| --- |
| license: apache-2.0 |
| tags: |
| - robotics |
| - vla |
| - libero |
| --- |
| |
| # arc-layermap-ft |
|
|
| Archived **EMA-only** weights for the layer-map LIBERO finetunes (`m323` protocol): |
| the full-layer full-FT arm, the first-28 full-FT arm, and the first-28 frozen arm. |
| Full checkpoint directories (32–44 GiB/step, optimizer state included) were deleted |
| from the cluster after this upload verified. |
|
|
| ## What each file is |
|
|
| ``` |
| <run_dir>/config.yaml training config |
| <run_dir>/dataset_stats.json normalizer stats |
| <run_dir>/<ckpt>.ckpt.shards.step0000NNNNN/state.pt EMA weights ONLY |
| <run_dir>/<ckpt>.ckpt.shards.step0000NNNNN/engine_meta.pt |
| ``` |
|
|
| `state.pt` holds `{"extra": {"ema": {name -> fp32 CPU tensor}}}`, the payload |
| `methods/lafm/vla_flow_ft.py:load_pretrain_trainables()` reads. Load with |
| **`model.init_use_ema=true`**. No `"model"` key, no optimizer state — **init / eval |
| only, not resumable**. Each `engine_meta.pt` is the original and its |
| `ema_fingerprint` matches the archived tensors (rel < 1e-6). |
|
|
| Note the frozen run archives only its trainable set; |
| the two full-FT runs carry the whole trunk. |
|
|
| ## Contents |
|
|
| | run dir | step | EMA tensors | params | LIBERO | why this step | |
| |---|---|---|---|---|---| |
| | `lafm_vla_flow_neo2b_fulllayer_libero_fullft_m323_flft0815r` | `step000020000` | 1049 | 2.92 B | **94.80** | grid peak | |
| | `lafm_vla_flow_neo2b_first28_libero_fullft_m323_f28ft0811` | `step000017500` | 737 | 2.13 B | **94.55** | grid peak | |
| | `lafm_vla_flow_neo2b_first28_libero_fullft_m323_f28ft0811` | `step000020000` | 737 | 2.13 B | 94.25 | originally requested | |
| | `lafm_vla_flow_neo2b_first28_libero_m323_f28ft0811` | `step000030000` | 376 | 0.44 B | **93.15** | grid peak and last step | |
|
|
| Full 4-suite LIBERO (spatial / object / goal / long; 10 tasks x 50 trials x 4 = |
| 2000 rollouts per point), **m323** decode: replan 4, action horizon 8, NFE 10, |
| no control_rate, `use_ema: true`, render 256, pinned mujoco 3.2.3 / robosuite 1.4.1. |
| Single seed per point. |
|
|
| **Do not compare these against the GEO or camera-mode archives** — those use the |
| NA12 decode protocol (replan 12 / horizon 20 / control_rate 20) and the two |
| protocols are not interchangeable. |
| |
| Two step choices deserve a note: |
| |
| - **first-28 full-FT** — the peak is 94.55 at **step000017500**, not at 20000 |
| (94.25). Both are archived so the peak is not lost. |
| - **first-28 frozen** — 93.15 at step000030000 is both the best and the last step. |
| An earlier internal note quoting "92.8" is stale: it is the rounded 92.75 at |
| step 5000, recorded while the grid still stopped at 17500. |
| |
| ## Not included |
| |
| Only the steps above are archived; every other grid step was deleted and is **not** |
| recoverable. Single-seed grid curves for the record (steps 2500 → 30000 by 2500): |
| |
| - fulllayer full-FT: 89.80 / 93.35 / 94.35 / 94.25 / 93.30 / 94.20 / 94.20 / **94.80** / 94.45 / 94.55 / *(27500 and 30000 were never evaluated)* |
| - first-28 full-FT: 89.35 / 94.50 / 93.50 / 94.25 / 93.65 / 94.50 / **94.55** / 94.25 / 92.90 / 93.50 / 93.75 / 93.30 |
| - first-28 frozen: 85.80 / 92.75 / 91.75 / 92.45 / 92.45 / 92.15 / 91.85 / 92.65 / 92.05 / 92.25 / 92.25 / **93.15** |
| |
