File size: 4,878 Bytes
00342af
ce462d5
00342af
 
ce462d5
00342af
 
ce462d5
 
00342af
 
 
 
 
 
 
 
 
 
ce462d5
 
00342af
ce462d5
 
00342af
 
 
 
 
 
 
 
 
ce462d5
 
 
00342af
 
 
ce462d5
 
00342af
ce462d5
00342af
 
 
 
 
 
 
 
 
 
 
 
 
 
ce462d5
00342af
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
ce462d5
00342af
 
 
 
ce462d5
 
 
 
 
00342af
 
 
ce462d5
 
00342af
 
 
 
 
 
ce462d5
 
00342af
 
 
ce462d5
00342af
 
 
 
 
 
 
 
 
 
 
ce462d5
00342af
 
 
 
 
 
 
 
cfc38b2
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
150
151
152
153
154
155
{
    "robovlm_name": "RoboKosMos",
    "parent": null,
    "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": 10000,
        "check_val_every_n_epoch": null,
        "max_steps": 50000,
        "accumulate_grad_batches": 1
    },
    "train_dataset": {
        "type": "OpenVLADataset",
        "data_root_dir": "datasets/open-x-embodiment",
        "model_name": "kosmos",
        "image_aug": true,
        "mode": "train",
        "data_mix": "oxe_magic_soup",
        "window_sample": "sliding",
        "organize_type": "interleave",
        "shuffle_buffer_size": 51200,
        "train": true
    },
    "val_dataset": {
        "type": "OpenVLADataset",
        "data_root_dir": "datasets/open-x-embodiment",
        "model_name": "kosmos",
        "mode": "train",
        "data_mix": "rt_1",
        "window_sample": "sliding",
        "organize_type": "interleave",
        "shuffle_buffer_size": 10000,
        "train": false
    },
    "raw_config_path": "configs/kosmos/oxe_new/finetune_kosmos_cont-lstm-post_full-ft_text_vision_wd=0_hist=16_act=10_use-hand_aug-shift_act-norm_lr-2e-5_oxe.json",
    "config": "configs/kosmos/oxe_new/finetune_kosmos_cont-lstm-post_full-ft_text_vision_wd=0_hist=16_act=10_use-hand_aug-shift_act-norm_lr-2e-5_oxe.json",
    "gpus": 8,
    "num_nodes": 4,
    "log_dir": "runs/logs/oxe_pretrain/kosmos/calvin_finetune/2024-11-21/01-16",
    "output_dir": "runs/checkpoints/oxe_pretrain/kosmos/calvin_finetune/2024-11-21/01-16",
    "data_dir": null,
    "annotation_file": null,
    "data_subfolder": null,
    "task_num": null,
    "exp_name": "01-16",
    "use_multi_modal_emb": false,
    "no_video_pretrained_model": false,
    "finetune": false,
    "llm": {
        "type": null,
        "n_embd": null,
        "n_layer": null,
        "n_head": null
    }
}