_libero_object_full_finetune_2026_08_04_01_21_44"}

cosmos3edge_libero_object_full_finetune_bs16/tokenizer/chat_template.jinja

@@ -1,324 +0,0 @@
-
-{% macro render_extra_keys(json_dict, handled_keys) %}
-    {%- if json_dict is mapping %}
-        {%- for json_key in json_dict if json_key not in handled_keys %}
-            {%- if json_dict[json_key] is mapping or (json_dict[json_key] is sequence and json_dict[json_key] is not string) %}
-                {{- '
-<' ~ json_key ~ '>' ~ (json_dict[json_key] | tojson | safe) ~ '</' ~ json_key ~ '>' }}
-            {%- else %}
-                {{-'
-<' ~ json_key ~ '>' ~ (json_dict[json_key] | string) ~ '</' ~ json_key ~ '>' }}
-            {%- endif %}
-        {%- endfor %}
-    {%- endif %}
-{% endmacro %}
-{%- set enable_thinking = enable_thinking if enable_thinking is defined else True %}
-{%- set truncate_history_thinking = truncate_history_thinking if truncate_history_thinking is defined else True %}
-
-{%- set ns = namespace(last_user_idx = -1) %}
-{%- set loop_messages = messages %}
-{%- for m in loop_messages %}
-  {%- if m["role"] == "user" %}
-    {%- set ns.last_user_idx = loop.index0 %}
-  {%- endif %}
-{%- endfor %}
-
-{%- if messages[0]["role"] == "system" %}
-    {%- if messages[0]["content"] is string %}
-        {%- set system_message = messages[0]["content"] %}
-    {%- else %}
-        {%- set ns = namespace(system_text="") %}
-        {%- for part in messages[0]["content"] %}
-            {%- if 'text' in part %}
-                {%- set ns.system_text = ns.system_text + part.text %}
-            {%- endif %}
-        {%- endfor %}
-        {%- set system_message = ns.system_text %}
-    {%- endif %}
-
-    {%- set loop_messages = messages[1:] %}
-{%- else %}
-    {%- set system_message = "" %}
-    {%- set loop_messages = messages %}
-{%- endif %}
-{%- if not tools is defined %}
-    {%- set tools = [] %}
-{%- endif %}
-{# Recompute last_user_idx relative to loop_messages after handling system #}
-{%- set ns = namespace(last_user_idx = -1) %}
-{%- for m in loop_messages %}
-  {%- if m["role"] == "user" %}
-    {%- set ns.last_user_idx = loop.index0 %}
-  {%- endif %}
-{%- endfor %}
-{%- if system_message is defined %}
-    {{- "<|im_start|>system
-" + system_message }}
-{%- else %}
-    {%- if tools is iterable and tools | length > 0 %}
-        {{- "<|im_start|>system
-" }}
-    {%- endif %}
-{%- endif %}
-{%- if tools is iterable and tools | length > 0 %}
-    {%- if system_message is defined and system_message | length > 0 %}
-        {{- "
-
-" }}
-    {%- endif %}
-    {{- "# Tools
-
-You have access to the following functions:
-
-" }}
-    {{- "<tools>" }}
-    {%- for tool in tools %}
-        {%- if tool.function is defined %}
-            {%- set tool = tool.function %}
-        {%- endif %}
-        {{- "
-<function>
-<name>" ~ tool.name ~ "</name>" }}
-        {%- if tool.description is defined %}
-            {{- '
-<description>' ~ (tool.description | trim) ~ '</description>' }}
-        {%- endif %}
-        {{- '
-<parameters>' }}
-        {%- if tool.parameters is defined and tool.parameters is mapping and tool.parameters.properties is defined and tool.parameters.properties is mapping %}
-            {%- for param_name, param_fields in tool.parameters.properties|items %}
-                {{- '
-<parameter>' }}
-                {{- '
-<name>' ~ param_name ~ '</name>' }}
-                {%- if param_fields.type is defined %}
-                    {{- '
-<type>' ~ (param_fields.type | string) ~ '</type>' }}
-                {%- endif %}
-                {%- if param_fields.description is defined %}
-                    {{- '
-<description>' ~ (param_fields.description | trim) ~ '</description>' }}
-                {%- endif %}
-                {%- if param_fields.enum is defined %}
-                    {{- '
-<enum>' ~ (param_fields.enum | tojson | safe) ~ '</enum>' }}
-                {%- endif %}
-                {%- set handled_keys = ['name', 'type', 'description', 'enum'] %}
-                {{- render_extra_keys(param_fields, handled_keys) }}
-                {{- '
-</parameter>' }}
-            {%- endfor %}
-        {%- endif %}
-        {% set handled_keys = ['type', 'properties', 'required'] %}
-        {{- render_extra_keys(tool.parameters, handled_keys) }}
-        {%- if tool.parameters is defined and tool.parameters.required is defined %}
-            {{- '
-<required>' ~ (tool.parameters.required | tojson | safe) ~ '</required>' }}
-        {%- endif %}
-        {{- '
-</parameters>' }}
-        {%- set handled_keys = ['type', 'name', 'description', 'parameters'] %}
-        {{- render_extra_keys(tool, handled_keys) }}
-        {{- '
-</function>' }}
-    {%- endfor %}
-    {{- "
-</tools>" }}
-
-    {{- '
-
-If you choose to call a function ONLY reply in the following format with NO suffix:
-
-<tool_call>
-<function=example_function_name>
-<parameter=example_parameter_1>
-value_1
-</parameter>
-<parameter=example_parameter_2>
-This is the value for the second parameter
-that can span
-multiple lines
-</parameter>
-</function>
-</tool_call>
-
-<IMPORTANT>
-Reminder:
-- Function calls MUST follow the specified format: an inner <function=...></function> block must be nested within <tool_call></tool_call> XML tags
-- Required parameters MUST be specified
-- You may provide optional reasoning for your function call in natural language BEFORE the function call, but NOT after
-- If there is no function call available, answer the question like normal with your current knowledge and do not tell the user about function calls
-</IMPORTANT>' }}
-{%- endif %}
-
-
-{%- if system_message is defined %}
-    {{- '<|im_end|>
-' }}
-{%- else %}
-    {%- if tools is iterable and tools | length > 0 %}
-        {{- '<|im_end|>
-' }}
-    {%- endif %}
-{%- endif %}
-
-{%- set image_count = namespace(value=0) %}
-{%- set video_count = namespace(value=0) %}
-{%- for message in loop_messages %}
-    {%- if message.role == "assistant" %}
-        {# Add reasoning content in to content field for unified processing below. #}
-        {%- set text_content = namespace(text_content="") -%}
-        {%- if message.content is string %}
-            {%- set text_content.text_content = message.content %}
-        {%- else %}
-            {%- for content in message.content %}
-                {%- if 'text' in content %}
-                    {%- set text_content.text_content = content.text %}
-                    {%- break %}
-                {%- endif %}
-            {%- endfor %}
-        {%- endif %}
-        {%- if message.reasoning_content is defined and message.reasoning_content is string and message.reasoning_content | trim | length > 0 %}
-            {%- set content = "<think>
-" ~ message.reasoning_content ~ "
-</think>
-" ~ (text_content.text_content | default('', true)) %}
-        {%- else %}
-            {%- set content = text_content.text_content | default('', true) %}
-            {# Allow downstream logic to to take care of broken thought, only handle coherent reasoning here. #}
-            {%- if '<think>' not in content and '</think>' not in content %}
-                {%- set content = "<think></think>" ~ content %}
-            {%- else %}
-                {%- set content = content %}
-            {%- endif -%}
-        {%- endif %}
-        {%- if message.tool_calls is defined and message.tool_calls is iterable and message.tool_calls | length > 0 %}
-            {# Assistant message has tool calls. #}
-            {{- '<|im_start|>assistant
-' }}
-                {%- set include_content = not (truncate_history_thinking and loop.index0 < ns.last_user_idx) %}
-                {%- if content is string and content | trim | length > 0 %}
-                    {%- if include_content %}
-                        {{- (content | trim) ~ '
-' -}}
-                    {%- else %}
-                        {%- set c = (content | string) %}
-                        {%- if '</think>' in c %}
-                            {# Keep only content after the last closing think. Also generation prompt causes this. #}
-                            {%- set c = c.split('</think>')[-1] %}
-                        {%- elif '<think>' in c %}
-                            {# If <think> was opened but never closed, drop the trailing think segment #}
-                            {%- set c = c.split('<think>')[0] %}
-                        {%- endif %}
-                        {%- set c = "<think></think>" ~ c | trim %}
-                        {%- if c | length > 0 %}
-                            {{- c ~ '
-' -}}
-                        {%- endif %}
-                    {%- endif %}
-                {%- else %}
-                    {{- "<think></think>" -}}
-                {%- endif %}
-                {%- for tool_call in message.tool_calls %}
-                    {%- if tool_call.function is defined %}
-                        {%- set tool_call = tool_call.function %}
-                    {%- endif %}
-                    {{- '<tool_call>
-<function=' ~ tool_call.name ~ '>
-' -}}
-                        {%- if tool_call.arguments is defined %}
-                            {%- for args_name, args_value in tool_call.arguments|items %}
-                                {{- '<parameter=' ~ args_name ~ '>
-' -}}
-                                    {%- set args_value = args_value | tojson | safe if args_value is mapping or (args_value is sequence and args_value is not string) else args_value | string %}
-                                {{- args_value ~ '
-</parameter>
-' -}}
-                            {%- endfor %}
-                        {%- endif %}
-                    {{- '</function>
-</tool_call>
-' -}}
-                {%- endfor %}
-                {{- '<|im_end|>
-' }}
-        {%- else %}
-            {# Assistant message doesn't have tool calls. #}
-            {%- if not (truncate_history_thinking and loop.index0 < ns.last_user_idx) %}
-                {{- '<|im_start|>assistant
-' ~ (content | default('', true) | string | trim) ~ '<|im_end|>
-' }}
-            {%- else %}
-                {%- set c = (content | default('', true) | string) %}
-                {%- if '<think>' in c and '</think>' in c %}
-                    {%- set c = "<think></think>" ~ c.split('</think>')[-1] %}
-                {%- endif %}
-                {%- set c = c | trim %}
-                {%- if c | length > 0 %}
-                    {{- '<|im_start|>assistant
-' ~ c ~ '<|im_end|>
-' }}
-                {%- else %}
-                    {{- '<|im_start|>assistant
-<|im_end|>
-' }}
-                {%- endif %}
-            {%- endif %}
-        {%- endif %}
-    {%- elif message.role == "user" or message.role == "system" %}
-        {{- '<|im_start|>' + message.role + '
-' }}
-        {%- if message.content is string %}
-            {{- message.content }}
-        {%- 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 %}
-        {%- endif %}
-        {{- '<|im_end|>
-' }}
-    {%- elif message.role == "tool" %}
-        {%- if loop.previtem and loop.previtem.role != "tool" %}
-            {{- '<|im_start|>user
-' }}
-        {%- endif %}
-        {{- '<tool_response>
-' }}
-        {{- message.content }}
-        {{- '
-</tool_response>
-' }}
-        {%- if not loop.last and loop.nextitem.role != "tool" %}
-            {{- '<|im_end|>
-' }}
-        {%- elif loop.last %}
-            {{- '<|im_end|>
-' }}
-        {%- endif %}
-    {%- else %}
-        {{- '<|im_start|>' + message.role + '
-' + message.content + '<|im_end|>
-' }}
-    {%- endif %}
-{%- endfor %}
-
-{%- if add_generation_prompt %}
-    {%- if enable_thinking %}
-        {{- '<|im_start|>assistant
-<think>
-' }}
-    {%- else %}
-        {{- '<|im_start|>assistant
-<think></think>' }}
-    {%- endif %}
-{%- endif %}

