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InternVLPI-0302-eep-pretrain_T2_sft_23000/checkpoints/steps_23000_pytorch_model.pt
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version https://git-lfs.github.com/spec/v1
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oid sha256:d8d9bac614da20ddb00d404628a2c2ece9368a01e27804905f9ae1c4b9538494
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size 2966606180
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InternVLPI-0302-eep-pretrain_T2_sft_23000/config.json
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{
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"run_id": "InternVLPI-0302-eep-pretrain_T2_sft",
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"run_root_dir": "/lumos-vePFS/shenzhen/models/lumos_pi",
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| 4 |
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"seed": 42,
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| 5 |
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"trackers": [
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"jsonl"
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| 7 |
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],
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| 8 |
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"wandb_entity": null,
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| 9 |
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"wandb_project": null,
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| 10 |
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"is_debug": false,
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"framework": {
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"name": "internvlPI",
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"qwenvl": {
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| 14 |
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"base_vlm": "/lumos-vePFS/shenzhen/models/InternVL3_5-1B-Instruct",
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| 15 |
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"attn_implementation": "eager",
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| 16 |
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"vl_hidden_dim": 2048
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| 17 |
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},
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| 18 |
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"action_model": {
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| 19 |
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"add_pos_embed": true,
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| 20 |
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"hidden_size": 1024,
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| 21 |
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"max_seq_len": 1024,
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| 22 |
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"action_model_type": "DiT-B",
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| 23 |
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"action_dim": 20,
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| 24 |
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"state_dim": 20,
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| 25 |
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"future_action_window_size": 15,
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| 26 |
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"past_action_window_size": 0,
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| 27 |
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"action_horizon": 30,
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| 28 |
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"repeated_diffusion_steps": 2,
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| 29 |
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"noise_beta_alpha": 1.5,
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| 30 |
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"noise_beta_beta": 1.0,
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| 31 |
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"noise_s": 0.999,
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| 32 |
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"num_timestep_buckets": 1000,
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| 33 |
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"num_inference_timesteps": 8,
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| 34 |
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"num_target_vision_tokens": 32,
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| 35 |
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"use_scaled_noise": true,
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| 36 |
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"use_kv_cache_dit": true,
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| 37 |
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"diffusion_model_cfg": {
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| 38 |
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"dropout": 0.2,
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| 39 |
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"final_dropout": true,
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| 40 |
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"interleave_self_attention": true,
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| 41 |
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"norm_type": "ada_norm",
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| 42 |
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"num_layers": 28,
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| 43 |
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"output_dim": 2560,
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| 44 |
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"positional_embeddings": null
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},
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"smoothness_loss_weight": 1
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| 47 |
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}
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| 48 |
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},
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"datasets": {
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"vla_data": {
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"dataset_py": "lerobot_datasets",
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| 52 |
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"data_root_dir": "/lumos-vePFS/shenzhen/data/data_warehouse/data_warehouse_output_clean",
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| 53 |
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"data_mix": "train_QwenPI",
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| 54 |
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"per_device_batch_size": 16,
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| 55 |
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"num_workers": 4,
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| 56 |
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"action_type": "abs_ee",
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| 57 |
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"image_size": 256,
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| 58 |
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"video_backend": "pyav"
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| 59 |
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}
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| 60 |
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},
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| 61 |
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"trainer": {
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| 62 |
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"epochs": 100,
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| 63 |
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"max_train_steps": 200000,
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| 64 |
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"num_warmup_steps": 5000,
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| 65 |
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"save_interval": 1000,
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| 66 |
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"eval_interval": 10000000,
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| 67 |
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"learning_rate": {
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| 68 |
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"base": 1e-05,
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| 69 |
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"intern_vl_interface": 1e-05,
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| 70 |
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"action_model": 0.0001
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| 71 |
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},
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| 72 |
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"lr_scheduler_type": "cosine_with_min_lr",
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| 73 |
