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