Delete G0Plus_3B_base-pick_and_place

G0Plus_3B_base-pick_and_place/.hydra/config.yaml

@@ -1,358 +0,0 @@
-seed: 7
-resume_ckpt: null
-output_dir: ${hydra:runtime.output_dir}
-checkpointing_steps: 17834
-logger:
-  type: wandb
-  log_steps: 10
-  task: ${hydra:runtime.choices.task}
-  project: ${split:${logger.task},0}
-  experiment_name: ${split:${logger.task},-1}
-  mode: online
-  workspace: cuijianning1996-galaxea-ai
-  dir: ${output_dir}/wandb
-batch_size_val: 16
-eval_episodes_num: 1
-ckpt_path: null
-env: R1ProBlocksStackEasy
-target_controller_type: bimanual_relaxed_ik
-tags: null
-edp:
-  card: null
-  training_time: ${now:%Y-%m-%d}_${now:%H-%M-%S}
-  git_branch: null
-  git_commit: null
-  root: null
-  repo_ids: null
-  save_dir: ${output_dir}
-  tags: ${tags}
-  max_steps: ${model.max_steps}
-  batch_size: ${model.batch_size}
-data:
-  _target_: galaxea_fm.data.galaxea_lerobot_dataset.GalaxeaLerobotDataset
-  dataset_dirs: null
-  shape_meta:
-    action:
-    - key: left_arm
-      raw_shape: 6
-      shape: 6
-    - key: left_gripper
-      raw_shape: 1
-      shape: 1
-    - key: right_arm
-      raw_shape: 6
-      shape: 6
-    - key: right_gripper
-      raw_shape: 1
-      shape: 1
-    state:
-    - key: left_arm
-      raw_shape: 6
-      shape: 6
-    - key: left_gripper
-      raw_shape: 1
-      shape: 1
-    - key: right_arm
-      raw_shape: 6
-      shape: 6
-    - key: right_gripper
-      raw_shape: 1
-      shape: 1
-    images:
-    - key: head_condition
-      raw_shape:
-      - 3
-      - 224
-      - 224
-      shape:
-      - 3
-      - 224
-      - 224
-    - key: head_rgb
-      raw_shape:
-      - 3
-      - 720
-      - 1280
-      shape:
-      - 3
-      - 224
-      - 224
-    - key: left_wrist_rgb
-      raw_shape:
-      - 3
-      - 720
-      - 1280
-      shape:
-      - 3
-      - 224
-      - 224
-    - key: right_wrist_rgb
-      raw_shape:
-      - 3
-      - 720
-      - 1280
-      shape:
-      - 3
-      - 224
-      - 224
-  action_size: 32
-  past_action_size: 0
-  obs_size: 1
-  ee_start_moving_thresh: 0.0
-  val_set_proportion: 0.05
-  use_bbox_condition: true
-  dataset_root: /galaxea_dataset/galaxea/pp_project/lerobot_with_bbox
-  dataset_prefixes:
-  - BENCH
-  - Bench
-model:
-  pretrained_ckpt: /galaxea_dataset/mnt/tmp/pp_wt_img_cond/checkpoints/org2fm_v2.pt
-  use_pretrained_norm_stats: true
-  model_weights_to_bf16: false
-  enable_bf16_training: true
-  use_torch_compile: false
-  find_unused_parameters: false
-  batch_size: 4
-  num_workers: 4
-  pin_memory: true
-  persistent_workers: true
-  max_epochs: 4
-  max_steps: null
-  grad_accumulation_steps: 1
-  use_8bit_optimizer: false
-  learning_rate: 2.5e-05
-  weight_decay: 1.0e-06
-  betas:
-  - 0.9
-  - 0.999
-  lr_scheduler_type: cosine
-  warmup_steps: 500
-  max_grad_norm: 1.0
-  use_ema: false
-  ema:
-    update_after_step: 0
-    power: 0.67
-  use_sync_bn: false
-  processor:
-    _target_: galaxea_fm.processors.galaxea_zero_processor.GalaxeaZeroProcessor
-    shape_meta: ${data.shape_meta}
-    num_obs_steps: ${data.obs_size}
-    action_state_transforms:
-    - _target_: galaxea_fm.transforms.relative_action.RelativeJointTransform
-      keys:
-      - left_arm
-      - right_arm
-    use_stepwise_action_norm: true
-    norm_default_mode: z-score
-    norm_exception_mode:
-      action:
-        left_gripper: 0/100
-        right_gripper: 0/100
-    action_state_merger:
-      _target_: galaxea_fm.transforms.action_state_merger.ConcatLeftAlign
-    train_transforms:
-      head_condition:
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
-      - _target_: galaxea_fm.transforms.image.ToTensor
-      - _target_: torchvision.transforms.Normalize
-        mean:
-        - 0.5
-        - 0.5
-        - 0.5
-        std:
-        - 0.5
-        - 0.5
-        - 0.5
-      head_rgb:
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
-      - _target_: galaxea_fm.transforms.image.ToTensor
-      - _target_: torchvision.transforms.Normalize
-        mean:
-        - 0.5
-        - 0.5
-        - 0.5
-        std:
-        - 0.5
-        - 0.5
-        - 0.5
-      left_wrist_rgb:
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
-      - _target_: galaxea_fm.transforms.image.ToTensor
-      - _target_: torchvision.transforms.Normalize
-        mean:
-        - 0.5
-        - 0.5
-        - 0.5
-        std:
-        - 0.5
-        - 0.5
-        - 0.5
-      right_wrist_rgb:
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
-      - _target_: galaxea_fm.transforms.image.ToTensor
-      - _target_: torchvision.transforms.Normalize
-        mean:
-        - 0.5
-        - 0.5
-        - 0.5
-        std:
-        - 0.5
-        - 0.5
-        - 0.5
-    val_transforms:
-      head_condition:
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
-      - _target_: galaxea_fm.transforms.image.ToTensor
-      - _target_: torchvision.transforms.Normalize
-        mean:
-        - 0.5
-        - 0.5
-        - 0.5
-        std:
-        - 0.5
-        - 0.5
-        - 0.5
-      head_rgb:
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
-      - _target_: galaxea_fm.transforms.image.ToTensor
-      - _target_: torchvision.transforms.Normalize
-        mean:
-        - 0.5
-        - 0.5
-        - 0.5
-        std:
-        - 0.5
-        - 0.5
-        - 0.5
-      left_wrist_rgb:
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
-      - _target_: galaxea_fm.transforms.image.ToTensor
-      - _target_: torchvision.transforms.Normalize
-        mean:
-        - 0.5
-        - 0.5
-        - 0.5
-        std:
-        - 0.5
-        - 0.5
-        - 0.5
-      right_wrist_rgb:
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
-      - _target_: galaxea_fm.transforms.image.ToTensor
-      - _target_: torchvision.transforms.Normalize
-        mean:
-        - 0.5
-        - 0.5
-        - 0.5
-        std:
-        - 0.5
-        - 0.5
-        - 0.5
-    num_output_cameras: 4
-    use_zh_instruction: false
-    drop_high_level_prob: 1.0
-    pad_token_id: ${model.model_arch.pad_token_id}
-    image_token_index: ${model.model_arch.image_token_index}
-    tokenizer_params:
-      pretrained_model_name_or_path: google/paligemma-3b-pt-224
-      local_files_only: false
-      token: null
-    max_text_tokens: ${model.model_arch.max_text_tokens}
-    max_image_text_tokens: ${model.model_arch.max_image_text_tokens}
-    num_input_cameras: ${model.model_arch.num_input_images}
-    num_image_tokens_per_camera: ${model.model_arch.vision.num_image_tokens}
-  model_arch:
-    _target_: galaxea_fm.models.galaxea_zero.galaxea_zero_policy.GalaxeaZeroPolicy
-    model_name: galaxea_fm.models.galaxea_zero.galaxea_zero_policy.GalaxeaZero
-    pretrained_model_path: /vla_fulltime/jianning.cui/code/GalaxeaFM/google/paligemma-3b-pt-224
-    vla_training_strategy: vla-full-train
-    backbone_lr_multiplier: 1.0
-    image_token_index: 257152
-    pad_token_id: 0
-    vocab_size: 257216
-    cond_steps: ${data.obs_size}
-    horizon_steps: ${data.action_size}
-    max_text_tokens: 55
-    max_image_text_tokens: ${eval:'${model.model_arch.num_input_images} * ${model.model_arch.vision.num_image_tokens}
-      + ${model.model_arch.max_text_tokens}'}
-    num_input_images: ${eval:'${model.model_arch.cond_steps} * ${model.processor.num_output_cameras}'}
-    num_extra_image_tokens_per_camera: 0
-    final_action_clip_value: null
-    action_dim: 14
-    proprio_dim: 14
-    action_decoder_layers: 2
-    action_expert_adaptive_mode: null
-    flow_sampling: beta
-    num_inference_steps: 10
-    vision:
-      name: galaxea_fm.models.galaxea_zero.paligemma.siglip.SiglipVisionModel
-      hidden_size: 1152
-      intermediate_size: 4304
-      num_hidden_layers: 27
-      num_attention_heads: 16
-      num_channels: 3
-      image_size: 224
-      patch_size: 14
-      layer_norm_eps: 1.0e-06
-      attention_dropout: 0.0
-      num_image_tokens: 256
-    vision_projector:
-      name: galaxea_fm.models.galaxea_zero.paligemma.siglip.PaliGemmaMultiModalProjector
-      vision_config:
-        hidden_size: 1152
-        projection_dim: 2048
-    joint:
-      name: galaxea_fm.models.galaxea_zero.joint_model.JointModel
-      action_expert_adaptive_mode: null
-      mixture:
-        vlm:
-          hidden_size: 2048
-          intermediate_size: 16384
-          use_final_norm: false
-          cache: true
-        proprio:
-          hidden_size: 1024
-          intermediate_size: 4096
-          use_final_norm: true
-          cache: true
-          adaptive_mode: null
-        action:
-          hidden_size: 1024
-          intermediate_size: 4096
-          use_final_norm: true
-          cache: false
-          adaptive_mode: null
-      time_hidden_size: 256
-      num_hidden_layers: 18
-      num_attention_heads: 8
-      num_key_value_heads: 1
-      head_dim: 256
-      max_position_embeddings: 8192
-      rms_norm_eps: 1.0e-06
-      rope_theta: 10000.0
-      attention_bias: false
-      attention_dropout: 0.0