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"scheduler_specific_kwargs": {
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| 74 |
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"min_lr": 1e-06
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| 75 |
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},
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| 76 |
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"freeze_modules": null,
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| 77 |
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"loss_scale": {
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| 78 |
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"vla": 1.0,
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| 79 |
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"vlm": 0.05
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| 80 |
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},
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| 81 |
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"max_grad_norm": 1.0,
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| 82 |
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"warmup_ratio": 0.1,
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| 83 |
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"weight_decay": 0.0,
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| 84 |
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"logging_frequency": 10,
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| 85 |
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"gradient_clipping": 1.0,
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| 86 |
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"gradient_accumulation_steps": 3,
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| 87 |
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"optimizer": {
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| 88 |
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"name": "AdamW",
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| 89 |
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"betas": [
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| 90 |
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0.9,
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| 91 |
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0.95
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| 92 |
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],
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| 93 |
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"eps": 1e-08,
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| 94 |
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"weight_decay": 0
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| 95 |
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},
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| 96 |
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"pretrained_checkpoint": "/lumos-vePFS/shenzhen/models/lumos_pi/InternVLPI-0225-eep-pretrain_T2/checkpoints/steps_23000_pytorch_model.pt",
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| 97 |
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"is_resume": true,
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| 98 |
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"resume_step": 11000
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| 99 |
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},
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| 100 |
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"is_resume": true,
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| 101 |
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"resume_epoch": null,
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| 102 |
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"resume_step": 5000,
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| 103 |
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"enable_gradient_checkpointing": true,
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| 104 |
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"enable_mixed_precision_training": true,
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| 105 |
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"report_to": "jsonl",
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| 106 |
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"output_dir": "/lumos-vePFS/shenzhen/models/lumos_pi/InternVLPI-0302-eep-pretrain_T2_sft"
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}
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InternVLPI-0302-eep-pretrain_T2_sft_23000/config.yaml
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datasets:
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| 2 |
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vla_data:
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| 3 |
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data_mix: train_QwenPI
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| 4 |
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data_root_dir: /lumos-vePFS/shenzhen/data/data_warehouse/data_warehouse_output_clean
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| 5 |
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dataset_py: lerobot_datasets
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| 6 |
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image_size: 256
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| 7 |
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num_workers: 4
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| 8 |
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per_device_batch_size: 16
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| 9 |
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framework:
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| 10 |
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action_model:
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| 11 |
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action_dim: 20
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| 12 |
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add_pos_embed: true
|
| 13 |
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diffusion_model_cfg:
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| 14 |
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dropout: 0.2
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| 15 |
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final_dropout: true
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| 16 |
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interleave_self_attention: true
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| 17 |
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norm_type: ada_norm
|
| 18 |
+
num_layers: 28
|
| 19 |
+
output_dim: 2560
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| 20 |
+
positional_embeddings: null
|
| 21 |
+
future_action_window_size: 15
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| 22 |
+
hidden_dim: 1024
|
| 23 |
+
max_seq_len: 1024
|
| 24 |
+
noise_beta_alpha: 1.5
|
| 25 |
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noise_beta_beta: 1.0
|
| 26 |
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noise_s: 0.999
|
| 27 |
+
num_inference_timesteps: 8
|
| 28 |
+
num_target_vision_tokens: 32
|
| 29 |
+
num_timestep_buckets: 1000
|
| 30 |
+
past_action_window_size: 0
|
| 31 |
+
smoothness_loss_weight: 1
|
| 32 |
+
state_dim: 20
|
| 33 |
+
use_kv_cache_dit: true
|
| 34 |
+
use_scaled_noise: true
|
| 35 |
+
name: internvlPI
|
| 36 |
+
qwenvl:
|
| 37 |
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attn_implementation: eager
|
| 38 |
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base_vlm: /lumos-vePFS/shenzhen/models/InternVL3_5-1B-Instruct
|
| 39 |
+
num_vl_layers: 28
|
| 40 |
+
vl_hidden_dim: 1024
|
| 41 |
+
output_dir: /lumos-vePFS/shenzhen/models/lumos_pi/InternVLPI-0302-eep-pretrain_T2_sft
|
| 42 |
+
run_id: InternVLPI-0302-eep-pretrain_T2_sft
|
| 43 |
+
run_root_dir: /lumos-vePFS/shenzhen/models/lumos_pi
|
| 44 |
+
seed: 42
|
| 45 |
+
trainer:
|
| 46 |
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eval_interval: 10000000
|
| 47 |
+
freeze_modules: null
|
| 48 |
+
gradient_accumulation_steps: 3
|
| 49 |
+
gradient_clipping: 1.0
|
| 50 |
+
is_resume: true
|
| 51 |
+
learning_rate:
|
| 52 |
+
action_model: 0.0001
|
| 53 |
+
base: 1.0e-05
|
| 54 |
+
intern_vl_interface: 1.0e-05
|
| 55 |
+
logging_frequency: 10
|
| 56 |
+
lr_scheduler_type: cosine_with_min_lr
|
| 57 |
+
max_train_steps: 200000
|
| 58 |
+
num_warmup_steps: 5000
|
| 59 |
+
optimizer:
|
| 60 |
+
betas:
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| 61 |
+
- 0.9
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| 62 |
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- 0.95
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| 63 |
+
eps: 1.0e-08
|
| 64 |
+
weight_decay: 0
|
| 65 |
+
pretrained_checkpoint: /lumos-vePFS/shenzhen/models/lumos_pi/InternVLPI-0225-eep-pretrain_T2/checkpoints/steps_23000_pytorch_model.pt
|
| 66 |
+
save_interval: 1000
|
| 67 |
+
scheduler_specific_kwargs:
|
| 68 |
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min_lr: 1.0e-06
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InternVLPI-0302-eep-pretrain_T2_sft_23000/dataset_statistics.json
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{
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"new_embodiment": {
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