Add Wall-X serving and Turtle2 TCP WebSocket bridge

2026-09-23 21:04:17 +08:00
parent 6764e8f12f
commit d1cc7d96ad
40 changed files with 8591 additions and 40 deletions
@@ -0,0 +1,260 @@
+_raw_data:
+  dataset_type: lerobot
+  key_mappings:
+    action: action
+    camera:
+      observation.images.faceImg: face_view
+      observation.images.leftImg: left_wrist_view
+      observation.images.rightImg: right_wrist_view
+    state: observation.state
+  lerobot_config:
+    repo_id: pick_paper_lerobot_mixed_v21_3cam
+    root: /data1/students/huangyanpei/walloss_bag_to_lerobot_v3_3cam/pick_paper_lerobot_v3_3cam_mixed_v21
+  max_length: 1024
+  norm_stats_path: /data1/students/huangyanpei/walloss_bag_to_lerobot_v3_3cam/pick_paper_lerobot_v3_3cam_mixed_v21/norm_stats.json
+  num_workers: 4
+  resolution:
+    face_view: 448
+    left_wrist_view: 448
+    right_wrist_view: 448
+  train_test_split: 0.95
+_raw_yaml:
+  _attn_implementation: sdpa
+  checkpoint:
+    resume_from: /data5/students/huanghuagui/walloss_Tweak/migration/models/wall-oss-0.5/model.safetensors
+    save_path: /data1/students/huangyanpei/walloss_bag_to_lerobot_v3_3cam/pick_paper_lerobot_v3_3cam_mixed_v21/output_weights_7d_H10
+  data:
+    dataset_type: lerobot
+    key_mappings:
+      action: action
+      camera:
+        observation.images.faceImg: face_view
+        observation.images.leftImg: left_wrist_view
+        observation.images.rightImg: right_wrist_view
+      state: observation.state
+    lerobot_config:
+      repo_id: pick_paper_lerobot_mixed_v21_3cam
+      root: /data1/students/huangyanpei/walloss_bag_to_lerobot_v3_3cam/pick_paper_lerobot_v3_3cam_mixed_v21
+    max_length: 1024
+    norm_stats_path: /data1/students/huangyanpei/walloss_bag_to_lerobot_v3_3cam/pick_paper_lerobot_v3_3cam_mixed_v21/norm_stats.json
+    num_workers: 4
+    resolution:
+      face_view: 448
+      left_wrist_view: 448
+      right_wrist_view: 448
+    train_test_split: 0.95
+  debug:
+    nvtx: false
+    profile: false
+  distributed:
+    bf16: true
+    use_fsdp: true
+    use_mixed_precision: true
+  hyperparams:
+    batch_size_per_gpu: 8
+    gradient_accumulation_steps: 8
+    num_epoch: 6
+    optimizer:
+      betas:
+      - 0.9
+      - 0.95
+      enable_grad_clip: true
+      eps: 1.0e-08
+      learning_rate: 5.0e-05
+      max_grad_norm: 1.0
+      optimizer_type: adamw
+      weight_decay: 1.0e-08
+    scheduler:
+      min_lr: 1.0e-06
+      num_training_steps: 3200
+      num_warmup_steps: 200
+      scheduler_type: cosine
+    seed: 10222
+  logging:
+    epoch_save_interval: 1
+    log_entity: null
+    log_interval: 1
+    log_name: pick_paper_3cam_mixed_lora
+    log_project: null
+    save_interval: 700
+    use_wandb: false
+    val_interval: 700
+  model:
+    ar_loss_weight: 0.01
+    attn_deterministic: true
+    backbone: qwen2_5
+    config_path: /data5/students/huanghuagui/walloss_Tweak/migration/models/wall-oss-0.5/config.json
+    flow_loss_weight: 1.0
+    lora_config_path: /data5/students/huanghuagui/huangyanpei/wall-x/workspace/example/wall-oss-0.5-lora.json
+    pretrained_path: /data5/students/huanghuagui/walloss_Tweak/migration/models/Qwen2.5-VL-3B-Instruct
+    processor_path: /data5/students/huanghuagui/walloss_Tweak/migration/models/Qwen2.5-VL-3B-Instruct
+    use_ema: false
+  model_type: qwen2_5
+  task:
+    action_horizon: 10
+    action_horizon_flow: 10
+    agent_pos_config:
+      action_padding: 19
+      follow_right_ee_cartesian_pos: 3
+      follow_right_ee_rotation: 3
+      follow_right_gripper: 1
+    ar_dof_config:
+      action_padding: 19
+      follow_right_ee_cartesian_pos_relative: 3
+      follow_right_ee_rotation_relative: 3
+      follow_right_gripper: 1
+    dof_config:
+      action_padding: 19
+      follow_right_ee_cartesian_pos_relative: 3
+      follow_right_ee_rotation_relative: 3
+      follow_right_gripper: 1
+    use_state_string_representation: false
+checkpoint:
+  resume_data: null
+  resume_ema: null
+  resume_from: /data5/students/huanghuagui/walloss_Tweak/migration/models/wall-oss-0.5/model.safetensors
+  resume_model: null
+  resume_optimizer: null
+  resume_rng: null
+  resume_scheduler: null
+  resume_step: null