G0Plus_3B_base-pick_and_place/.hydra/hydra.yaml

@@ -1,161 +0,0 @@
-hydra:
-  run:
-    dir: ${oc.env:GALAXEA_FM_OUTPUT_DIR}/${hydra:runtime.choices.task}/${now:%Y-%m-%d_%H-%M-%S}
-  sweep:
-    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
-    subdir: ${hydra.job.num}
-  launcher:
-    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
-  sweeper:
-    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
-    max_batch_size: null
-    params: null
-  help:
-    app_name: ${hydra.job.name}
-    header: '${hydra.help.app_name} is powered by Hydra.
-
-      '
-    footer: 'Powered by Hydra (https://hydra.cc)
-
-      Use --hydra-help to view Hydra specific help
-
-      '
-    template: '${hydra.help.header}
-
-      == Configuration groups ==
-
-      Compose your configuration from those groups (group=option)
-
-
-      $APP_CONFIG_GROUPS
-
-
-      == Config ==
-
-      Override anything in the config (foo.bar=value)
-
-
-      $CONFIG
-
-
-      ${hydra.help.footer}
-
-      '
-  hydra_help:
-    template: 'Hydra (${hydra.runtime.version})
-
-      See https://hydra.cc for more info.
-
-
-      == Flags ==
-
-      $FLAGS_HELP
-
-
-      == Configuration groups ==
-
-      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
-      to command line)
-
-
-      $HYDRA_CONFIG_GROUPS
-
-
-      Use ''--cfg hydra'' to Show the Hydra config.
-
-      '
-    hydra_help: ???
-  hydra_logging:
-    version: 1
-    formatters:
-      simple:
-        format: '[%(asctime)s][HYDRA] %(message)s'
-    handlers:
-      console:
-        class: logging.StreamHandler
-        formatter: simple
-        stream: ext://sys.stdout
-    root:
-      level: INFO
-      handlers:
-      - console
-    loggers:
-      logging_example:
-        level: DEBUG
-    disable_existing_loggers: false
-  job_logging:
-    version: 1
-    formatters:
-      simple:
-        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
-    handlers:
-      console:
-        class: logging.StreamHandler
-        formatter: simple
-        stream: ext://sys.stdout
-      file:
-        class: logging.FileHandler
-        formatter: simple
-        filename: ${hydra.runtime.output_dir}/train.log
-    root:
-      level: INFO
-      handlers:
-      - console
-      - file
-    disable_existing_loggers: false
-  env: {}
-  mode: RUN
-  searchpath: []
-  callbacks: {}
-  output_subdir: .hydra
-  overrides:
-    hydra:
-    - hydra.mode=RUN
-    task:
-    - task=merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks
-  job:
-    name: finetune
-    chdir: null
-    override_dirname: task=merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks
-    id: ???
-    num: ???
-    config_name: train.yaml
-    env_set: {}
-    env_copy: []
-    config:
-      override_dirname:
-        kv_sep: '='
-        item_sep: ','
-        exclude_keys: []
-  runtime:
-    version: 1.3.2
-    version_base: '1.3'
-    cwd: /vla_fulltime/jianning.cui/code/GalaxeaFM
-    config_sources:
-    - path: hydra.conf
-      schema: pkg
-      provider: hydra
-    - path: /vla_fulltime/jianning.cui/code/GalaxeaFM/configs
-      schema: file
-      provider: main
-    - path: hydra_plugins.hydra_colorlog.conf
-      schema: pkg
-      provider: hydra-colorlog
-    - path: ''
-      schema: structured
-      provider: schema
-    output_dir: /vla_fulltime/jianning.cui/code/GalaxeaFM/runs/merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks/2025-12-20_12-10-35
-    choices:
-      task: merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks
-      model: vla/g0plus_bbox
-      data: r1lite/arm
-      hydra/env: default
-      hydra/callbacks: null
-      hydra/job_logging: default
-      hydra/hydra_logging: default
-      hydra/hydra_help: default
-      hydra/help: default
-      hydra/sweeper: basic
-      hydra/launcher: basic
-      hydra/output: default
-  verbose: false