cosmos3edge_libero_object_full_finetune_bs16/tokenizer/special_tokens_map.json

@@ -1,30 +0,0 @@
-{
-  "bos_token": {
-    "content": "<s>",
-    "lstrip": false,
-    "normalized": false,
-    "rstrip": false,
-    "single_word": false
-  },
-  "eos_token": {
-    "content": "<|im_end|>",
-    "lstrip": false,
-    "normalized": false,
-    "rstrip": false,
-    "single_word": false
-  },
-  "pad_token": {
-    "content": "<|im_end|>",
-    "lstrip": false,
-    "normalized": false,
-    "rstrip": false,
-    "single_word": false
-  },
-  "unk_token": {
-    "content": "<unk>",
-    "lstrip": false,
-    "normalized": false,
-    "rstrip": false,
-    "single_word": false
-  }
-}

cosmos3edge_libero_object_full_finetune_bs16/tokenizer/tokenizer.json

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4dc692a99dca6d92a44e9529ffb53541eb79bb260eec7281bc51268c05d7311c
-size 17077500

cosmos3edge_libero_object_full_finetune_bs16/tokenizer/tokenizer_config.json

@@ -1,17 +0,0 @@
-{
-  "add_prefix_space": false,
-  "backend": "tokenizers",
-  "bos_token": "<s>",
-  "clean_up_tokenization_spaces": false,
-  "eos_token": "<|im_end|>",
-  "is_local": true,
-  "local_files_only": false,
-  "model_input_names": [
-    "input_ids",
-    "attention_mask"
-  ],
-  "model_max_length": 262144,
-  "pad_token": "<|im_end|>",
-  "tokenizer_class": "TokenizersBackend",
-  "unk_token": "<unk>"
-}

cosmos3edge_libero_object_full_finetune_bs16/vlm_backbone_config.json

@@ -1,41 +0,0 @@
-{
-  "attention_bias": false,
-  "attention_dropout": 0.0,
-  "bos_token_id": 1,
-  "enable_mrope": true,
-  "enable_rope": true,
-  "eos_token_id": 11,
-  "head_dim": 128,
-  "hidden_dropout": 0.0,
-  "hidden_size": 2048,
-  "initializer_range": 0.02,
-  "intermediate_size": 9216,
-  "layer_norm_epsilon": 1e-05,
-  "max_position_embeddings": 131072,
-  "mlp_bias": false,
-  "mlp_hidden_act": "relu2",
-  "model_type": "nemotron_3_dense_vl_text",
-  "mrope_section": [
-    24,
-    20,
-    20
-  ],
-  "num_attention_heads": 16,
-  "num_hidden_layers": 28,
-  "num_key_value_heads": 8,
-  "num_logits_to_keep": 1,
-  "packed_attention_backend": "flash2",
-  "pad_token_id": 11,
-  "residual_in_fp32": false,
-  "rope_parameters": {
-    "rope_theta": 100000000.0,
-    "rope_type": "default"
-  },
-  "rope_theta": 100000000.0,
-  "sliding_window": null,
-  "tie_word_embeddings": false,
-  "transformers_version": "5.3.0",
-  "use_cache": true,
-  "use_und_k_norm_for_gen": true,
-  "vocab_size": 131072
-}

cosmos3edge_libero_spatial_full_finetune_bs16/checkpoints/step-002000-epoch-76-loss=0.7025.safetensors

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8765854419dd33e61b70ea40795390581835dbd0cfb4fd54eaca03eb5569e351
-size 16297490208