+  save_path: /data1/students/huangyanpei/walloss_bag_to_lerobot_v3_3cam/pick_paper_lerobot_v3_3cam_mixed_v21/output_weights_7d_H10
+  validate_first: false
+data:
+  action_tokenizer_path: null
+  camera_name_mapping: null
+  dataset_type: lerobot
+  key_mappings:
+    action: action
+    camera:
+      observation.images.faceImg: face_view
+      observation.images.leftImg: left_wrist_view
+      observation.images.rightImg: right_wrist_view
+    state: observation.state
+  lerobot_config:
+    repo_id: pick_paper_lerobot_mixed_v21_3cam
+    root: /data1/students/huangyanpei/walloss_bag_to_lerobot_v3_3cam/pick_paper_lerobot_v3_3cam_mixed_v21
+  noise_scheduler: null
+  norm_stats_path: /data1/students/huangyanpei/walloss_bag_to_lerobot_v3_3cam/pick_paper_lerobot_v3_3cam_mixed_v21/norm_stats.json
+  normalizer_config: null
+  num_workers: 4
+  padding_side: left
+  priority_order: null
+  resolution:
+    face_view: 448
+    left_wrist_view: 448
+    right_wrist_view: 448
+  train_test_split: 0.95
+  use_fast_tokenizer: false
+dataset_path: null
+debug:
+  enable_mfu: false
+  enable_mfu_profile: false
+  nvtx: false
+  profile: false
+  profile_active_iters: 3
+  profile_save_path: ./profile
+  profile_wait_iters: 1
+  profile_warmup_iters: 1
+  save_debug_batch_path: null
+  show_time_details: false
+  visualize_sample: false
+distributed:
+  bf16: true
+  broadcast_buffers: true
+  bucket_cap_mb: 25
+  find_unused_parameters: false
+  fsdp_backward_prefetch: backward_pre
+  fsdp_cpu_offload: false
+  fsdp_forward_prefetch: false
+  fsdp_hsdp_replicate_size: null
+  fsdp_limit_all_gathers: true
+  fsdp_reduce_dtype: bf16
+  fsdp_save_policy: full
+  fsdp_sharding_strategy: full_shard
+  fsdp_sync_module_states: true
+  fsdp_use_orig_params: true
+  use_amp: false
+  use_fsdp: true
+  use_gradient_checkpointing: false
+  use_gradient_checkpointing_offload: false
+  use_mixed_precision: true
+  use_selective_recompute: false
+hyperparams:
+  batch_size_per_gpu: 8
+  gradient_accumulation_steps: 8
+  num_epoch: 6
+  optimizer:
+    action_expert_learning_rate: null
+    action_lr_keywords: null
+    betas: !!python/tuple
+    - 0.9
+    - 0.95
+    enable_grad_clip: true
+    eps: 1.0e-08
+    foreach: null
+    fused: true
+    learning_rate: 5.0e-05
+    lr_groups: null
+    max_grad_norm: 1.0
+    optimizer_type: adamw
+    train_action_expert_only: false
+    weight_decay: 1.0e-08
+  scheduler:
+    min_lr: 1.0e-06
+    num_training_steps: 3200
+    num_warmup_steps: 200
+    scheduler_type: cosine
+  seed: 10222
+logging:
+  epoch_save_interval: 1
+  gc_interval_steps: 1000
+  ignore_until_interval: 0
+  log_entity: null
+  log_interval: 1
+  log_name: pick_paper_3cam_mixed_lora
+  log_project: null
+  loss_log_smooth_window: 1
+  save_interval: 700
+  use_wandb: false
+  val_interval: 700
+  wandb_offline: false
+model:
+  action_tokenizer_checkpoint_path: null
+  action_tokenizer_config_dir: null
+  action_tokenizer_path: null
+  action_tokenizer_type: null
+  ar_loss_weight: 0.01
+  attn_deterministic: true
+  attn_implementation: null
+  backbone: qwen2_5
+  config_path: /data5/students/huanghuagui/walloss_Tweak/migration/models/wall-oss-0.5/config.json
+  customized_robot_config: null
+  enable_customized_robot_config: false
+  flow_loss_weight: 1.0
+  lora_config_path: /data5/students/huanghuagui/huangyanpei/wall-x/workspace/example/wall-oss-0.5-lora.json
+  new_special_tokens: null
+  pretrained_path: /data5/students/huanghuagui/walloss_Tweak/migration/models/Qwen2.5-VL-3B-Instruct
+  processor_path: /data5/students/huanghuagui/walloss_Tweak/migration/models/Qwen2.5-VL-3B-Instruct
+  use_ema: false
+model_type: qwen2_5
+task:
+  action_horizon: 10
+  action_horizon_flow: 10
+  agent_pos_config:
+    action_padding: 19
+    follow_right_ee_cartesian_pos: 3
+    follow_right_ee_rotation: 3
+    follow_right_gripper: 1
+  ar_dof_config:
+    action_padding: 19
+    follow_right_ee_cartesian_pos_relative: 3
+    follow_right_ee_rotation_relative: 3
+    follow_right_gripper: 1
+  dof_config:
+    action_padding: 19
+    follow_right_ee_cartesian_pos_relative: 3
+    follow_right_ee_rotation_relative: 3
+    follow_right_gripper: 1
+  noise_scheduler: null
+  use_state_string_representation: false