G0Plus_3B_base-pick_and_place/.hydra/overrides.yaml

@@ -1 +0,0 @@
-- task=merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks

G0Plus_3B_base-pick_and_place/checkpoints/config.yaml

@@ -1,358 +0,0 @@
-seed: 7
-resume_ckpt: null
-output_dir: ${hydra:runtime.output_dir}
-checkpointing_steps: 17834
-logger:
-  type: wandb
-  log_steps: 10
-  task: ${hydra:runtime.choices.task}
-  project: ${split:${logger.task},0}
-  experiment_name: ${split:${logger.task},-1}
-  mode: online
-  workspace: cuijianning1996-galaxea-ai
-  dir: ${output_dir}/wandb
-batch_size_val: 16
-eval_episodes_num: 1
-ckpt_path: null
-env: R1ProBlocksStackEasy
-target_controller_type: bimanual_relaxed_ik
-tags: null
-edp:
-  card: null
-  training_time: ${now:%Y-%m-%d}_${now:%H-%M-%S}
-  git_branch: null
-  git_commit: null
-  root: null
-  repo_ids: null
-  save_dir: ${output_dir}
-  tags: ${tags}
-  max_steps: ${model.max_steps}
-  batch_size: ${model.batch_size}
-data:
-  _target_: galaxea_fm.data.galaxea_lerobot_dataset.GalaxeaLerobotDataset
-  dataset_dirs: null
-  shape_meta:
-    action:
-    - key: left_arm
-      raw_shape: 6
-      shape: 6
-    - key: left_gripper
-      raw_shape: 1
-      shape: 1
-    - key: right_arm
-      raw_shape: 6
-      shape: 6
-    - key: right_gripper
-      raw_shape: 1
-      shape: 1
-    state:
-    - key: left_arm
-      raw_shape: 6
-      shape: 6
-    - key: left_gripper
-      raw_shape: 1
-      shape: 1
-    - key: right_arm
-      raw_shape: 6
-      shape: 6
-    - key: right_gripper
-      raw_shape: 1
-      shape: 1
-    images:
-    - key: head_condition
-      raw_shape:
-      - 3
-      - 224
-      - 224
-      shape:
-      - 3
-      - 224
-      - 224
-    - key: head_rgb
-      raw_shape:
-      - 3
-      - 720
-      - 1280
-      shape:
-      - 3
-      - 224
-      - 224
-    - key: left_wrist_rgb
-      raw_shape:
-      - 3
-      - 720
-      - 1280
-      shape:
-      - 3
-      - 224
-      - 224
-    - key: right_wrist_rgb
-      raw_shape:
-      - 3
-      - 720
-      - 1280
-      shape:
-      - 3
-      - 224
-      - 224
-  action_size: 32
-  past_action_size: 0
-  obs_size: 1
-  ee_start_moving_thresh: 0.0
-  val_set_proportion: 0.05
-  use_bbox_condition: true
-  dataset_root: /galaxea_dataset/galaxea/pp_project/lerobot_with_bbox
-  dataset_prefixes:
-  - BENCH
-  - Bench
-model:
-  pretrained_ckpt: /galaxea_dataset/mnt/tmp/pp_wt_img_cond/checkpoints/org2fm_v2.pt
-  use_pretrained_norm_stats: true
-  model_weights_to_bf16: false
-  enable_bf16_training: true
-  use_torch_compile: false
-  find_unused_parameters: false
-  batch_size: 4
-  num_workers: 4
-  pin_memory: true
-  persistent_workers: true
-  max_epochs: 4
-  max_steps: null
-  grad_accumulation_steps: 1
-  use_8bit_optimizer: false
-  learning_rate: 2.5e-05
-  weight_decay: 1.0e-06
-  betas:
-  - 0.9
-  - 0.999
-  lr_scheduler_type: cosine
-  warmup_steps: 500
-  max_grad_norm: 1.0
-  use_ema: false
-  ema:
-    update_after_step: 0
-    power: 0.67
-  use_sync_bn: false
-  processor:
-    _target_: galaxea_fm.processors.galaxea_zero_processor.GalaxeaZeroProcessor
-    shape_meta: ${data.shape_meta}
-    num_obs_steps: ${data.obs_size}
-    action_state_transforms:
-    - _target_: galaxea_fm.transforms.relative_action.RelativeJointTransform
-      keys:
-      - left_arm
-      - right_arm
-    use_stepwise_action_norm: true
-    norm_default_mode: z-score
-    norm_exception_mode:
-      action:
-        left_gripper: 0/100
-        right_gripper: 0/100
-    action_state_merger:
-      _target_: galaxea_fm.transforms.action_state_merger.ConcatLeftAlign
-    train_transforms:
-      head_condition:
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
-      - _target_: galaxea_fm.transforms.image.ToTensor
-      - _target_: torchvision.transforms.Normalize
-        mean:
-        - 0.5
-        - 0.5
-        - 0.5
-        std:
-        - 0.5
-        - 0.5
-        - 0.5
-      head_rgb:
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
-      - _target_: galaxea_fm.transforms.image.ToTensor
-      - _target_: torchvision.transforms.Normalize
-        mean:
-        - 0.5
-        - 0.5
-        - 0.5
-        std:
-        - 0.5
-        - 0.5
-        - 0.5
-      left_wrist_rgb:
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
-      - _target_: galaxea_fm.transforms.image.ToTensor
-      - _target_: torchvision.transforms.Normalize
-        mean:
-        - 0.5
-        - 0.5
-        - 0.5
-        std:
-        - 0.5
-        - 0.5
-        - 0.5
-      right_wrist_rgb:
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
-      - _target_: galaxea_fm.transforms.image.ToTensor
-      - _target_: torchvision.transforms.Normalize
-        mean:
-        - 0.5
-        - 0.5
-        - 0.5
-        std:
-        - 0.5
-        - 0.5
-        - 0.5
-    val_transforms:
-      head_condition:
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
-      - _target_: galaxea_fm.transforms.image.ToTensor
-      - _target_: torchvision.transforms.Normalize
-        mean:
-        - 0.5
-        - 0.5
-        - 0.5
-        std:
-        - 0.5
-        - 0.5
-        - 0.5
-      head_rgb:
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
-      - _target_: galaxea_fm.transforms.image.ToTensor
-      - _target_: torchvision.transforms.Normalize
-        mean:
-        - 0.5
-        - 0.5
-        - 0.5
-        std:
-        - 0.5
-        - 0.5
-        - 0.5
-      left_wrist_rgb:
-      - _target_: torchvision.transforms.Resize
-        size:
-        - 224
-        - 224
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G0Plus_3B_base-pick_and_place/checkpoints/dataset_stats.json

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G0Plus_3B_base-pick_and_place/wandb/wandb/debug-internal.log

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G0Plus_3B_base-pick_and_place/wandb/wandb/debug.log

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'right_wrist_rgb': [{'_target_': 'torchvision.transforms.Resize', 'size': [224, 224]}, {'_target_': 'galaxea_fm.transforms.image.ToTensor'}, {'_target_': 'torchvision.transforms.Normalize', 'mean': [0.5, 0.5, 0.5], 'std': [0.5, 0.5, 0.5]}]}, 'num_output_cameras': 4, 'use_zh_instruction': False, 'drop_high_level_prob': 1.0, 'pad_token_id': 0, 'image_token_index': 257152, 'tokenizer_params': {'pretrained_model_name_or_path': 'google/paligemma-3b-pt-224', 'local_files_only': False, 'token': None}, 'max_text_tokens': 55, 'max_image_text_tokens': 1079, 'num_input_cameras': 4, 'num_image_tokens_per_camera': 256}, 'model_arch': {'_target_': 'galaxea_fm.models.galaxea_zero.galaxea_zero_policy.GalaxeaZeroPolicy', 'model_name': 'galaxea_fm.models.galaxea_zero.galaxea_zero_policy.GalaxeaZero', 'pretrained_model_path': '/vla_fulltime/jianning.cui/code/GalaxeaFM/google/paligemma-3b-pt-224', 'vla_training_strategy': 'vla-full-train', 'backbone_lr_multiplier': 1.0, 'image_token_index': 257152, 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G0Plus_3B_base-pick_and_place/wandb/wandb/latest-run/files/output.log