cosmos3edge_libero_spatial_full_finetune_bs16/config.json

@@ -1,669 +0,0 @@
-{
-  "eval": {
-    "dataset": {
-      "extra_tensor_keys": [
-        "conditioning_fps",
-        "prepend_state_to_action"
-      ],
-      "img_buffer_len": 1,
-      "transforms": [
-        {
-          "embodiment_id": 5,
-          "img_keys": [
-            "agentview_image",
-            "robot0_eye_in_hand_image"
-          ],
-          "type": "ProcessLiberoEvalInputs"
-        },
-        {
-          "conditioning_fps": 20.0,
-          "prepend_state_to_action": false,
-          "type": "SetCosmos3ActionMetadata"
-        },
-        {
-          "image_resize_strategy": "resize-naive",
-          "input_sizes": [
-            [
-              3,
-              256,
-              256
-            ],
-            [
-              3,
-              256,
-              256
-            ]
-          ],
-          "means": [
-            [
-              127.5,
-              127.5,
-              127.5
-            ],
-            [
-              127.5,
-              127.5,
-              127.5
-            ]
-          ],
-          "stds": [
-            [
-              127.5,
-              127.5,
-              127.5
-            ],
-            [
-              127.5,
-              127.5,
-              127.5
-            ]
-          ],
-          "type": "TransformImage"
-        },
-        {
-          "action_metadata": {
-            "append_viewpoint": false,
-            "conditioning_fps": 20.0,
-            "frame_window_size": 17,
-            "video_height": 256,
-            "video_width": 512
-          },
-          "cfg_dropout_rate": 0.0,
-          "max_len": 512,
-          "output_attention_mask_key": "lang_masks",
-          "output_key": "lang_tokens",
-          "tokenizer": {
-            "model_max_length": 4096,
-            "model_path": "./checkpoints/Cosmos3-Edge",
-            "padding_side": "right",
-            "trust_remote_code": true,
-            "type": "PretrainedTokenizer"
-          },
-          "type": "ProcessCosmos3Prompt"
-        },
-        {
-          "gripper_key": "robot0_gripper_qpos",
-          "norm_type": "mean_std",
-          "out_key": "states",
-          "pos_key": "robot0_eef_pos",
-          "quat_key": "robot0_eef_quat",
-          "state_dim": 64,
-          "type": "LiberoProprioFromInputs"
-        },
-        {
-          "frame_window_size": 1,
-          "num_views": 2,
-          "tile_direction": "horizontal",
-          "type": "PrepareVideo"
-        }
-      ],
-      "type": "LiberoParquetEvalDataset"
-    },
-    "denormalize_action": {
-      "action_dim": 10,
-      "norm_type": "quantile_rot",
-      "type": "DenormalizeLiberoFramewiseRot6DAction"
-    },
-    "enable_mixed_precision_training": true,
-    "eval_chunk_size": 16,
-    "inference_seed": 7,
-    "mixed_precision_dtype": "bf16",
-    "model_family": "cosmos3",
-    "norm_stats_key": "libero_spatial_no_noops",
-    "num_inference_steps": 30,
-    "num_steps_wait": 10,
-    "num_trials_per_task": 50,
-    "resize_size": 256,
-    "seed": 7,
-    "task_ids": null,
-    "task_suite_name": "libero_spatial",
-    "type": "LiberoEvalRunner"
-  },
-  "inference_model": {
-    "action_horizon": 16,
-    "action_in_proj": {
-      "input_size": 64,
-      "num_domains": 32,
-      "output_size": 2048,
-      "type": "DomainAwareLinear"
-    },
-    "action_out_proj": {
-      "input_size": 2048,
-      "num_domains": 32,
-      "output_size": 64,
-      "type": "DomainAwareLinear"
-    },
-    "base_fps": 24.0,
-    "enable_fps_modulation": true,
-    "enable_vision_loss": true,
-    "freeze_non_moe_vlm_backbone": true,
-    "freeze_vlm_backbone": false,
-    "latent_patch_size": 2,
-    "max_action_dim": 64,
-    "name_mapping": {
-      ".self_attn.k_norm_moe_gen.": ".self_attn.norm_added_k.",
-      ".self_attn.k_proj.": ".self_attn.to_k.",
-      ".self_attn.k_proj_moe_gen.": ".self_attn.add_k_proj.",
-      ".self_attn.o_proj.": ".self_attn.to_out.",
-      ".self_attn.o_proj_moe_gen.": ".self_attn.to_add_out.",
-      ".self_attn.q_norm_moe_gen.": ".self_attn.norm_added_q.",
-      ".self_attn.q_proj.": ".self_attn.to_q.",
-      ".self_attn.q_proj_moe_gen.": ".self_attn.add_q_proj.",
-      ".self_attn.v_proj.": ".self_attn.to_v.",
-      ".self_attn.v_proj_moe_gen.": ".self_attn.add_v_proj.",
-      "action_in_proj.": "action_proj_in.",
-      "action_modality_embed": "action_modality_embed",
-      "action_out_proj.": "action_proj_out.",
-      "time_embedder.mlp.0.": "time_embedder.linear_1.",
-      "time_embedder.mlp.2.": "time_embedder.linear_2.",
-      "vision_in_proj.projector.": "proj_in.",
-      "vision_out_proj.projector.": "proj_out.",
-      "vlm_backbone.lm_head.weight": "lm_head.weight",
-      "vlm_backbone.model.language_model.embed_tokens.weight": "embed_tokens.weight",
-      "vlm_backbone.model.language_model.layers.": "layers.",
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-    "packed_attention_backend": "flash2",
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-      "scheduler_type": "unipc",
-      "shift": 10.0,
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-      "use_karras_sigmas": false
-    },
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-      "independent_action_schedule": false,
-      "normalize_loss_by_active": false,
-      "shift": {
-        "256": 3,
-        "480": 5,
-        "720": 10
-      },
-      "shift_action": null,
-      "train_time_action_distribution": "logitnormal",
-      "train_time_image_distribution": "logitnormal",
-      "train_time_video_distribution": "waver",
-      "train_time_weight": "uniform",
-      "use_discrete_rf": false,
-      "use_dynamic_shift": false,
-      "use_high_sigma_strategy": false,
-      "use_high_sigma_strategy_action": false,
-      "vision_loss_weight": 10.0
-    },
-    "reinitialize_action_policy": true,
-    "special_tokens": {
-      "end_of_generation": 21,
-      "eos_token_id": 11,
-      "start_of_generation": 20
-    },
-    "strict_mapping": true,
-    "timestep_scale": 0.001,
-    "type": "Cosmos3FlowMatching",
-    "unified_3d_mrope_reset_spatial_ids": true,
-    "unified_3d_mrope_temporal_modality_margin": 15000,
-    "vision_in_proj": {
-      "in_dim": 192,
-      "out_dim": 2048,
-      "type": "LinearProjector"
-    },
-    "vision_latent_dim": 48,
-    "vision_out_proj": {
-      "in_dim": 2048,
-      "out_dim": 192,
-      "type": "LinearProjector"
-    },
-    "vision_vae": {
-      "encode_exact_durations": [
-        17
-      ],
-      "pretrained_name_or_path": "./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth",
-      "type": "Cosmos3Wan22VAE"
-    },
-    "vlm_backbone": {
-      "include_visual": false,
-      "skip_init_weights": true,
-      "type": "Cosmos3MoTBackbone",
-      "vlm_config": {
-        "attention_bias": false,
-        "bos_token_id": 1,
-        "enable_mrope": true,
-        "eos_token_id": 11,
-        "head_dim": 128,
-        "hidden_size": 2048,
-        "intermediate_size": 9216,
-        "layer_norm_epsilon": 1e-05,
-        "max_position_embeddings": 131072,
-        "mlp_bias": false,
-        "mlp_hidden_act": "relu2",
-        "model_type": "nemotron_3_dense_vl_text",
-        "mrope_section": [
-          24,
-          20,
-          20
-        ],
-        "num_attention_heads": 16,
-        "num_hidden_layers": 28,
-        "num_key_value_heads": 8,
-        "pad_token_id": 11,
-        "rope_theta": 100000000.0,
-        "tie_word_embeddings": false,
-        "use_und_k_norm_for_gen": true,
-        "vocab_size": 131072
-      }
-    }
-  },
-  "model": {
-    "action_horizon": 16,
-    "action_in_proj": {
-      "input_size": 64,
-      "num_domains": 32,
-      "output_size": 2048,
-      "type": "DomainAwareLinear"
-    },
-    "action_out_proj": {
-      "input_size": 2048,
-      "num_domains": 32,
-      "output_size": 64,
-      "type": "DomainAwareLinear"
-    },
-    "base_fps": 24.0,
-    "enable_fps_modulation": true,
-    "enable_vision_loss": true,
-    "freeze_non_moe_vlm_backbone": true,
-    "freeze_vlm_backbone": false,
-    "latent_patch_size": 2,
-    "max_action_dim": 64,
-    "name_mapping": {
-      ".self_attn.k_norm_moe_gen.": ".self_attn.norm_added_k.",
-      ".self_attn.k_proj.": ".self_attn.to_k.",
-      ".self_attn.k_proj_moe_gen.": ".self_attn.add_k_proj.",
-      ".self_attn.o_proj.": ".self_attn.to_out.",
-      ".self_attn.o_proj_moe_gen.": ".self_attn.to_add_out.",
-      ".self_attn.q_norm_moe_gen.": ".self_attn.norm_added_q.",
-      ".self_attn.q_proj.": ".self_attn.to_q.",
-      ".self_attn.q_proj_moe_gen.": ".self_attn.add_q_proj.",
-      ".self_attn.v_proj.": ".self_attn.to_v.",
-      ".self_attn.v_proj_moe_gen.": ".self_attn.add_v_proj.",
-      "action_in_proj.": "action_proj_in.",
-      "action_modality_embed": "action_modality_embed",
-      "action_out_proj.": "action_proj_out.",
-      "time_embedder.mlp.0.": "time_embedder.linear_1.",
-      "time_embedder.mlp.2.": "time_embedder.linear_2.",
-      "vision_in_proj.projector.": "proj_in.",
-      "vision_out_proj.projector.": "proj_out.",
-      "vlm_backbone.lm_head.weight": "lm_head.weight",
-      "vlm_backbone.model.language_model.embed_tokens.weight": "embed_tokens.weight",
-      "vlm_backbone.model.language_model.layers.": "layers.",
-      "vlm_backbone.model.language_model.norm.weight": "norm.weight",
-      "vlm_backbone.model.language_model.norm_moe_gen.weight": "norm_moe_gen.weight"
-    },
-    "num_embodiment_domains": 32,
-    "ori_action_dim": 10,
-    "packed_attention_backend": "flash2",
-    "position_embedding_type": "unified_3d_mrope",
