File size: 4,560 Bytes
00342af ae9d8b9 00342af ae9d8b9 00342af ae9d8b9 00342af ae9d8b9 00342af ae9d8b9 00342af ae9d8b9 00342af ae9d8b9 00342af ae9d8b9 00342af ae9d8b9 00342af ae9d8b9 00342af ae9d8b9 00342af 0ddda81 00342af |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 |
{
"robovlm_name": "RoboKosMos",
"parent": null,
"task_name": "calvin_finetune",
"model": "kosmos",
"model_url": "https://huggingface.co/microsoft/kosmos-2-patch14-224",
"seq_len": 1,
"image_size": 224,
"image_mean": [0.48145466, 0.4578275, 0.40821073],
"image_std": [0.26862954, 0.26130258, 0.27577711],
"window_size": 16,
"fwd_pred_next_n": 10,
"arm_gripper_loss_ratio": 0.01,
"cap_loss_ratio": 0.05,
"fwd_loss_ratio": 0,
"seed": 123,
"batch_size": 4,
"num_workers": 16,
"data_scale": 1,
"optimizer": "adam",
"learning_rate": 2e-5,
"min_lr_scale": 1e-2,
"weight_decay": 0,
"warmup_epochs": 0.25,
"warmup_steps": 0,
"warmup_ratio": null,
"use_hand_rgb": true,
"use_time_causal_attn": false,
"use_mim_obs_loss": false,
"use_pixel_loss": true,
"use_obs_queries": true,
"use_vision_resampler": false,
"vision_masked_ratio": 0.9,
"use_tube_mask": false,
"output_root": "runs/checkpoints",
"log_root": "runs/logs",
"cache_root": "runs/cache",
"model_load_path": null,
"model_load_source": "torch",
"resume": null,
"model_path": ".vlms/kosmos-2-patch14-224",
"model_config": ".vlms/kosmos-2-patch14-224/config.json",
"train_setup": {
"precision": "bf16",
"predict_action": true,
"predict_forward": false,
"predict_forward_hand": false,
"predict_caption": false,
"train_vision": true,
"bits": -1,
"freeze_mm_mlp_adapter": false,
"freeze_backbone": false,
"freeze_resampler": false,
"tune_mm_mlp_adapter": false,
"mm_use_im_start_end": false,
"mm_use_im_patch_token": false,
"gradient_checkpointing": false,
"lora_enable": false,
"mm_projector_lr": 1e-4,
"lora_r": 64,
"lora_alpha": 16,
"lora_dropout": 0.05,
"lora_bias": "none",
"train_text_embedding": true
},
"vision_resampler": {
"vis_dim": 1024,
"depth": 8,
"dim_head": 64,
"heads": 8,
"num_latents": 64
},
"act_encoder": null,
"act_head": {
"type": "LSTMDecoder",
"hidden_size": 1024,
"action_dim": 7,
"down_sample": "none",
"latent": 1,
"fwd_pred_next_n": 1,
"window_size": 1,
"action_space": "continuous",
"with_history": true,
"history_type": "post"
},
"fwd_head": null,
"tokenizer": {
"type": "AutoProcessor",
"pretrained_model_name_or_path": ".vlms/kosmos-2-patch14-224",
"tokenizer_type": "kosmos",
"max_text_len": 256,
"additional_special_tokens": null
},
"vlm": {
"type": "AutoModelForVision2Seq",
"name": "kosmos",
"pretrained_model_name_or_path": ".vlms/kosmos-2-patch14-224"
},
"trainer": {
"accelerator": "gpu",
"strategy": "deepspeed_stage_2",
"precision": "16",
"logger": ["tensorboard"],
"gradient_clip_val": 1.0,
"use_distributed_sampler": false,
"log_every_n_steps": 10,
"max_epochs": 5,
"val_check_interval": null,
"check_val_every_n_epoch": 1,
"max_steps": -1,
"accumulate_grad_batches": 1
},
"train_dataset": {
"type": "DiskCalvinDataset",
"data_dir": "datasets/calvin_data/task_ABCD_D/training",
"shift_first": false,
"model_name": "kosmos",
"rgb_pad": 10,
"gripper_pad": 4
},
"val_dataset": {
"type": "DiskCalvinDataset",
"data_dir": "datasets/calvin_data/task_ABCD_D/validation",
"model_name": "kosmos"
},
"norm_action": true,
"norm_min": -0.65,
"norm_max": 0.65,
"raw_config_path": "configs/calvin_finetune/finetune_kosmos_cont-lstm-post_full-ft_text_vision_wd-0_ws-16_act-10.json",
"config": "configs/calvin_finetune/finetune_kosmos_cont-lstm-post_full-ft_text_vision_wd-0_ws-16_act-10.json",
"gpus": 8,
"num_nodes": 1,
"log_dir": "runs/logs/kosmos/calvin_finetune/2024-12-26/15-13",
"output_dir": "runs/checkpoints/kosmos/calvin_finetune/2024-12-26/15-13",
"data_dir": null,
"annotation_file": null,
"data_subfolder": null,
"task_num": null,
"exp_name": "15-13",
"use_multi_modal_emb": false,
"no_video_pretrained_model": false,
"finetune": false,
"llm": {
"type": null,
"n_embd": null,
"n_layer": null,
"n_head": null
}
} |