@@ -1,93 +0,0 @@
-12/20 [12:16:45] INFO     | >> Initialized wandb tracker       train_utils.py:66
-dataset_dirs:['/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Plac_Photo_Frame_Evenly_Distributed_Round_7_20250929_007/BENCH_Pick_And_Plac_Photo_Frame_Evenly_Distributed_Round_7_20250929_007/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items100_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items100_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items103_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items103_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items104_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items104_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items105_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items105_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items106_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items106_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items107_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items107_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items108_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items108_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items109_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items109_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items10_Evenly_Distributed_Round_13_20251022_007/BENCH_Pick_And_Place_20_Items10_Evenly_Distributed_Round_13_20251022_007/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items111_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items111_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items113_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items113_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items115_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items115_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items116_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items116_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_13_20251022_007/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_13_20251022_007/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_13_20251022_018/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_13_20251022_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_14_251125_019/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_14_251125_019/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_9_20251015_007/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_9_20251015_007/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items121_Evenly_Distributed_Round_13_20251028_018/BENCH_Pick_And_Place_20_Items121_Evenly_Distributed_Round_13_20251028_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items122_Evenly_Distributed_Round_13_20251028_018/BENCH_Pick_And_Place_20_Items122_Evenly_Distributed_Round_1
-                 INFO     | >> [Dataset] Expanded 384            finetune.py:284
-                          dataset_dirs from
-                          root=/galaxea_dataset/galaxea/pp_proje
-                          ct/lerobot_with_bbox
-                 INFO     | >> [Dataset] First 5:                finetune.py:285
-                 INFO     | >>                                   finetune.py:287
-                          /galaxea_dataset/galaxea/pp_project/le
-                          robot_with_bbox/BENCH_Pick_And_Plac_Ph
-                          oto_Frame_Evenly_Distributed_Round_7_2
-                          0250929_007/BENCH_Pick_And_Plac_Photo_
-                          Frame_Evenly_Distributed_Round_7_20250
-                          929_007/
-                 INFO     | >>                                   finetune.py:287
-                          /galaxea_dataset/galaxea/pp_project/le
-                          robot_with_bbox/BENCH_Pick_And_Place_2
-                          0_Items100_Evenly_Distributed_Round_13
-                          _20251027_018/BENCH_Pick_And_Place_20_
-                          Items100_Evenly_Distributed_Round_13_2
-                          0251027_018/
-                 INFO     | >>                                   finetune.py:287
-                          /galaxea_dataset/galaxea/pp_project/le
-                          robot_with_bbox/BENCH_Pick_And_Place_2
-                          0_Items103_Evenly_Distributed_Round_13
-                          _20251027_018/BENCH_Pick_And_Place_20_
-                          Items103_Evenly_Distributed_Round_13_2
-                          0251027_018/
-                 INFO     | >>                                   finetune.py:287
-                          /galaxea_dataset/galaxea/pp_project/le
-                          robot_with_bbox/BENCH_Pick_And_Place_2
-                          0_Items104_Evenly_Distributed_Round_13
-                          _20251027_018/BENCH_Pick_And_Place_20_
-                          Items104_Evenly_Distributed_Round_13_2
-                          0251027_018/
-                 INFO     | >>                                   finetune.py:287
-                          /galaxea_dataset/galaxea/pp_project/le
-                          robot_with_bbox/BENCH_Pick_And_Place_2
-                          0_Items105_Evenly_Distributed_Round_13
-                          _20251027_018/BENCH_Pick_And_Place_20_
-                          Items105_Evenly_Distributed_Round_13_2
-                          0251027_018/
-12/20 [12:37:38] INFO     | >> Detected GPU: NVIDIA           train_utils.py:177
-                          A800-SXM4-80GB, dtype:
-                          torch.bfloat16, peak FLOPS: 312.0
-                          TFLOPS
-                 INFO     | >>   Model parameters: 3239.17M   train_utils.py:252
-                 INFO     | >>   Estimated FLOPs/step:        train_utils.py:253
-                          5241.64 TFLOPs
-                 INFO     | >> MFU Tracker initialized:       train_utils.py:136
-                 INFO     | >>   Training mode: AMP           train_utils.py:137
-                          (torch.bfloat16)
-                 INFO     | >>   GPU Peak: 312.0 TFLOPS/GPU   train_utils.py:138
-                          (torch.bfloat16)
-                 INFO     | >>   Total Peak (80 GPUs):        train_utils.py:139
-                          24960.0 TFLOPS
-                 INFO     | >>   Model FLOPs/step: 5241.64    train_utils.py:140
-                          TFLOPs
-/vla_fulltime/jianning.cui/code/GalaxeaFM/.venv/lib/python3.10/site-packages/torch/distributed/distributed_c10d.py:4631: UserWarning: No device id is provided via `init_process_group` or `barrier `. Using the current device set by the user.
-  warnings.warn(  # warn only once
-Epoch 0, Step 17833, Loss: 0.0523:   6%|▋         | 17834/285328 [4:59:52<71:19:10,  1.04it/s]/vla_fulltime/jianning.cui/code/GalaxeaFM/.venv/lib/python3.10/site-packages/torch/distributed/distributed_c10d.py:4631: UserWarning: No device id is provided via `init_process_group` or `barrier `. Using the current device set by the user.
-12/20 [17:37:32] INFO     | >> Saving model checkpoint for step  finetune.py:521
-                          17834 ...
-[2025-12-20 17:37:34,011] [INFO] [real_accelerator.py:219:get_accelerator] Setting ds_accelerator to cuda (auto detect)
-12/20 [17:37:36] INFO     | >> cc -pthread -Wno-unused-result        spawn.py:77
-                          -Wsign-compare -Wunreachable-code -DNDEBUG
-                          -g -fwrapv -O3 -Wall -fPIC -fPIC -c
-                          /tmp/tmpvctvfu0i/test.c -o
-                          /tmp/tmpvctvfu0i/test.o
-                 INFO     | >> cc -pthread /tmp/tmpvctvfu0i/test.o   spawn.py:77
-                          -laio -o /tmp/tmpvctvfu0i/a.out
-12/20 [17:37:37] INFO     | >> cc -pthread -Wno-unused-result        spawn.py:77
-                          -Wsign-compare -Wunreachable-code -DNDEBUG
-                          -g -fwrapv -O3 -Wall -fPIC -fPIC -c
-                          /tmp/tmptk2ttbv1/test.c -o
-                          /tmp/tmptk2ttbv1/test.o
-                 INFO     | >> cc -pthread /tmp/tmptk2ttbv1/test.o   spawn.py:77
-                          -L/usr/local/cuda -L/usr/local/cuda/lib64
-                          -lcufile -o /tmp/tmptk2ttbv1/a.out
-  warnings.warn(  # warn only once
-Epoch 1, Step 136003, Loss: 0.0093:  48%|████▊     | 136004/285328 [37:54:22<39:50:02,  1.04it/s] 
-12/20 [22:37:12] INFO     | >> Saving model checkpoint for step  finetune.py:521
-                          35668 ...
-12/21 [03:35:24] INFO     | >> Saving model checkpoint for step  finetune.py:521
-                          53502 ...
-12/21 [08:33:08] INFO     | >> Saving model checkpoint for step  finetune.py:521
-                          71336 ...
-12/21 [13:30:41] INFO     | >> Saving model checkpoint for step  finetune.py:521
-                          89170 ...
-12/21 [18:28:00] INFO     | >> Saving model checkpoint for step  finetune.py:521
-                          107004 ...
-12/21 [23:25:30] INFO     | >> Saving model checkpoint for step  finetune.py:521
-                          124838 ...