-    "pretrained_name_or_path": "./checkpoints/Cosmos3-Edge/transformer",
-    "rectified_flow_inference_config": {
-      "num_steps": 30,
-      "num_train_timesteps": 1000,
-      "scheduler_type": "unipc",
-      "shift": 10.0,
-      "use_dynamic_shifting": false,
-      "use_karras_sigmas": false
-    },
-    "rectified_flow_training_config": {
-      "action_loss_weight": 10.0,
-      "independent_action_schedule": false,
-      "normalize_loss_by_active": false,
-      "shift": {
-        "256": 3,
-        "480": 5,
-        "720": 10
-      },
-      "shift_action": null,
-      "train_time_action_distribution": "logitnormal",
-      "train_time_image_distribution": "logitnormal",
-      "train_time_video_distribution": "waver",
-      "train_time_weight": "uniform",
-      "use_discrete_rf": false,
-      "use_dynamic_shift": false,
-      "use_high_sigma_strategy": false,
-      "use_high_sigma_strategy_action": false,
-      "vision_loss_weight": 10.0
-    },
-    "reinitialize_action_policy": true,
-    "special_tokens": {
-      "end_of_generation": 21,
-      "eos_token_id": 11,
-      "start_of_generation": 20
-    },
-    "strict_mapping": true,
-    "timestep_scale": 0.001,
-    "type": "Cosmos3FlowMatching",
-    "unified_3d_mrope_reset_spatial_ids": true,
-    "unified_3d_mrope_temporal_modality_margin": 15000,
-    "vision_in_proj": {
-      "in_dim": 192,
-      "out_dim": 2048,
-      "type": "LinearProjector"
-    },
-    "vision_latent_dim": 48,
-    "vision_out_proj": {
-      "in_dim": 2048,
-      "out_dim": 192,
-      "type": "LinearProjector"
-    },
-    "vision_vae": {
-      "encode_exact_durations": [
-        17
-      ],
-      "pretrained_name_or_path": "./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth",
-      "type": "Cosmos3Wan22VAE"
-    },
-    "vlm_backbone": {
-      "include_visual": false,
-      "skip_init_weights": true,
-      "type": "Cosmos3MoTBackbone",
-      "vlm_config": {
-        "attention_bias": false,
-        "bos_token_id": 1,
-        "enable_mrope": true,
-        "eos_token_id": 11,
-        "head_dim": 128,
-        "hidden_size": 2048,
-        "intermediate_size": 9216,
-        "layer_norm_epsilon": 1e-05,
-        "max_position_embeddings": 131072,
-        "mlp_bias": false,
-        "mlp_hidden_act": "relu2",
-        "model_type": "nemotron_3_dense_vl_text",
-        "mrope_section": [
-          24,
-          20,
-          20
-        ],
-        "num_attention_heads": 16,
-        "num_hidden_layers": 28,
-        "num_key_value_heads": 8,
-        "pad_token_id": 11,
-        "rope_theta": 100000000.0,
-        "tie_word_embeddings": false,
-        "use_und_k_norm_for_gen": true,
-        "vocab_size": 131072
-      }
-    }
-  },
-  "runner": {
-    "change_key_name": false,
-    "collator": {
-      "list_keys": [
-        "sequence_plan"
-      ],
-      "meta_keys": [
-        "task_description",
-        "stats",
-        "info",
-        "timestamp"
-      ],
-      "pad_id": 11,
-      "sequence_keys": [
-        "text_token_ids"
-      ],
-      "tensor_keys": [
-        "images",
-        "actions",
-        "embodiment_ids",
-        "raw_action_dim",
-        "conditioning_fps",
-        "action_fps"
-      ],
-      "type": "Cosmos3Collator"
-    },
-    "enable_gradient_checkpointing": true,
-    "enable_mixed_precision_training": true,
-    "grad_accumulation_steps": 16,
-    "lr_scheduler": {
-      "cycle_length": 16000,
-      "type": "linear-warmup+linear-decay",
-      "warmup_steps": 500
-    },
-    "max_epochs": null,
-    "max_grad_norm": 1.0,
-    "max_keep_ckpts": 2,
-    "max_steps": 2000,
-    "metric": {
-      "active_trackers": [
-        "jsonl",
-        "wandb"
-      ],
-      "grad_accumulation_steps": 16,
-      "run_dir": "work_dirs",
-      "type": "VLAMetric",
-      "window_size": 1
-    },
-    "mixed_precision_dtype": "bf16",
-    "optimizer": {
-      "betas": [
-        0.9,
-        0.99
-      ],
-      "eps": 1e-08,
-      "exclude_1d_from_weight_decay": false,
-      "fused": true,
-      "lr": 5e-05,
-      "paramwise_learning_rate": {
-        "action_in_proj.": 0.00025,
-        "action_modality_embed": 0.00025,
-        "action_out_proj.": 0.00025
-      },
-      "type": "AdamW",
-      "weight_decay": 0.05
-    },
-    "sampler": null,
-    "save_iter_interval": 500,
-    "sharding_strategy": "full-shard",
-    "tokenizer": {
-      "model_max_length": 4096,
-      "model_path": "./checkpoints/Cosmos3-Edge",
-      "padding_side": "right",
-      "trust_remote_code": true,
-      "type": "PretrainedTokenizer"
-    },
-    "type": "FSDPTrainRunner"
-  },
-  "seed": 7,
-  "train_dataloader": {
-    "dataset": {
-      "datasets": {
-        "action_key": "action",
-        "action_window_size": 16,
-        "data_root_path": "/mnt/data/cpfs/mnt/data/yanis/FastWAM/data/libero_mujoco3.3.2/libero_spatial_no_noops_lerobot",
-        "frame_window_size": 17,
-        "require_full_window": true,
-        "statistic_name": "libero_spatial_no_noops",
-        "transforms": [
-          {
-            "embodiment_id": 5,
-            "name_mappings": {
-              "actions": [
-                "actions"
-              ],
-              "observation.state": [
-                "states"
-              ]
-            },
-            "parquet_keys": [
-              "observation.state",
-              "timestamp",
-              "actions",
-              "info",
-              "stats"
-            ],
-            "type": "ProcessParquetInputs",
-            "video_keys": [
-              "observation.images.image",
-              "observation.images.wrist_image"
-            ]
-          },
-          {
-            "type": "LiberoFramewiseActionToRot6D"
-          },
-          {
-            "action_metadata": {
-              "append_viewpoint": false,
-              "conditioning_fps": 20.0,
-              "frame_window_size": 17,
-              "video_height": 256,
-              "video_width": 512
-            },
-            "cfg_dropout_rate": 0.1,
-            "max_len": 512,
-            "tokenizer": {
-              "model_max_length": 4096,
-              "model_path": "./checkpoints/Cosmos3-Edge",
-              "padding_side": "right",
-              "trust_remote_code": true,
-              "type": "PretrainedTokenizer"
-            },
-            "type": "ProcessCosmos3Prompt"
-          },
-          {
-            "height": 256,
-            "type": "ResizeImages",
-            "width": 256
-          },
-          {
-            "type": "SimpleNormalizeImages"
-          },
-          {
-            "action_dim": 64,
-            "action_key": "action",
-            "action_norm_type": "quantile",
-            "state_dim": 64,
-            "state_key": "proprio",
-            "state_norm_type": "none",
-            "type": "NormalizeStatesAndActions"
-          },
-          {
-            "conditioning_fps": 20.0,
-            "frame_window_size": 17,
-            "mode": "wam",
-            "prepend_state_to_action": false,
-            "raw_action_dim": 10,
-            "type": "BuildCosmos3Sequence"
-          },
-          {
-            "frame_window_size": 17,
-            "num_views": 2,
-            "tile_direction": "horizontal",
-            "type": "PrepareVideo"
-          }
-        ],
-        "type": "ParquetDataset",
-        "use_delta": false,
-        "window_start_idx": 0
-      },
-      "name_mappings": {
-        "action": [
-          "action"
-        ],
-        "observation.state": [
-          "proprio"
-        ]
-      },
-      "statistic_keys": [
-        "observation.state",
-        "timestamp",
-        "action"
-      ],
-      "statistic_name": "libero_spatial_no_noops",
-      "statistics_overrides": {
-        "libero_spatial_no_noops": {
-          "action": {
-            "max": [
-              0.9375,
-              0.9375,
-              0.9375,
-              1.0,
-              0.368853,
-              0.341214,
-              0.356395,
-              1.0,
-              0.348251,
-              1.0
-            ],
-            "mean": [
-              0.050704,
-              0.097407,
-              -0.094833,
-              0.994873,
-              -0.004579,
-              -0.004288,
-              0.004389,
-              0.996104,
-              0.001109,
-              0.476725
-            ],
-            "min": [
-              -0.9375,
-              -0.9375,
-              -0.9375,
-              0.902028,
-              -0.356085,
-              -0.367416,
-              -0.370434,
-              0.921907,
-              -0.255,
-              0.0
-            ],
-            "q01": [
-              -0.723214,
-              -0.808929,
-              -0.9375,
-              0.934955,
-              -0.223431,
-              -0.189878,
-              -0.334735,
-              0.938516,
-              -0.107736,
-              0.0
-            ],
-            "q99": [
-              0.9375,
-              0.870536,
-              0.9375,
-              1.0,
-              0.331,
-              0.163153,
-              0.226216,
-              1.0,
-              0.127158,
-              1.0
-            ],
-            "std": [
-              0.333621,
-              0.387175,
-              0.45714,
-              0.010807,
-              0.077802,
-              0.063386,
-              0.078571,
-              0.009994,
-              0.038504,
-              0.49946
-            ]
-          }
-        }
-      },
-      "type": "DistributedRepeatingDataset"
-    },
-    "per_device_batch_size": 16,
-    "per_device_num_workers": 4
-  }
-}