G0Plus_3B_base-pick_and_place/wandb/wandb/latest-run/files/requirements.txt

@@ -1,259 +0,0 @@
-coloredlogs==15.0.1
-docstring_parser==0.17.0
-filelock==3.20.0
-triton==3.3.1
-rootutils==1.0.7
-py-cpuinfo==9.0.0
-Markdown==3.10
-nvidia-cufft-cu12==11.3.3.41
-alembic==1.17.1
-yapf==0.40.2
-optuna==2.10.1
-pluggy==1.6.0
-sympy==1.14.0
-Mako==1.3.10
-torchmetrics==1.7.4
-kiwisolver==1.4.9
-platformdirs==4.5.0
-easydict==1.9
-pyasn1_modules==0.4.2
-jsonschema-specifications==2025.9.1
-Jinja2==3.1.6
-stevedore==5.5.0
-sentry-sdk==2.48.0
-pynvml==13.0.1
-fastjsonschema==2.21.2
-pytest==8.3.4
-mplib==0.2.1
-arm_pytorch_utilities==0.4.3
-gitdb==4.0.12
-termcolor==2.4.0
-aiosignal==1.4.0
-open3d==0.18.0
-google-auth==2.43.0
-galaxea_fm==0.0.1
-Flask==3.1.2
-nvidia-cusolver-cu12==11.7.2.55
-swankit==0.2.4
-nest-asyncio==1.6.0
-s3transfer==0.14.0
-frozenlist==1.8.0
-nvidia-cuda-runtime-cu12==12.8.57
-jsonlines==4.0.0
-transformers==4.47.1
-multiprocess==0.70.16
-iniconfig==2.3.0
-jupytext==1.16.6
-beautifulsoup4==4.14.2
-toppra==0.6.3
-retrying==1.4.2
-wandb==0.23.1
-peft==0.11.1
-async-timeout==5.0.1
-annotated-types==0.7.0
-typing-inspect==0.9.0
-antlr4-python3-runtime==4.9.3
-robomimic==0.2.0
-sapien==3.0.0b1
-contourpy==1.3.2
-torchcodec==0.4.0+cu128
-charset-normalizer==3.4.4
-simplejson==3.20.2
-PySocks==1.7.1
-nvidia-cublas-cu12==12.8.3.14
-scikit-learn==1.7.2
-pyparsing==3.2.5
-python-dotenv==1.2.1
-hjson==3.1.0
-tensorboard-data-server==0.7.2
-egl_probe==1.0.2
-hydra-core==1.3.2
-six==1.17.0
-certifi==2025.10.5
-lxml==6.0.2
-fasteners==0.20
-tqdm==4.67.1
-nvidia-nvjitlink-cu12==12.8.61
-pyecharts==2.0.9
-botocore==1.40.68
-addict==2.4.0
-zipp==3.23.0
-colorlog==6.10.1
-nvidia-cusparse-cu12==12.5.7.53
-rich==13.9.4
-wcwidth==0.2.14
-pycparser==2.23
-jsonschema==4.25.1
-typing-inspection==0.4.2
-plotly==6.2.0
-tzdata==2025.2
-soupsieve==2.8
-nvidia-ml-py==13.580.82
-dash==3.2.0
-ninja==1.13.0
-nvidia-cuda-nvrtc-cu12==12.8.61
-polygraphy==0.49.26
-propcache==0.4.1
-nvidia-cufile-cu12==1.13.0.11
-grpcio==1.76.0
-autopage==0.5.2
-pyperclip==1.11.0
-multidict==6.7.0
-nvidia-cuda-cupti-cu12==12.8.57
-typing_extensions==4.15.0
-urllib3==2.5.0
-pydantic_core==2.41.5
-zarr==2.18.3
-attrs==25.4.0
-narwhals==2.10.2
-yarl==1.22.0
-mdurl==0.1.2
-cffi==2.0.0
-google-auth-oauthlib==1.2.2
-scipy==1.15.3
-nvidia-nccl-cu12==2.26.2
-networkx==3.4.2
-numba==0.61.2
-pyasn1==0.6.1
-imageio==2.34.1
-humanfriendly==10.0
-plyfile==1.0.3
-ConfigArgParse==1.7.1
-hydra-colorlog==1.2.0
-glfw==2.10.0
-gymnasium==0.29.1
-torchvision==0.22.1+cu128
-ema-pytorch==0.7.7
-click==8.3.0
-nbformat==5.10.4
-requests-oauthlib==2.0.0
-protobuf==4.25.8
-pymunk==6.11.1
-GitPython==3.1.45
-tensorboardX==2.6.4
-cmd2==2.7.0
-importlib_resources==6.5.2
-fonttools==4.60.1
-joblib==1.5.2
-greenlet==3.2.4
-datasets==3.6.0
-cycler==0.12.1
-prettytable==3.16.0
-rsa==4.9.1
-rich-argparse==1.7.2
-setuptools==80.9.0
-requests==2.32.5
-tokenizers==0.21.4
-mypy_extensions==1.1.0
-pillow==10.2.0
-h5py==3.14.0
-robosuite==1.4.0
-thop==0.1.1-2209072238
-SQLAlchemy==2.0.44
-lightning-utilities==0.15.2
-numcodecs==0.13.1
-regex==2025.11.3
-Werkzeug==3.1.3
-omegaconf==2.3.0
-imageio-ffmpeg==0.6.0
-pytorch_kinematics_ms==0.7.3
-flatbuffers==25.9.23
-deepspeed==0.15.4
-boto3==1.40.68
-importlib_metadata==8.7.0
-transforms3d==0.4.1
-packaging==25.0
-blinker==1.9.0
-bddl==1.0.1
-accelerate==1.2.1
-onnx==1.18.0
-fsspec==2025.3.0
-av==14.2.0
-psutil==7.1.3
-deepdiff==8.5.0
-xxhash==3.6.0
-torch==2.7.1+cu128
-dill==0.3.8
-PyYAML==6.0.3
-mujoco==3.4.0
-vit-pytorch==1.9.1
-mdit-py-plugins==0.5.0
-opencv-python==4.10.0.84
-nvidia-cusparselt-cu12==0.6.3
-galaxea-sim==0.1.0
-nvidia-cudnn-cu12==9.7.1.26
-onnx_graphsurgeon==0.5.8
-idna==3.11
-swanlab==0.6.9
-mpmath==1.3.0
-etils==1.13.0
-cliff==4.11.0
-nvidia-curand-cu12==10.3.9.55
-crcmod==1.7
-jmespath==1.0.1
-hf-xet==1.2.0
-referencing==0.37.0
-pandas==2.2.3
-huggingface-hub==0.33.4
-diffusers==0.29.0
-pyarrow==22.0.0
-onnxoptimizer==0.3.13
-absl-py==1.4.0
-asciitree==0.3.3
-SharedArray==3.2.4
-markdown-it-py==4.0.0
-oauthlib==3.3.1
-cloudpickle==3.1.2
-tensorboard==2.15.2
-pyyaml-include==1.4.1
-loguru==0.7.3
-pytorch-seed==0.2.0
-aiohttp==3.13.2
-gdown==5.2.0
-cmaes==0.12.0
-onnxruntime==1.23.2
-hydra-optuna-sweeper==1.2.0
-pyquaternion==0.9.9
-cachetools==6.2.1
-einops==0.8.0
-MarkupSafe==3.0.3
-PyOpenGL==3.1.10
-Pygments==2.19.2
-Farama-Notifications==0.0.4
-timm==0.9.10
-traitlets==5.14.3
-pyserial==3.5
-seaborn==0.13.2
-jupyter_core==5.9.1
-safetensors==0.5.0
-smmap==5.0.2
-tyro==0.9.28
-pydantic==2.12.4
-exceptiongroup==1.3.0
-torchaudio==2.7.1+cu128
-rpds-py==0.28.0
-draccus==0.10.0
-matplotlib==3.10.0
-mergedeep==1.3.4
-nvidia-nvtx-cu12==12.8.55
-trimesh==4.7.3
-shtab==1.7.2
-pytz==2025.2
-aiohappyeyeballs==2.6.1
-future==0.18.2
-python-dateutil==2.9.0.post0
-itsdangerous==2.2.0
-toml==0.10.2
-Deprecated==1.3.1
-numpy==1.26.4
-tos==2.8.7
-typeguard==4.4.4
-torch_geometric==2.5.3
-orderly-set==5.5.0
-wrapt==2.0.1
-msgpack==1.1.2
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-threadpoolctl==3.6.0
-llvmlite==0.44.0
-coacd==1.0.5
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G0Plus_3B_base-pick_and_place/wandb/wandb/latest-run/files/wandb-metadata.json

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-  "codePath":  "scripts/finetune.py",
-  "codePathLocal":  "scripts/finetune.py",
-  "git":  {
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-    "commit":  "2add87daa168a0bb9f5fa79c33b00b811dbf8eb2"
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-  "email":  "cuijianning1996@sina.com",
-  "root":  "/vla_fulltime/jianning.cui/code/GalaxeaFM/runs/merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks/2025-12-20_12-10-35/wandb",
-  "host":  "t-20251220200709-gqgj9-worker-0",
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-      "uuid":  "GPU-b3299029-de5c-3f52-7968-06fb0fb9e57f"
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-    {
-      "name":  "NVIDIA A800-SXM4-80GB",
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-      "cudaCores":  6912,
-      "architecture":  "Ampere",
-      "uuid":  "GPU-d445873f-1a8b-30c1-3bac-6b840dfcceb3"
-    },
-    {
-      "name":  "NVIDIA A800-SXM4-80GB",
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-      "cudaCores":  6912,
-      "architecture":  "Ampere",
-      "uuid":  "GPU-c9c70444-c3c4-cb9c-423a-46f4930f3429"
-    },
-    {
-      "name":  "NVIDIA A800-SXM4-80GB",
-      "memoryTotal":  "85899345920",
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-      "architecture":  "Ampere",
-      "uuid":  "GPU-0d06ea56-4f76-214e-a422-cacb484ebccd"
-    }
-  ],
-  "cudaVersion":  "12.4",
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-}

G0Plus_3B_base-pick_and_place/wandb/wandb/latest-run/logs/debug-internal.log

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G0Plus_3B_base-pick_and_place/wandb/wandb/latest-run/logs/debug.log

@@ -1,22 +0,0 @@
-2025-12-20 12:16:41,533 INFO    MainThread:2691 [wandb_setup.py:_flush():80] Current SDK version is 0.23.1
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-2025-12-20 12:16:41,534 INFO    MainThread:2691 [wandb_setup.py:_flush():80] Loading settings from /root/.config/wandb/settings
-2025-12-20 12:16:41,534 INFO    MainThread:2691 [wandb_setup.py:_flush():80] Loading settings from /vla_fulltime/jianning.cui/code/GalaxeaFM/wandb/settings
-2025-12-20 12:16:41,534 INFO    MainThread:2691 [wandb_setup.py:_flush():80] Loading settings from environment variables
-2025-12-20 12:16:41,534 INFO    MainThread:2691 [wandb_init.py:setup_run_log_directory():714] Logging user logs to /vla_fulltime/jianning.cui/code/GalaxeaFM/runs/merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks/2025-12-20_12-10-35/wandb/wandb/run-20251220_121641-1p1f1w70/logs/debug.log
-2025-12-20 12:16:41,534 INFO    MainThread:2691 [wandb_init.py:setup_run_log_directory():715] Logging internal logs to /vla_fulltime/jianning.cui/code/GalaxeaFM/runs/merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks/2025-12-20_12-10-35/wandb/wandb/run-20251220_121641-1p1f1w70/logs/debug-internal.log
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-2025-12-20 12:16:45,087 INFO    MainThread:2691 [wandb_run.py:_redirect():2461] Redirects installed.
-2025-12-20 12:16:45,096 INFO    MainThread:2691 [wandb_init.py:init():1081] run started, returning control to user process
-2025-12-20 12:16:45,099 INFO    MainThread:2691 [wandb_run.py:_config_callback():1396] config_cb None None {'seed': 7, 'resume_ckpt': None, 'output_dir': '/vla_fulltime/jianning.cui/code/GalaxeaFM/runs/merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks/2025-12-20_12-10-35', 'checkpointing_steps': 17834, 'logger': {'type': 'wandb', 'log_steps': 10, 'task': 'merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks', 'project': 'merge_pipeline', 'experiment_name': 'r1lite_g0_pp_bbox_400_tasks', 'mode': 'online', 'workspace': 'cuijianning1996-galaxea-ai', 'dir': '/vla_fulltime/jianning.cui/code/GalaxeaFM/runs/merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks/2025-12-20_12-10-35/wandb'}, 'batch_size_val': 16, 'eval_episodes_num': 1, 'ckpt_path': None, 'env': 'R1ProBlocksStackEasy', 'target_controller_type': 'bimanual_relaxed_ik', 'tags': None, 'edp': {'card': None, 'training_time': '2025-12-20_12-10-35', 'git_branch': None, 'git_commit': None, 'root': None, 'repo_ids': None, 'save_dir': '/vla_fulltime/jianning.cui/code/GalaxeaFM/runs/merge_pipeline/real/r1lite_g0_pp_bbox_400_tasks/2025-12-20_12-10-35', 'tags': None, 'max_steps': None, 'batch_size': 4}, 'data': {'_target_': 'galaxea_fm.data.galaxea_lerobot_dataset.GalaxeaLerobotDataset', 'dataset_dirs': None, 'shape_meta': {'action': [{'key': 'left_arm', 'raw_shape': 6, 'shape': 6}, {'key': 'left_gripper', 'raw_shape': 1, 'shape': 1}, {'key': 'right_arm', 'raw_shape': 6, 'shape': 6}, {'key': 'right_gripper', 'raw_shape': 1, 'shape': 1}], 'state': [{'key': 'left_arm', 'raw_shape': 6, 'shape': 6}, {'key': 'left_gripper', 'raw_shape': 1, 'shape': 1}, {'key': 'right_arm', 'raw_shape': 6, 'shape': 6}, {'key': 'right_gripper', 'raw_shape': 1, 'shape': 1}], 'images': [{'key': 'head_condition', 'raw_shape': [3, 224, 224], 'shape': [3, 224, 224]}, {'key': 'head_rgb', 'raw_shape': [3, 720, 1280], 'shape': [3, 224, 224]}, {'key': 'left_wrist_rgb', 'raw_shape': [3, 720, 1280], 'shape': [3, 224, 224]}, {'key': 'right_wrist_rgb', 'raw_shape': [3, 720, 1280], 'shape': [3, 224, 224]}]}, 'action_size': 32, 'past_action_size': 0, 'obs_size': 1, 'ee_start_moving_thresh': 0.0, 'val_set_proportion': 0.05, 'use_bbox_condition': True, 'dataset_root': '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox', 'dataset_prefixes': ['BENCH', 'Bench']}, 'model': {'pretrained_ckpt': '/galaxea_dataset/mnt/tmp/pp_wt_img_cond/checkpoints/org2fm_v2.pt', 'use_pretrained_norm_stats': True, 'model_weights_to_bf16': False, 'enable_bf16_training': True, 'use_torch_compile': False, 'find_unused_parameters': False, 'batch_size': 4, 'num_workers': 4, 'pin_memory': True, 'persistent_workers': True, 'max_epochs': 4, 'max_steps': None, 