cosmos3edge_libero_spatial_full_finetune_bs16/config.yaml

@@ -1,549 +0,0 @@
-eval:
-  dataset:
-    extra_tensor_keys:
-    - conditioning_fps
-    - prepend_state_to_action
-    img_buffer_len: 1
-    transforms:
-    - embodiment_id: 5
-      img_keys:
-      - agentview_image
-      - robot0_eye_in_hand_image
-      type: ProcessLiberoEvalInputs
-    - conditioning_fps: 20.0
-      prepend_state_to_action: false
-      type: SetCosmos3ActionMetadata
-    - image_resize_strategy: resize-naive
-      input_sizes:
-      - - 3
-        - 256
-        - 256
-      - - 3
-        - 256
-        - 256
-      means:
-      - - 127.5
-        - 127.5
-        - 127.5
-      - - 127.5
-        - 127.5
-        - 127.5
-      stds:
-      - - 127.5
-        - 127.5
-        - 127.5
-      - - 127.5
-        - 127.5
-        - 127.5
-      type: TransformImage
-    - action_metadata:
-        append_viewpoint: false
-        conditioning_fps: 20.0
-        frame_window_size: 17
-        video_height: 256
-        video_width: 512
-      cfg_dropout_rate: 0.0
-      max_len: 512
-      output_attention_mask_key: lang_masks
-      output_key: lang_tokens
-      tokenizer:
-        model_max_length: 4096
-        model_path: ./checkpoints/Cosmos3-Edge
-        padding_side: right
-        trust_remote_code: true
-        type: PretrainedTokenizer
-      type: ProcessCosmos3Prompt
-    - gripper_key: robot0_gripper_qpos
-      norm_type: mean_std
-      out_key: states
-      pos_key: robot0_eef_pos
-      quat_key: robot0_eef_quat
-      state_dim: 64
-      type: LiberoProprioFromInputs
-    - frame_window_size: 1
-      num_views: 2
-      tile_direction: horizontal
-      type: PrepareVideo
-    type: LiberoParquetEvalDataset
-  denormalize_action:
-    action_dim: 10
-    norm_type: quantile_rot
-    type: DenormalizeLiberoFramewiseRot6DAction
-  enable_mixed_precision_training: true
-  eval_chunk_size: 16
-  inference_seed: 7
-  mixed_precision_dtype: bf16
-  model_family: cosmos3
-  norm_stats_key: libero_spatial_no_noops
-  num_inference_steps: 30
-  num_steps_wait: 10
-  num_trials_per_task: 50
-  resize_size: 256
-  seed: 7
-  task_ids: null
-  task_suite_name: libero_spatial
-  type: LiberoEvalRunner
-inference_model:
-  action_horizon: 16
-  action_in_proj:
-    input_size: 64
-    num_domains: 32
-    output_size: 2048
-    type: DomainAwareLinear
-  action_out_proj:
-    input_size: 2048
-    num_domains: 32
-    output_size: 64
-    type: DomainAwareLinear
-  base_fps: 24.0
-  enable_fps_modulation: true
-  enable_vision_loss: true
-  freeze_non_moe_vlm_backbone: true
-  freeze_vlm_backbone: false
-  latent_patch_size: 2
-  max_action_dim: 64
-  name_mapping:
-    .self_attn.k_norm_moe_gen.: .self_attn.norm_added_k.
-    .self_attn.k_proj.: .self_attn.to_k.
-    .self_attn.k_proj_moe_gen.: .self_attn.add_k_proj.
-    .self_attn.o_proj.: .self_attn.to_out.
-    .self_attn.o_proj_moe_gen.: .self_attn.to_add_out.
-    .self_attn.q_norm_moe_gen.: .self_attn.norm_added_q.
-    .self_attn.q_proj.: .self_attn.to_q.
-    .self_attn.q_proj_moe_gen.: .self_attn.add_q_proj.
-    .self_attn.v_proj.: .self_attn.to_v.
-    .self_attn.v_proj_moe_gen.: .self_attn.add_v_proj.
-    action_in_proj.: action_proj_in.
-    action_modality_embed: action_modality_embed
-    action_out_proj.: action_proj_out.
-    time_embedder.mlp.0.: time_embedder.linear_1.
-    time_embedder.mlp.2.: time_embedder.linear_2.
-    vision_in_proj.projector.: proj_in.
-    vision_out_proj.projector.: proj_out.
-    vlm_backbone.lm_head.weight: lm_head.weight
-    vlm_backbone.model.language_model.embed_tokens.weight: embed_tokens.weight
-    vlm_backbone.model.language_model.layers.: layers.
-    vlm_backbone.model.language_model.norm.weight: norm.weight
-    vlm_backbone.model.language_model.norm_moe_gen.weight: norm_moe_gen.weight
-  num_embodiment_domains: 32
-  ori_action_dim: 10
-  packed_attention_backend: flash2
-  position_embedding_type: unified_3d_mrope
-  pretrained_name_or_path: ./checkpoints/Cosmos3-Edge/transformer
-  rectified_flow_inference_config:
-    num_steps: 30
-    num_train_timesteps: 1000
-    scheduler_type: unipc
-    shift: 10.0
-    use_dynamic_shifting: false
-    use_karras_sigmas: false
-  rectified_flow_training_config:
-    action_loss_weight: 10.0
-    independent_action_schedule: false
-    normalize_loss_by_active: false
-    shift:
-      '256': 3
-      '480': 5
-      '720': 10
-    shift_action: null
-    train_time_action_distribution: logitnormal
-    train_time_image_distribution: logitnormal
-    train_time_video_distribution: waver
-    train_time_weight: uniform
-    use_discrete_rf: false
-    use_dynamic_shift: false
-    use_high_sigma_strategy: false
-    use_high_sigma_strategy_action: false
-    vision_loss_weight: 10.0
-  reinitialize_action_policy: true
-  special_tokens:
-    end_of_generation: 21
-    eos_token_id: 11
-    start_of_generation: 20
-  strict_mapping: true
-  timestep_scale: 0.001
-  type: Cosmos3FlowMatching
-  unified_3d_mrope_reset_spatial_ids: true
-  unified_3d_mrope_temporal_modality_margin: 15000
-  vision_in_proj:
-    in_dim: 192
-    out_dim: 2048
-    type: LinearProjector
-  vision_latent_dim: 48
-  vision_out_proj:
-    in_dim: 2048
-    out_dim: 192
-    type: LinearProjector
-  vision_vae:
-    encode_exact_durations:
-    - 17
-    pretrained_name_or_path: ./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth
-    type: Cosmos3Wan22VAE
-  vlm_backbone:
-    include_visual: false
-    skip_init_weights: true
-    type: Cosmos3MoTBackbone
-    vlm_config:
-      attention_bias: false
-      bos_token_id: 1
-      enable_mrope: true
-      eos_token_id: 11
-      head_dim: 128
-      hidden_size: 2048
-      intermediate_size: 9216
-      layer_norm_epsilon: 1.0e-05
-      max_position_embeddings: 131072
-      mlp_bias: false
-      mlp_hidden_act: relu2
-      model_type: nemotron_3_dense_vl_text
-      mrope_section:
-      - 24
-      - 20
-      - 20
-      num_attention_heads: 16
-      num_hidden_layers: 28
-      num_key_value_heads: 8
-      pad_token_id: 11
-      rope_theta: 100000000.0
-      tie_word_embeddings: false
-      use_und_k_norm_for_gen: true
-      vocab_size: 131072
-model:
-  action_horizon: 16
-  action_in_proj:
-    input_size: 64
-    num_domains: 32
-    output_size: 2048
-    type: DomainAwareLinear
-  action_out_proj:
-    input_size: 2048
-    num_domains: 32
-    output_size: 64
-    type: DomainAwareLinear
-  base_fps: 24.0
-  enable_fps_modulation: true
-  enable_vision_loss: true
-  freeze_non_moe_vlm_backbone: true
-  freeze_vlm_backbone: false
-  latent_patch_size: 2
-  max_action_dim: 64
-  name_mapping:
-    .self_attn.k_norm_moe_gen.: .self_attn.norm_added_k.
-    .self_attn.k_proj.: .self_attn.to_k.
-    .self_attn.k_proj_moe_gen.: .self_attn.add_k_proj.
-    .self_attn.o_proj.: .self_attn.to_out.
-    .self_attn.o_proj_moe_gen.: .self_attn.to_add_out.
-    .self_attn.q_norm_moe_gen.: .self_attn.norm_added_q.
-    .self_attn.q_proj.: .self_attn.to_q.
-    .self_attn.q_proj_moe_gen.: .self_attn.add_q_proj.
-    .self_attn.v_proj.: .self_attn.to_v.
-    .self_attn.v_proj_moe_gen.: .self_attn.add_v_proj.
-    action_in_proj.: action_proj_in.
-    action_modality_embed: action_modality_embed
-    action_out_proj.: action_proj_out.
-    time_embedder.mlp.0.: time_embedder.linear_1.
-    time_embedder.mlp.2.: time_embedder.linear_2.
-    vision_in_proj.projector.: proj_in.
-    vision_out_proj.projector.: proj_out.
-    vlm_backbone.lm_head.weight: lm_head.weight
-    vlm_backbone.model.language_model.embed_tokens.weight: embed_tokens.weight
-    vlm_backbone.model.language_model.layers.: layers.
-    vlm_backbone.model.language_model.norm.weight: norm.weight
-    vlm_backbone.model.language_model.norm_moe_gen.weight: norm_moe_gen.weight
-  num_embodiment_domains: 32
-  ori_action_dim: 10
-  packed_attention_backend: flash2
-  position_embedding_type: unified_3d_mrope
-  pretrained_name_or_path: ./checkpoints/Cosmos3-Edge/transformer
-  rectified_flow_inference_config:
-    num_steps: 30
-    num_train_timesteps: 1000
-    scheduler_type: unipc
-    shift: 10.0
-    use_dynamic_shifting: false
-    use_karras_sigmas: false
-  rectified_flow_training_config:
-    action_loss_weight: 10.0
-    independent_action_schedule: false
-    normalize_loss_by_active: false
-    shift:
-      '256': 3
-      '480': 5
-      '720': 10
-    shift_action: null
-    train_time_action_distribution: logitnormal
-    train_time_image_distribution: logitnormal
-    train_time_video_distribution: waver
-    train_time_weight: uniform
-    use_discrete_rf: false
-    use_dynamic_shift: false
-    use_high_sigma_strategy: false
-    use_high_sigma_strategy_action: false
-    vision_loss_weight: 10.0
-  reinitialize_action_policy: true
-  special_tokens:
-    end_of_generation: 21
-    eos_token_id: 11
-    start_of_generation: 20
-  strict_mapping: true
-  timestep_scale: 0.001
-  type: Cosmos3FlowMatching
-  unified_3d_mrope_reset_spatial_ids: true
-  unified_3d_mrope_temporal_modality_margin: 15000
-  vision_in_proj:
-    in_dim: 192
-    out_dim: 2048
-    type: LinearProjector
-  vision_latent_dim: 48
-  vision_out_proj:
-    in_dim: 2048
-    out_dim: 192
-    type: LinearProjector
-  vision_vae:
-    encode_exact_durations:
-    - 17
-    pretrained_name_or_path: ./checkpoints/Wan2.2-TI2V-5B/Wan2.2_VAE.pth
-    type: Cosmos3Wan22VAE
-  vlm_backbone:
-    include_visual: false
-    skip_init_weights: true
-    type: Cosmos3MoTBackbone
-    vlm_config:
-      attention_bias: false
-      bos_token_id: 1
-      enable_mrope: true
-      eos_token_id: 11
-      head_dim: 128
-      hidden_size: 2048
-      intermediate_size: 9216
-      layer_norm_epsilon: 1.0e-05
-      max_position_embeddings: 131072
-      mlp_bias: false
-      mlp_hidden_act: relu2
-      model_type: nemotron_3_dense_vl_text
-      mrope_section:
-      - 24
-      - 20
-      - 20
-      num_attention_heads: 16
-      num_hidden_layers: 28
-      num_key_value_heads: 8
-      pad_token_id: 11
-      rope_theta: 100000000.0
-      tie_word_embeddings: false
-      use_und_k_norm_for_gen: true
-      vocab_size: 131072
-runner:
-  change_key_name: false
-  collator:
-    list_keys:
-    - sequence_plan
-    meta_keys:
-    - task_description
-    - stats
-    - info
-    - timestamp
-    pad_id: 11
-    sequence_keys:
-    - text_token_ids
-    tensor_keys:
-    - images
-    - actions
-    - embodiment_ids
-    - raw_action_dim
-    - conditioning_fps
-    - action_fps
-    type: Cosmos3Collator
-  enable_gradient_checkpointing: true
-  enable_mixed_precision_training: true
-  grad_accumulation_steps: 16
-  lr_scheduler:
-    cycle_length: 16000
-    type: linear-warmup+linear-decay
-    warmup_steps: 500
-  max_epochs: null
-  max_grad_norm: 1.0
-  max_keep_ckpts: 2
-  max_steps: 2000
-  metric:
-    active_trackers:
-    - jsonl
-    - wandb
-    grad_accumulation_steps: 16
-    run_dir: work_dirs
-    type: VLAMetric
-    window_size: 1
-  mixed_precision_dtype: bf16
-  optimizer:
-    betas:
-    - 0.9
-    - 0.99
-    eps: 1.0e-08
-    exclude_1d_from_weight_decay: false
-    fused: true
-    lr: 5.0e-05
-    paramwise_learning_rate:
-      action_in_proj.: 0.00025
-      action_modality_embed: 0.00025
-      action_out_proj.: 0.00025
-    type: AdamW
-    weight_decay: 0.05
-  sampler: null
-  save_iter_interval: 500
-  sharding_strategy: full-shard
-  tokenizer:
-    model_max_length: 4096
-    model_path: ./checkpoints/Cosmos3-Edge
-    padding_side: right
-    trust_remote_code: true
-    type: PretrainedTokenizer
-  type: FSDPTrainRunner
-seed: 7
-train_dataloader:
-  dataset:
-    datasets:
-      action_key: action
-      action_window_size: 16
-      data_root_path: /mnt/data/cpfs/mnt/data/yanis/FastWAM/data/libero_mujoco3.3.2/libero_spatial_no_noops_lerobot
-      frame_window_size: 17
-      require_full_window: true
-      statistic_name: libero_spatial_no_noops
-      transforms:
-      - embodiment_id: 5
-        name_mappings:
-          actions:
-          - actions
-          observation.state:
-          - states
-        parquet_keys:
-        - observation.state
-        - timestamp
-        - actions
-        - info
-        - stats
-        type: ProcessParquetInputs
-        video_keys:
-        - observation.images.image
-        - observation.images.wrist_image
-      - type: LiberoFramewiseActionToRot6D
-      - action_metadata:
-          append_viewpoint: false
-          conditioning_fps: 20.0
-          frame_window_size: 17
-          video_height: 256
-          video_width: 512
-        cfg_dropout_rate: 0.1
-        max_len: 512
-        tokenizer:
-          model_max_length: 4096
-          model_path: ./checkpoints/Cosmos3-Edge
-          padding_side: right
-          trust_remote_code: true
-          type: PretrainedTokenizer
-        type: ProcessCosmos3Prompt
-      - height: 256
-        type: ResizeImages
-        width: 256
-      - type: SimpleNormalizeImages
-      - action_dim: 64
-        action_key: action
-        action_norm_type: quantile
-        state_dim: 64
-        state_key: proprio
-        state_norm_type: none
-        type: NormalizeStatesAndActions
-      - conditioning_fps: 20.0
-        frame_window_size: 17
-        mode: wam
-        prepend_state_to_action: false
-        raw_action_dim: 10
-        type: BuildCosmos3Sequence
-      - frame_window_size: 17
-        num_views: 2
-        tile_direction: horizontal
-        type: PrepareVideo
-      type: ParquetDataset
-      use_delta: false
-      window_start_idx: 0
-    name_mappings:
-      action:
-      - action
-      observation.state:
-      - proprio
-    statistic_keys:
-    - observation.state
-    - timestamp
-    - action
-    statistic_name: libero_spatial_no_noops
-    statistics_overrides:
-      libero_spatial_no_noops:
-        action:
-          max:
-          - 0.9375
-          - 0.9375
-          - 0.9375
-          - 1.0
-          - 0.368853
-          - 0.341214
-          - 0.356395
-          - 1.0
-          - 0.348251
-          - 1.0
-          mean:
-          - 0.050704
-          - 0.097407
-          - -0.094833
-          - 0.994873
-          - -0.004579
-          - -0.004288
-          - 0.004389
-          - 0.996104
-          - 0.001109
-          - 0.476725
-          min:
-          - -0.9375
-          - -0.9375
-          - -0.9375
-          - 0.902028
-          - -0.356085
-          - -0.367416
-          - -0.370434
-          - 0.921907
-          - -0.255
-          - 0.0
-          q01:
-          - -0.723214
-          - -0.808929
-          - -0.9375
-          - 0.934955
-          - -0.223431
-          - -0.189878
-          - -0.334735
-          - 0.938516
-          - -0.107736
-          - 0.0
-          q99:
-          - 0.9375
-          - 0.870536
-          - 0.9375
-          - 1.0
-          - 0.331
-          - 0.163153
-          - 0.226216
-          - 1.0
-          - 0.127158
-          - 1.0
-          std:
-          - 0.333621
-          - 0.387175
-          - 0.45714
-          - 0.010807
-          - 0.077802
-          - 0.063386
-          - 0.078571
-          - 0.009994
-          - 0.038504
-          - 0.49946
-    type: DistributedRepeatingDataset
-  per_device_batch_size: 16
-  per_device_num_workers: 4

cosmos3edge_libero_spatial_full_finetune_bs16/dataset_statistics.json

@@ -1,138 +0,0 @@
-{
-  "libero_spatial_no_noops": {
-    "proprio": {
-      "mean": [
-        -0.02451290873970331,
-        0.10615150130733945,
-        1.0578400251960747,
-        3.061689349795143,
-        -0.1005965057813455,
-        0.08257375486551881,
-        0.019912415870854235,
-        -0.020113726667093317
-      ],
-      "std": [
-        0.11053132910461624,
-        0.13747598538616676,
-        0.1043268470449716,
-        0.1059396829997249,
-        0.41110779566445044,
-        0.21523187896802917,
-        0.017277071353936354,
-        0.01711604738631362
-      ],
-      "min": [
-        -0.31721994280815125,
-        -0.2926647663116455,
-        0.9094576835632324,
-        2.496100664138794,
-        -1.798353910446167,
-        -0.7207611203193665,
-        -7.665253360755742e-05,
-        -0.041329532861709595
-      ],
-      "max": [
-        0.1759040206670761,
-        0.3904264271259308,
-        1.3290090560913086,
-        3.4572718143463135,
-        1.2369194030761719,
-        1.042615294456482,
-        0.040996309369802475,
-        0.0005872611072845757
-      ],
-      "q01": null,
-      "q99": null
-    },
-    "timestamp": {
-      "mean": [
-        3.129841815551673
-      ],
-      "std": [
-        1.9217150401170382
-      ],
-      "min": [
-        0.0
-      ],
-      "max": [
-        9.6
-      ],
-      "q01": null,
-      "q99": null
-    },
-    "action": {
-      "mean": [
-        0.050704,
-        0.097407,
-        -0.094833,
-        0.994873,
-        -0.004579,
-        -0.004288,
-        0.004389,
-        0.996104,
-        0.001109,
-        0.476725
-      ],
-      "std": [
-        0.333621,
-        0.387175,
-        0.45714,
-        0.010807,
-        0.077802,
-        0.063386,
-        0.078571,
-        0.009994,
-        0.038504,
-        0.49946
-      ],
-      "min": [
-        -0.9375,
-        -0.9375,
-        -0.9375,
-        0.902028,
-        -0.356085,
-        -0.367416,
-        -0.370434,
-        0.921907,
-        -0.255,
-        0.0
-      ],
-      "max": [
-        0.9375,
-        0.9375,
-        0.9375,
-        1.0,
-        0.368853,
-        0.341214,
-        0.356395,
-        1.0,
-        0.348251,
-        1.0
-      ],
-      "q01": [
-        -0.723214,
-        -0.808929,
-        -0.9375,
-        0.934955,
-        -0.223431,
-        -0.189878,
-        -0.334735,
-        0.938516,
-        -0.107736,
-        0.0
-      ],
-      "q99": [
-        0.9375,
-        0.870536,
-        0.9375,
-        1.0,
-        0.331,
-        0.163153,
-        0.226216,
-        1.0,
-        0.127158,
-        1.0
-      ]
-    }
-  }
-}