'grad_accumulation_steps': 1, 'use_8bit_optimizer': False, 'learning_rate': 2.5e-05, 'weight_decay': 1e-06, 'betas': [0.9, 0.999], 'lr_scheduler_type': 'cosine', 'warmup_steps': 500, 'max_grad_norm': 1.0, 'use_ema': False, 'ema': {'update_after_step': 0, 'power': 0.67}, 'use_sync_bn': False, 'processor': {'_target_': 'galaxea_fm.processors.galaxea_zero_processor.GalaxeaZeroProcessor', 'shape_meta': {'action': [{'key': 'left_arm', 'raw_shape': 6, 'shape': 6}, {'key': 'left_gripper', 'raw_shape': 1, 'shape': 1}, {'key': 'right_arm', 'raw_shape': 6, 'shape': 6}, {'key': 'right_gripper', 'raw_shape': 1, 'shape': 1}], 'state': [{'key': 'left_arm', 'raw_shape': 6, 'shape': 6}, {'key': 'left_gripper', 'raw_shape': 1, 'shape': 1}, {'key': 'right_arm', 'raw_shape': 6, 'shape': 6}, {'key': 'right_gripper', 'raw_shape': 1, 'shape': 1}], 'images': [{'key': 'head_condition', 'raw_shape': [3, 224, 224], 'shape': [3, 224, 224]}, {'key': 'head_rgb', 'raw_shape': [3, 720, 1280], 'shape': [3, 224, 224]}, {'key': 'left_wrist_rgb', 'raw_shape': [3, 720, 1280], 'shape': [3, 224, 224]}, {'key': 'right_wrist_rgb', 'raw_shape': [3, 720, 1280], 'shape': [3, 224, 224]}]}, 'num_obs_steps': 1, 'action_state_transforms': [{'_target_': 'galaxea_fm.transforms.relative_action.RelativeJointTransform', 'keys': ['left_arm', 'right_arm']}], 'use_stepwise_action_norm': True, 'norm_default_mode': 'z-score', 'norm_exception_mode': {'action': {'left_gripper': '0/100', 'right_gripper': '0/100'}}, 'action_state_merger': {'_target_': 'galaxea_fm.transforms.action_state_merger.ConcatLeftAlign'}, 'train_transforms': {'head_condition': [{'_target_': 'torchvision.transforms.Resize', 'size': [224, 224]}, {'_target_': 'galaxea_fm.transforms.image.ToTensor'}, {'_target_': 'torchvision.transforms.Normalize', 'mean': [0.5, 0.5, 0.5], 'std': [0.5, 0.5, 0.5]}], 'head_rgb': [{'_target_': 'torchvision.transforms.Resize', 'size': [224, 224]}, {'_target_': 'galaxea_fm.transforms.image.ToTensor'}, {'_target_': 'torchvision.transforms.Normalize', 'mean': [0.5, 0.5, 0.5], 'std': [0.5, 0.5, 0.5]}], 'left_wrist_rgb': [{'_target_': 'torchvision.transforms.Resize', 'size': [224, 224]}, {'_target_': 'galaxea_fm.transforms.image.ToTensor'}, {'_target_': 'torchvision.transforms.Normalize', 'mean': [0.5, 0.5, 0.5], 'std': [0.5, 0.5, 0.5]}], 'right_wrist_rgb': [{'_target_': 'torchvision.transforms.Resize', 'size': [224, 224]}, {'_target_': 'galaxea_fm.transforms.image.ToTensor'}, {'_target_': 'torchvision.transforms.Normalize', 'mean': [0.5, 0.5, 0.5], 'std': [0.5, 0.5, 0.5]}]}, 'val_transforms': {'head_condition': [{'_target_': 'torchvision.transforms.Resize', 'size': [224, 224]}, {'_target_': 'galaxea_fm.transforms.image.ToTensor'}, {'_target_': 'torchvision.transforms.Normalize', 'mean': [0.5, 0.5, 0.5], 'std': [0.5, 0.5, 0.5]}], 'head_rgb': [{'_target_': 'torchvision.transforms.Resize', 'size': [224, 224]}, {'_target_': 'galaxea_fm.transforms.image.ToTensor'}, {'_target_': 'torchvision.transforms.Normalize', 'mean': [0.5, 0.5, 0.5], 'std': [0.5, 0.5, 0.5]}], 'left_wrist_rgb': [{'_target_': 'torchvision.transforms.Resize', 'size': [224, 224]}, {'_target_': 'galaxea_fm.transforms.image.ToTensor'}, {'_target_': 'torchvision.transforms.Normalize', 'mean': [0.5, 0.5, 0.5], 'std': [0.5, 0.5, 0.5]}], 'right_wrist_rgb': [{'_target_': 'torchvision.transforms.Resize', 'size': [224, 224]}, {'_target_': 'galaxea_fm.transforms.image.ToTensor'}, {'_target_': 'torchvision.transforms.Normalize', 'mean': [0.5, 0.5, 0.5], 'std': [0.5, 0.5, 0.5]}]}, 'num_output_cameras': 4, 'use_zh_instruction': False, 'drop_high_level_prob': 1.0, 'pad_token_id': 0, 'image_token_index': 257152, 'tokenizer_params': {'pretrained_model_name_or_path': 'google/paligemma-3b-pt-224', 'local_files_only': False, 'token': None}, 'max_text_tokens': 55, 'max_image_text_tokens': 1079, 'num_input_cameras': 4, 'num_image_tokens_per_camera': 256}, 'model_arch': {'_target_': 'galaxea_fm.models.galaxea_zero.galaxea_zero_policy.GalaxeaZeroPolicy', 'model_name': 'galaxea_fm.models.galaxea_zero.galaxea_zero_policy.GalaxeaZero', 'pretrained_model_path': '/vla_fulltime/jianning.cui/code/GalaxeaFM/google/paligemma-3b-pt-224', 'vla_training_strategy': 'vla-full-train', 'backbone_lr_multiplier': 1.0, 'image_token_index': 257152, 'pad_token_id': 0, 'vocab_size': 257216, 'cond_steps': 1, 'horizon_steps': 32, 'max_text_tokens': 55, 'max_image_text_tokens': 1079, 'num_input_images': 4, 'num_extra_image_tokens_per_camera': 0, 'final_action_clip_value': None, 'action_dim': 14, 'proprio_dim': 14, 'action_decoder_layers': 2, 'action_expert_adaptive_mode': None, 'flow_sampling': 'beta', 'num_inference_steps': 10, 'vision': {'name': 'galaxea_fm.models.galaxea_zero.paligemma.siglip.SiglipVisionModel', 'hidden_size': 1152, 'intermediate_size': 4304, 'num_hidden_layers': 27, 'num_attention_heads': 16, 'num_channels': 3, 'image_size': 224, 'patch_size': 14, 'layer_norm_eps': 1e-06, 'attention_dropout': 0.0, 'num_image_tokens': 256}, 'vision_projector': {'name': 'galaxea_fm.models.galaxea_zero.paligemma.siglip.PaliGemmaMultiModalProjector', 'vision_config': {'hidden_size': 1152, 'projection_dim': 2048}}, 'joint': {'name': 'galaxea_fm.models.galaxea_zero.joint_model.JointModel', 'action_expert_adaptive_mode': None, 'mixture': {'vlm': {'hidden_size': 2048, 'intermediate_size': 16384, 'use_final_norm': False, 'cache': True}, 'proprio': {'hidden_size': 1024, 'intermediate_size': 4096, 'use_final_norm': True, 'cache': True, 'adaptive_mode': None}, 'action': {'hidden_size': 1024, 'intermediate_size': 4096, 'use_final_norm': True, 'cache': False, 'adaptive_mode': None}}, 'time_hidden_size': 256, 'num_hidden_layers': 18, 'num_attention_heads': 8, 'num_key_value_heads': 1, 'head_dim': 256, 'max_position_embeddings': 8192, 'rms_norm_eps': 1e-06, 'rope_theta': 10000.0, 'attention_bias': False, 'attention_dropout': 0.0}}}}