cosmos3edge_libero_spatial_full_finetune_bs16/run-metrics.jsonl

@@ -1 +0,0 @@
-{"hparams": "{'eval': {'dataset': {'extra_tensor_keys': ['conditioning_fps', 'prepend_state_to_action'], 'img_buffer_len': 1, 'transforms': [{'embodiment_id': 5, 'img_keys': ['agentview_image', 'robot0_eye_in_hand_image'], 'type': 'ProcessLiberoEvalInputs'}, {'conditioning_fps': 20.0, 'prepend_state_to_action': False, 'type': 'SetCosmos3ActionMetadata'}, {'image_resize_strategy': 'resize-naive', 'input_sizes': [[3, 256, 256], [3, 256, 256]], 'means': [[127.5, 127.5, 127.5], [127.5, 127.5, 127.5]], 'stds': [[127.5, 127.5, 127.5], [127.5, 127.5, 127.5]], 'type': 'TransformImage'}, {'action_metadata': {'append_viewpoint': False, 'conditioning_fps': 20.0, 'frame_window_size': 17, 'video_height': 256, 'video_width': 512}, 'cfg_dropout_rate': 0.0, 'max_len': 512, 'output_attention_mask_key': 'lang_masks', 'output_key': 'lang_tokens', 'tokenizer': {'model_max_length': 4096, 'model_path': './checkpoints/Cosmos3-Edge', 'padding_side': 'right', 'trust_remote_code': True, 'type': 'PretrainedTokenizer'}, 'type': 'ProcessCosmos3Prompt'}, {'gripper_key': 'robot0_gripper_qpos', 'norm_type': 'mean_std', 'out_key': 'states', 'pos_key': 'robot0_eef_pos', 'quat_key': 'robot0_eef_quat', 'state_dim': 64, 'type': 'LiberoProprioFromInputs'}, {'frame_window_size': 1, 'num_views': 2, 'tile_direction': 'horizontal', 'type': 'PrepareVideo'}], 'type': 'LiberoParquetEvalDataset'}, 'denormalize_action': {'action_dim': 10, 'norm_type': 'quantile_rot', 'type': 'DenormalizeLiberoFramewiseRot6DAction'}, 'enable_mixed_precision_training': True, 'eval_chunk_size': 16, 'inference_seed': 7, 'mixed_precision_dtype': 'bf16', 'model_family': 'cosmos3', 'norm_stats_key': 'libero_spatial_no_noops', 'num_inference_steps': 30, 'num_steps_wait': 10, 'num_trials_per_task': 50, 'resize_size': 256, 'seed': 7, 'task_ids': None, 'task_suite_name': 'libero_spatial', 'type': 'LiberoEvalRunner'}, 'inference_model': {'action_horizon': 16, 'action_in_proj': {'input_size': 64, 'num_domains': 32, 'output_size': 2048, 'type': 'DomainAwareLinear'}, 'action_out_proj': {'input_size': 2048, 'num_domains': 32, 'output_size': 64, 'type': 'DomainAwareLinear'}, 'base_fps': 24.0, 'enable_fps_modulation': True, 'enable_vision_loss': True, 'freeze_non_moe_vlm_backbone': True, 'freeze_vlm_backbone': False, 'latent_patch_size': 2, 'max_action_dim': 64, 'name_mapping': {'.self_attn.k_norm_moe_gen.': '.self_attn.norm_added_k.', '.self_attn.k_proj.': '.self_attn.to_k.', '.self_attn.k_proj_moe_gen.': '.self_attn.add_k_proj.', '.self_attn.o_proj.': '.self_attn.to_out.', '.self_attn.o_proj_moe_gen.': '.self_attn.to_add_out.', '.self_attn.q_norm_moe_gen.': '.self_attn.norm_added_q.', '.self_attn.q_proj.': '.self_attn.to_q.', '.self_attn.q_proj_moe_gen.': '.self_attn.add_q_proj.', '.self_attn.v_proj.': '.self_attn.to_v.', '.self_attn.v_proj_moe_gen.': '.self_attn.add_v_proj.', 'action_in_proj.': 'action_proj_in.', 'action_modality_embed': 'action_modality_embed', 'action_out_proj.': 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'name_mappings': {'actions': ['actions'], 'observation.state': ['states']}, 'parquet_keys': ['observation.state', 'timestamp', 'actions', 'info', 'stats'], 'type': 'ProcessParquetInputs', 'video_keys': ['observation.images.image', 'observation.images.wrist_image']}, {'type': 'LiberoFramewiseActionToRot6D'}, {'action_metadata': {'append_viewpoint': False, 'conditioning_fps': 20.0, 'frame_window_size': 17, 'video_height': 256, 'video_width': 512}, 'cfg_dropout_rate': 0.1, 'max_len': 512, 'tokenizer': {'model_max_length': 4096, 'model_path': './checkpoints/Cosmos3-Edge', 'padding_side': 'right', 'trust_remote_code': True, 'type': 'PretrainedTokenizer'}, 'type': 'ProcessCosmos3Prompt'}, {'height': 256, 'type': 'ResizeImages', 'width': 256}, {'type': 'SimpleNormalizeImages'}, {'action_dim': 64, 'action_key': 'action', 'action_norm_type': 'quantile', 'state_norm_type': 'none', 'state_dim': 64, 'state_key': 'proprio', 'type': 'NormalizeStatesAndActions'}, {'conditioning_fps': 20.0, 'frame_window_size': 17, 'mode': 'wam', 'prepend_state_to_action': False, 'raw_action_dim': 10, 'type': 'BuildCosmos3Sequence'}, {'frame_window_size': 17, 'num_views': 2, 'tile_direction': 'horizontal', 'type': 'PrepareVideo'}], 'type': 'ParquetDataset', 'use_delta': False, 'window_start_idx': 0}, 'name_mappings': {'action': ['action'], 'observation.state': ['proprio']}, 'statistic_keys': ['observation.state', 'timestamp', 'action'], 'statistic_name': 'libero_spatial_no_noops', 'statistics_overrides': {'libero_spatial_no_noops': {'action': {'mean': [0.050704, 0.097407, -0.094833, 0.994873, -0.004579, -0.004288, 0.004389, 0.996104, 0.001109, 0.476725], 'std': [0.333621, 0.387175, 0.45714, 0.010807, 0.077802, 0.063386, 0.078571, 0.009994, 0.038504, 0.49946], 'min': [-0.9375, -0.9375, -0.9375, 0.902028, -0.356085, -0.367416, -0.370434, 0.921907, -0.255, 0.0], 'max': [0.9375, 0.9375, 0.9375, 1.0, 0.368853, 0.341214, 0.356395, 1.0, 0.348251, 1.0], 'q01': [-0.723214, -0.808929, -0.9375, 0.934955, -0.223431, -0.189878, -0.334735, 0.938516, -0.107736, 0.0], 'q99': [0.9375, 0.870536, 0.9375, 1.0, 0.331, 0.163153, 0.226216, 1.0, 0.127158, 1.0]}}}, 'type': 'DistributedRepeatingDataset'}, 'per_device_batch_size': 16, 'per_device_num_workers': 4}}, 'args': Namespace(config='configs/cosmos3/cosmos3edge_libero_spatial_full_finetune.py', work_dir='/mnt/data/cpfs/users/leo/wk_dir/cosmos3/libero_spatial_edge_pr51_latest_bs16', cfg_options={'train_dataloader.per_device_batch_size': 16, 'runner.grad_accumulation_steps': 16, 'runner.metric.grad_accumulation_steps': 16}, eval_after_train=True, resume_from=None)}, 'seed': 7, 'train_dataloader': {'dataset': {'datasets': {'action_key': 'action', 'action_window_size': 16, 'data_root_path': '/mnt/data/cpfs/mnt/data/yanis/FastWAM/data/libero_mujoco3.3.2/libero_spatial_no_noops_lerobot', 'frame_window_size': 17, 'require_full_window': True, 'statistic_name': 'libero_spatial_no_noops', 'transforms': [{'embodiment_id': 5, 'name_mappings': {'actions': ['actions'], 'observation.state': ['states']}, 'parquet_keys': ['observation.state', 'timestamp', 'actions', 'info', 'stats'], 'type': 'ProcessParquetInputs', 'video_keys': ['observation.images.image', 'observation.images.wrist_image']}, {'type': 'LiberoFramewiseActionToRot6D'}, {'action_metadata': {'append_viewpoint': False, 'conditioning_fps': 20.0, 'frame_window_size': 17, 'video_height': 256, 'video_width': 512}, 'cfg_dropout_rate': 0.1, 'max_len': 512, 'tokenizer': {'model_max_length': 4096, 'model_path': './checkpoints/Cosmos3-Edge', 'padding_side': 'right', 'trust_remote_code': True, 'type': 'PretrainedTokenizer'}, 'type': 'ProcessCosmos3Prompt'}, {'height': 256, 'type': 'ResizeImages', 'width': 256}, {'type': 'SimpleNormalizeImages'}, {'action_dim': 64, 'action_key': 'action', 'action_norm_type': 'quantile', 'state_norm_type': 'none', 'state_dim': 64, 'state_key': 'proprio', 'type': 'NormalizeStatesAndActions'}, {'conditioning_fps': 20.0, 'frame_window_size': 17, 'mode': 'wam', 'prepend_state_to_action': False, 'raw_action_dim': 10, 'type': 'BuildCosmos3Sequence'}, {'frame_window_size': 17, 'num_views': 2, 'tile_direction': 'horizontal', 'type': 'PrepareVideo'}], 'type': 'ParquetDataset', 'use_delta': False, 'window_start_idx': 0}, 'name_mappings': {'action': ['action'], 'observation.state': ['proprio']}, 'statistic_keys': ['observation.state', 'timestamp', 'action'], 'statistic_name': 'libero_spatial_no_noops', 'statistics_overrides': {'libero_spatial_no_noops': {'action': {'mean': [0.050704, 0.097407, -0.094833, 0.994873, -0.004579, -0.004288, 0.004389, 0.996104, 0.001109, 0.476725], 'std': [0.333621, 0.387175, 0.45714, 0.010807, 0.077802, 0.063386, 0.078571, 0.009994, 0.038504, 0.49946], 'min': [-0.9375, -0.9375, -0.9375, 0.902028, -0.356085, -0.367416, -0.370434, 0.921907, -0.255, 0.0], 'max': [0.9375, 0.9375, 0.9375, 1.0, 0.368853, 0.341214, 0.356395, 1.0, 0.348251, 1.0], 'q01': [-0.723214, -0.808929, -0.9375, 0.934955, -0.223431, -0.189878, -0.334735, 0.938516, -0.107736, 0.0], 'q99': [0.9375, 0.870536, 0.9375, 1.0, 0.331, 0.163153, 0.226216, 1.0, 0.127158, 1.0]}}}, 'type': 'DistributedRepeatingDataset'}, 'per_device_batch_size': 16, 'per_device_num_workers': 4}}", "run_id": "cosmos3edge_libero_spatial_full_finetune_2026_08_04_01_21_37"}

cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/chat_template.jinja

@@ -1,324 +0,0 @@
-
-{% macro render_extra_keys(json_dict, handled_keys) %}
-    {%- if json_dict is mapping %}
-        {%- for json_key in json_dict if json_key not in handled_keys %}
-            {%- if json_dict[json_key] is mapping or (json_dict[json_key] is sequence and json_dict[json_key] is not string) %}
-                {{- '
-<' ~ json_key ~ '>' ~ (json_dict[json_key] | tojson | safe) ~ '</' ~ json_key ~ '>' }}
-            {%- else %}
-                {{-'
-<' ~ json_key ~ '>' ~ (json_dict[json_key] | string) ~ '</' ~ json_key ~ '>' }}
-            {%- endif %}
-        {%- endfor %}
-    {%- endif %}
-{% endmacro %}
-{%- set enable_thinking = enable_thinking if enable_thinking is defined else True %}
-{%- set truncate_history_thinking = truncate_history_thinking if truncate_history_thinking is defined else True %}
-
-{%- set ns = namespace(last_user_idx = -1) %}
-{%- set loop_messages = messages %}
-{%- for m in loop_messages %}
-  {%- if m["role"] == "user" %}
-    {%- set ns.last_user_idx = loop.index0 %}
-  {%- endif %}
-{%- endfor %}
-
-{%- if messages[0]["role"] == "system" %}
-    {%- if messages[0]["content"] is string %}
-        {%- set system_message = messages[0]["content"] %}
-    {%- else %}
-        {%- set ns = namespace(system_text="") %}
-        {%- for part in messages[0]["content"] %}
-            {%- if 'text' in part %}
-                {%- set ns.system_text = ns.system_text + part.text %}
-            {%- endif %}
-        {%- endfor %}
-        {%- set system_message = ns.system_text %}
-    {%- endif %}
-
-    {%- set loop_messages = messages[1:] %}
-{%- else %}
-    {%- set system_message = "" %}
-    {%- set loop_messages = messages %}
-{%- endif %}
-{%- if not tools is defined %}
-    {%- set tools = [] %}
-{%- endif %}
-{# Recompute last_user_idx relative to loop_messages after handling system #}
-{%- set ns = namespace(last_user_idx = -1) %}
-{%- for m in loop_messages %}
-  {%- if m["role"] == "user" %}
-    {%- set ns.last_user_idx = loop.index0 %}
-  {%- endif %}
-{%- endfor %}
-{%- if system_message is defined %}
-    {{- "<|im_start|>system
-" + system_message }}
-{%- else %}
-    {%- if tools is iterable and tools | length > 0 %}
-        {{- "<|im_start|>system
-" }}
-    {%- endif %}
-{%- endif %}
-{%- if tools is iterable and tools | length > 0 %}
-    {%- if system_message is defined and system_message | length > 0 %}
-        {{- "
-
-" }}
-    {%- endif %}
-    {{- "# Tools
-
-You have access to the following functions:
-
-" }}
-    {{- "<tools>" }}
-    {%- for tool in tools %}
-        {%- if tool.function is defined %}
-            {%- set tool = tool.function %}
-        {%- endif %}
-        {{- "
-<function>
-<name>" ~ tool.name ~ "</name>" }}
-        {%- if tool.description is defined %}
-            {{- '
-<description>' ~ (tool.description | trim) ~ '</description>' }}
-        {%- endif %}
-        {{- '
-<parameters>' }}
-        {%- if tool.parameters is defined and tool.parameters is mapping and tool.parameters.properties is defined and tool.parameters.properties is mapping %}
-            {%- for param_name, param_fields in tool.parameters.properties|items %}
-                {{- '
-<parameter>' }}
-                {{- '
-<name>' ~ param_name ~ '</name>' }}
-                {%- if param_fields.type is defined %}
-                    {{- '
-<type>' ~ (param_fields.type | string) ~ '</type>' }}
-                {%- endif %}
-                {%- if param_fields.description is defined %}
-                    {{- '
-<description>' ~ (param_fields.description | trim) ~ '</description>' }}
-                {%- endif %}
-                {%- if param_fields.enum is defined %}
-                    {{- '
-<enum>' ~ (param_fields.enum | tojson | safe) ~ '</enum>' }}
-                {%- endif %}
-                {%- set handled_keys = ['name', 'type', 'description', 'enum'] %}
-                {{- render_extra_keys(param_fields, handled_keys) }}
-                {{- '
-</parameter>' }}
-            {%- endfor %}
-        {%- endif %}
-        {% set handled_keys = ['type', 'properties', 'required'] %}
-        {{- render_extra_keys(tool.parameters, handled_keys) }}
-        {%- if tool.parameters is defined and tool.parameters.required is defined %}
-            {{- '
-<required>' ~ (tool.parameters.required | tojson | safe) ~ '</required>' }}
-        {%- endif %}
-        {{- '
-</parameters>' }}
-        {%- set handled_keys = ['type', 'name', 'description', 'parameters'] %}
-        {{- render_extra_keys(tool, handled_keys) }}
-        {{- '
-</function>' }}
-    {%- endfor %}
-    {{- "
-</tools>" }}
-
-    {{- '
-
-If you choose to call a function ONLY reply in the following format with NO suffix:
-
-<tool_call>
-<function=example_function_name>
-<parameter=example_parameter_1>
-value_1
-</parameter>
-<parameter=example_parameter_2>
-This is the value for the second parameter
-that can span
-multiple lines
-</parameter>
-</function>
-</tool_call>
-
-<IMPORTANT>
-Reminder:
-- Function calls MUST follow the specified format: an inner <function=...></function> block must be nested within <tool_call></tool_call> XML tags
-- Required parameters MUST be specified
-- You may provide optional reasoning for your function call in natural language BEFORE the function call, but NOT after
-- If there is no function call available, answer the question like normal with your current knowledge and do not tell the user about function calls
-</IMPORTANT>' }}
-{%- endif %}
-
-
-{%- if system_message is defined %}
-    {{- '<|im_end|>
-' }}
-{%- else %}
-    {%- if tools is iterable and tools | length > 0 %}
-        {{- '<|im_end|>
-' }}
-    {%- endif %}
-{%- endif %}
-
-{%- set image_count = namespace(value=0) %}
-{%- set video_count = namespace(value=0) %}
-{%- for message in loop_messages %}
-    {%- if message.role == "assistant" %}
-        {# Add reasoning content in to content field for unified processing below. #}
-        {%- set text_content = namespace(text_content="") -%}
-        {%- if message.content is string %}
-            {%- set text_content.text_content = message.content %}
-        {%- else %}
-            {%- for content in message.content %}
-                {%- if 'text' in content %}
-                    {%- set text_content.text_content = content.text %}
-                    {%- break %}
-                {%- endif %}
-            {%- endfor %}
-        {%- endif %}
-        {%- if message.reasoning_content is defined and message.reasoning_content is string and message.reasoning_content | trim | length > 0 %}
-            {%- set content = "<think>
-" ~ message.reasoning_content ~ "
-</think>
-" ~ (text_content.text_content | default('', true)) %}
-        {%- else %}
-            {%- set content = text_content.text_content | default('', true) %}
-            {# Allow downstream logic to to take care of broken thought, only handle coherent reasoning here. #}
-            {%- if '<think>' not in content and '</think>' not in content %}
-                {%- set content = "<think></think>" ~ content %}
-            {%- else %}
-                {%- set content = content %}
-            {%- endif -%}
-        {%- endif %}
-        {%- if message.tool_calls is defined and message.tool_calls is iterable and message.tool_calls | length > 0 %}
-            {# Assistant message has tool calls. #}
-            {{- '<|im_start|>assistant
-' }}
-                {%- set include_content = not (truncate_history_thinking and loop.index0 < ns.last_user_idx) %}
-                {%- if content is string and content | trim | length > 0 %}
-                    {%- if include_content %}
-                        {{- (content | trim) ~ '
-' -}}
-                    {%- else %}
-                        {%- set c = (content | string) %}
-                        {%- if '</think>' in c %}
-                            {# Keep only content after the last closing think. Also generation prompt causes this. #}
-                            {%- set c = c.split('</think>')[-1] %}
-                        {%- elif '<think>' in c %}
-                            {# If <think> was opened but never closed, drop the trailing think segment #}
-                            {%- set c = c.split('<think>')[0] %}
-                        {%- endif %}
-                        {%- set c = "<think></think>" ~ c | trim %}
-                        {%- if c | length > 0 %}
-                            {{- c ~ '
-' -}}
-                        {%- endif %}
-                    {%- endif %}
-                {%- else %}
-                    {{- "<think></think>" -}}
-                {%- endif %}
-                {%- for tool_call in message.tool_calls %}
-                    {%- if tool_call.function is defined %}
-                        {%- set tool_call = tool_call.function %}
-                    {%- endif %}
-                    {{- '<tool_call>
-<function=' ~ tool_call.name ~ '>
-' -}}
-                        {%- if tool_call.arguments is defined %}
-                            {%- for args_name, args_value in tool_call.arguments|items %}
-                                {{- '<parameter=' ~ args_name ~ '>
-' -}}
-                                    {%- set args_value = args_value | tojson | safe if args_value is mapping or (args_value is sequence and args_value is not string) else args_value | string %}
-                                {{- args_value ~ '
-</parameter>
-' -}}
-                            {%- endfor %}
-                        {%- endif %}
-                    {{- '</function>
-</tool_call>
-' -}}
-                {%- endfor %}
-                {{- '<|im_end|>
-' }}
-        {%- else %}
-            {# Assistant message doesn't have tool calls. #}
-            {%- if not (truncate_history_thinking and loop.index0 < ns.last_user_idx) %}
-                {{- '<|im_start|>assistant
-' ~ (content | default('', true) | string | trim) ~ '<|im_end|>
-' }}
-            {%- else %}
-                {%- set c = (content | default('', true) | string) %}
-                {%- if '<think>' in c and '</think>' in c %}
-                    {%- set c = "<think></think>" ~ c.split('</think>')[-1] %}
-                {%- endif %}
-                {%- set c = c | trim %}
-                {%- if c | length > 0 %}
-                    {{- '<|im_start|>assistant
-' ~ c ~ '<|im_end|>
-' }}
-                {%- else %}
-                    {{- '<|im_start|>assistant
-<|im_end|>
-' }}
-                {%- endif %}
-            {%- endif %}
-        {%- endif %}
-    {%- elif message.role == "user" or message.role == "system" %}
-        {{- '<|im_start|>' + message.role + '
-' }}
-        {%- if message.content is string %}
-            {{- message.content }}
-        {%- 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 %}
-        {%- endif %}
-        {{- '<|im_end|>
-' }}
-    {%- elif message.role == "tool" %}
-        {%- if loop.previtem and loop.previtem.role != "tool" %}
-            {{- '<|im_start|>user
-' }}
-        {%- endif %}
-        {{- '<tool_response>
-' }}
-        {{- message.content }}
-        {{- '
-</tool_response>
-' }}
-        {%- if not loop.last and loop.nextitem.role != "tool" %}
-            {{- '<|im_end|>
-' }}
-        {%- elif loop.last %}
-            {{- '<|im_end|>
-' }}
-        {%- endif %}
-    {%- else %}
-        {{- '<|im_start|>' + message.role + '
-' + message.content + '<|im_end|>
-' }}
-    {%- endif %}
-{%- endfor %}
-
-{%- if add_generation_prompt %}
-    {%- if enable_thinking %}
-        {{- '<|im_start|>assistant
-<think>
-' }}
-    {%- else %}
-        {{- '<|im_start|>assistant
-<think></think>' }}
-    {%- endif %}
-{%- endif %}

cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/special_tokens_map.json

@@ -1,30 +0,0 @@
-{
-  "bos_token": {
-    "content": "<s>",
-    "lstrip": false,
-    "normalized": false,
-    "rstrip": false,
-    "single_word": false
-  },
-  "eos_token": {
-    "content": "<|im_end|>",
-    "lstrip": false,
-    "normalized": false,
-    "rstrip": false,
-    "single_word": false
-  },
-  "pad_token": {
-    "content": "<|im_end|>",
-    "lstrip": false,
-    "normalized": false,
-    "rstrip": false,
-    "single_word": false
-  },
-  "unk_token": {
-    "content": "<unk>",
-    "lstrip": false,
-    "normalized": false,
-    "rstrip": false,
-    "single_word": false
-  }
-}

cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/tokenizer.json

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4dc692a99dca6d92a44e9529ffb53541eb79bb260eec7281bc51268c05d7311c
-size 17077500

cosmos3edge_libero_spatial_full_finetune_bs16/tokenizer/tokenizer_config.json

@@ -1,17 +0,0 @@
-{
-  "add_prefix_space": false,
-  "backend": "tokenizers",
-  "bos_token": "<s>",
-  "clean_up_tokenization_spaces": false,
-  "eos_token": "<|im_end|>",
-  "is_local": true,
-  "local_files_only": false,
-  "model_input_names": [
-    "input_ids",
-    "attention_mask"
-  ],
-  "model_max_length": 262144,
-  "pad_token": "<|im_end|>",
-  "tokenizer_class": "TokenizersBackend",
-  "unk_token": "<unk>"
-}

cosmos3edge_libero_spatial_full_finetune_bs16/vlm_backbone_config.json

@@ -1,41 +0,0 @@
-{
-  "attention_bias": false,
-  "attention_dropout": 0.0,
-  "bos_token_id": 1,
-  "enable_mrope": true,
-  "enable_rope": true,
-  "eos_token_id": 11,
-  "head_dim": 128,
-  "hidden_dropout": 0.0,
-  "hidden_size": 2048,
-  "initializer_range": 0.02,
-  "intermediate_size": 9216,
-  "layer_norm_epsilon": 1e-05,
-  "max_position_embeddings": 131072,
-  "mlp_bias": false,
-  "mlp_hidden_act": "relu2",
-  "model_type": "nemotron_3_dense_vl_text",
-  "mrope_section": [
-    24,
-    20,
-    20
-  ],
-  "num_attention_heads": 16,
-  "num_hidden_layers": 28,
-  "num_key_value_heads": 8,
-  "num_logits_to_keep": 1,
-  "packed_attention_backend": "flash2",
-  "pad_token_id": 11,
-  "residual_in_fp32": false,
-  "rope_parameters": {
-    "rope_theta": 100000000.0,
-    "rope_type": "default"
-  },
-  "rope_theta": 100000000.0,
-  "sliding_window": null,
-  "tie_word_embeddings": false,
-  "transformers_version": "5.3.0",
-  "use_cache": true,
-  "use_und_k_norm_for_gen": true,
-  "vocab_size": 131072
-}