G0Plus_3B_base-pick_and_place/wandb/wandb/latest-run/run-1p1f1w70.wandb

@@ -1,3 +0,0 @@
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-size 105938944

G0Plus_3B_base-pick_and_place/wandb/wandb/run-20251220_121641-1p1f1w70/files/output.log

@@ -1,93 +0,0 @@
-12/20 [12:16:45] INFO     | >> Initialized wandb tracker       train_utils.py:66
-dataset_dirs:['/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Plac_Photo_Frame_Evenly_Distributed_Round_7_20250929_007/BENCH_Pick_And_Plac_Photo_Frame_Evenly_Distributed_Round_7_20250929_007/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items100_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items100_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items103_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items103_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items104_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items104_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items105_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items105_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items106_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items106_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items107_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items107_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items108_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items108_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items109_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items109_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items10_Evenly_Distributed_Round_13_20251022_007/BENCH_Pick_And_Place_20_Items10_Evenly_Distributed_Round_13_20251022_007/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items111_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items111_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items113_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items113_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items115_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items115_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items116_Evenly_Distributed_Round_13_20251027_018/BENCH_Pick_And_Place_20_Items116_Evenly_Distributed_Round_13_20251027_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_13_20251022_007/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_13_20251022_007/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_13_20251022_018/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_13_20251022_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_14_251125_019/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_14_251125_019/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_9_20251015_007/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_9_20251015_007/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items121_Evenly_Distributed_Round_13_20251028_018/BENCH_Pick_And_Place_20_Items121_Evenly_Distributed_Round_13_20251028_018/', '/galaxea_dataset/galaxea/pp_project/lerobot_with_bbox/BENCH_Pick_And_Place_20_Items122_Evenly_Distributed_Round_13_20251028_018/BENCH_Pick_And_Place_20_Items122_Evenly_Distributed_Round_1
-                 INFO     | >> [Dataset] Expanded 384            finetune.py:284
-                          dataset_dirs from
-                          root=/galaxea_dataset/galaxea/pp_proje
-                          ct/lerobot_with_bbox
-                 INFO     | >> [Dataset] First 5:                finetune.py:285
-                 INFO     | >>                                   finetune.py:287
-                          /galaxea_dataset/galaxea/pp_project/le
-                          robot_with_bbox/BENCH_Pick_And_Plac_Ph
-                          oto_Frame_Evenly_Distributed_Round_7_2
-                          0250929_007/BENCH_Pick_And_Plac_Photo_
-                          Frame_Evenly_Distributed_Round_7_20250
-                          929_007/
-                 INFO     | >>                                   finetune.py:287
-                          /galaxea_dataset/galaxea/pp_project/le
-                          robot_with_bbox/BENCH_Pick_And_Place_2
-                          0_Items100_Evenly_Distributed_Round_13
-                          _20251027_018/BENCH_Pick_And_Place_20_
-                          Items100_Evenly_Distributed_Round_13_2
-                          0251027_018/
-                 INFO     | >>                                   finetune.py:287
-                          /galaxea_dataset/galaxea/pp_project/le
-                          robot_with_bbox/BENCH_Pick_And_Place_2
-                          0_Items103_Evenly_Distributed_Round_13
-                          _20251027_018/BENCH_Pick_And_Place_20_
-                          Items103_Evenly_Distributed_Round_13_2
-                          0251027_018/
-                 INFO     | >>                                   finetune.py:287
-                          /galaxea_dataset/galaxea/pp_project/le
-                          robot_with_bbox/BENCH_Pick_And_Place_2
-                          0_Items104_Evenly_Distributed_Round_13
-                          _20251027_018/BENCH_Pick_And_Place_20_
-                          Items104_Evenly_Distributed_Round_13_2
-                          0251027_018/
-                 INFO     | >>                                   finetune.py:287
-                          /galaxea_dataset/galaxea/pp_project/le
-                          robot_with_bbox/BENCH_Pick_And_Place_2
-                          0_Items105_Evenly_Distributed_Round_13
-                          _20251027_018/BENCH_Pick_And_Place_20_
-                          Items105_Evenly_Distributed_Round_13_2
-                          0251027_018/
-12/20 [12:37:38] INFO     | >> Detected GPU: NVIDIA           train_utils.py:177
-                          A800-SXM4-80GB, dtype:
-                          torch.bfloat16, peak FLOPS: 312.0
-                          TFLOPS
-                 INFO     | >>   Model parameters: 3239.17M   train_utils.py:252
-                 INFO     | >>   Estimated FLOPs/step:        train_utils.py:253
-                          5241.64 TFLOPs
-                 INFO     | >> MFU Tracker initialized:       train_utils.py:136
-                 INFO     | >>   Training mode: AMP           train_utils.py:137
-                          (torch.bfloat16)
-                 INFO     | >>   GPU Peak: 312.0 TFLOPS/GPU   train_utils.py:138
-                          (torch.bfloat16)
-                 INFO     | >>   Total Peak (80 GPUs):        train_utils.py:139
-                          24960.0 TFLOPS
-                 INFO     | >>   Model FLOPs/step: 5241.64    train_utils.py:140
-                          TFLOPs
-/vla_fulltime/jianning.cui/code/GalaxeaFM/.venv/lib/python3.10/site-packages/torch/distributed/distributed_c10d.py:4631: UserWarning: No device id is provided via `init_process_group` or `barrier `. Using the current device set by the user.
-  warnings.warn(  # warn only once
-Epoch 0, Step 17833, Loss: 0.0523:   6%|▋         | 17834/285328 [4:59:52<71:19:10,  1.04it/s]/vla_fulltime/jianning.cui/code/GalaxeaFM/.venv/lib/python3.10/site-packages/torch/distributed/distributed_c10d.py:4631: UserWarning: No device id is provided via `init_process_group` or `barrier `. Using the current device set by the user.
-12/20 [17:37:32] INFO     | >> Saving model checkpoint for step  finetune.py:521
-                          17834 ...
-[2025-12-20 17:37:34,011] [INFO] [real_accelerator.py:219:get_accelerator] Setting ds_accelerator to cuda (auto detect)
-12/20 [17:37:36] INFO     | >> cc -pthread -Wno-unused-result        spawn.py:77
-                          -Wsign-compare -Wunreachable-code -DNDEBUG
-                          -g -fwrapv -O3 -Wall -fPIC -fPIC -c
-                          /tmp/tmpvctvfu0i/test.c -o
-                          /tmp/tmpvctvfu0i/test.o
-                 INFO     | >> cc -pthread /tmp/tmpvctvfu0i/test.o   spawn.py:77
-                          -laio -o /tmp/tmpvctvfu0i/a.out
-12/20 [17:37:37] INFO     | >> cc -pthread -Wno-unused-result        spawn.py:77
-                          -Wsign-compare -Wunreachable-code -DNDEBUG
-                          -g -fwrapv -O3 -Wall -fPIC -fPIC -c
-                          /tmp/tmptk2ttbv1/test.c -o
-                          /tmp/tmptk2ttbv1/test.o
-                 INFO     | >> cc -pthread /tmp/tmptk2ttbv1/test.o   spawn.py:77
-                          -L/usr/local/cuda -L/usr/local/cuda/lib64
-                          -lcufile -o /tmp/tmptk2ttbv1/a.out
-  warnings.warn(  # warn only once
-Epoch 1, Step 136003, Loss: 0.0093:  48%|████▊     | 136004/285328 [37:54:22<39:50:02,  1.04it/s] 
-12/20 [22:37:12] INFO     | >> Saving model checkpoint for step  finetune.py:521
-                          35668 ...
-12/21 [03:35:24] INFO     | >> Saving model checkpoint for step  finetune.py:521
-                          53502 ...
-12/21 [08:33:08] INFO     | >> Saving model checkpoint for step  finetune.py:521
-                          71336 ...
-12/21 [13:30:41] INFO     | >> Saving model checkpoint for step  finetune.py:521
-                          89170 ...
-12/21 [18:28:00] INFO     | >> Saving model checkpoint for step  finetune.py:521
-                          107004 ...
-12/21 [23:25:30] INFO     | >> Saving model checkpoint for step  finetune.py:521
-                          124838 ...

G0Plus_3B_base-pick_and_place/wandb/wandb/run-20251220_121641-1p1f1w70/files/requirements.txt

@@ -1,259 +0,0 @@
-coloredlogs==15.0.1
-docstring_parser==0.17.0
-filelock==3.20.0
-triton==3.3.1
-rootutils==1.0.7
-py-cpuinfo==9.0.0
-Markdown==3.10
-nvidia-cufft-cu12==11.3.3.41
-alembic==1.17.1
-yapf==0.40.2
-optuna==2.10.1
-pluggy==1.6.0
-sympy==1.14.0
-Mako==1.3.10
-torchmetrics==1.7.4
-kiwisolver==1.4.9
-platformdirs==4.5.0
-easydict==1.9
-pyasn1_modules==0.4.2
-jsonschema-specifications==2025.9.1
-Jinja2==3.1.6
-stevedore==5.5.0
-sentry-sdk==2.48.0
-pynvml==13.0.1
-fastjsonschema==2.21.2
-pytest==8.3.4
-mplib==0.2.1
-arm_pytorch_utilities==0.4.3
-gitdb==4.0.12
-termcolor==2.4.0
-aiosignal==1.4.0
-open3d==0.18.0
-google-auth==2.43.0
-galaxea_fm==0.0.1
-Flask==3.1.2
-nvidia-cusolver-cu12==11.7.2.55
-swankit==0.2.4
-nest-asyncio==1.6.0
-s3transfer==0.14.0
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