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broadcast_via_filesystem: false
dcp_async_mode_enabled: false
enable_gcs_patch_in_boto3: true
hf_export:
enabled: false
export_every_n: 1
hf_repo_id: null
upload_to_object_store:
bucket: ''
credentials: ''
enabled: false
jit:
device: cuda
dtype: bfloat16
enabled: false
input_shape: null
strict: true
keys_not_to_resume: []
keys_to_skip_loading:
- net_ema.
load_ema_to_reg: false
load_from_object_store:
bucket: ''
credentials: ''
enabled: false
load_path: /workspace/cosmos/checkpoints/Cosmos3-Nano-DCP
load_training_state: false
only_load_scheduler_state: false
save_iter: 100
save_to_object_store:
bucket: ''
credentials: ''
enabled: false
strict_resume: true
type:
_target_: cosmos_framework.checkpoint.dcp.DistributedCheckpointer
callbacks: null
disable_async: false
verbose: true
data_setting:
qwen_max_video_token_length: 8192
dataloader_train:
_target_: cosmos_framework.data.vfm.joint_dataloader.PackingDataLoader
audio_sample_rate: 48000
dataloader:
_target_: cosmos_framework.data.vfm.joint_dataloader.RankPartitionedDataLoader
batch_size: 1
datasets:
dvrk_openh:
dataset:
_target_: cosmos3_nanoh_surgical.dataset.OpenHDVRKLeRobotDataset
apply_cosmos_transform: true
cfg_dropout_rate: 0.1
chunk_length: 16
fps: null
load_video: true
local_root: /workspace/cosmos-3-NanoH-Surgical/data/openh_snapshot
manifest_path: /workspace/cosmos-3-NanoH-Surgical/artifacts/manifests/openh_dvrk_manifest.train.json
max_action_dim: 64
max_roots: 0
max_windows_per_root: 0
mode: all
mode_weights:
forward_dynamics: 1.0
inverse_dynamics: 1.0
policy: 1.0
normalization_path: /workspace/cosmos-3-NanoH-Surgical/artifacts/manifests/dvrk_action_stats.json
normalize_action: true
resolution: '256'
shard_rank: 0
shard_world_size: 1
tokenizer_config:
_target_: cosmos_framework.configs.base.defaults.vlm.create_qwen2_tokenizer_with_download
config_variant: hf
pretrained_model_name: Qwen/Qwen3-VL-8B-Instruct
video_key: auto
ratio: 1
in_order: true
num_workers: 4
persistent_workers: true
pin_memory: true
prefetch_factor: 4
sampler: null
dataset_name: dvrk_openh
lookahead_limit: 10
max_samples_per_batch: null
max_sequence_length: 32768
patch_spatial: 2
sound_latent_fps: 0
tokenizer_spatial_compression_factor: 16
tokenizer_temporal_compression_factor: 4
dataloader_val: null
defaults:
- _self_
- model: mot_fsdp
- data_train: null
- data_val: null
- optimizer: adamw
- scheduler: warmup_cosine_lr
- checkpoint: s3
- callbacks:
- basic
- optimization
- job_monitor
- generation
- ema: power
- tokenizer: wan2pt2_tokenizer
- sound_tokenizer: null
- cluster: default
- vlm_config: null
- ckpt_type: dcp
- experiment: null
job:
cluster: null
group: dvrk-openh
name: cosmos3_nanoh_dvrk_all_objective_chunk16_singlecam
project: cosmos3-nanoh-surgical
wandb_mode: online
model:
_recursive_: false
_target_: cosmos_framework.model.vfm.omni_mot_model.OmniMoTModel
config:
action_gen: true
activation_checkpointing:
determinism_check: default
mode: full
preserve_rng_state: true
save_ops_regex:
- fmha
causal_training_strategy: none
compile:
compile_dynamic: true
compiled_region: language
coordinate_descent_tuning: false
enabled: false
max_autotune_pointwise: false
use_cuda_graphs: false
diffusion_expert_config:
base_fps: 24
enable_fps_modulation: true
load_weights_from_pretrained: true
max_vae_latent_side_after_patchify: 20
patch_spatial: 2
position_embedding_type: unified_3d_mrope
rope_h_extrapolation_ratio: 1.0
rope_t_extrapolation_ratio: 1.0
rope_w_extrapolation_ratio: 1.0
timestep_range: 1.0
unified_3d_mrope_reset_spatial_ids: true
unified_3d_mrope_temporal_modality_margin: 15000
ema:
enabled: false
iteration_shift: 0
rate: 0.1
fixed_step_sampler_config: null
input_caption_key: ai_caption
input_image_key: images
input_video_key: video
joint_attn_implementation: flex
latent_downsample_factor: 16
lbl:
coeff_gen: null
coeff_und: null
method: local
log_enc_time_every_n: 100
lora_alpha: 32
lora_enabled: false
lora_rank: 16
lora_target_modules: q_proj_moe_gen,k_proj_moe_gen,v_proj_moe_gen,o_proj_moe_gen
max_action_dim: 64
max_num_tokens_after_packing: 32768
natten_parameter_list: null
net: null
num_embodiment_domains: 32
parallelism:
cfg_parallel_shard_degree: 1
context_parallel_shard_degree: 1
data_parallel_replicate_degree: 1
data_parallel_shard_degree: -1
enable_inference_mode: false
fsdp_master_dtype: float32
precision: bfloat16
rectified_flow_inference_config:
num_train_timesteps: 1000
scheduler_type: unipc
shift: 1
use_dynamic_shifting: false
rectified_flow_training_config:
action_loss_weight: 10.0
high_sigma_ratio: 0.05
high_sigma_timesteps_max: 1000
high_sigma_timesteps_min: 995
image_loss_scale: 1.0
independent_action_schedule: false
independent_sound_schedule: false
loss_scale: 1.0
normalize_loss_by_active: false
shift:
'256': 3
'480': 5
'720': 10
shift_action: null
shift_sound: null
sound_loss_scale: null
train_time_action_distribution: logitnormal
train_time_image_distribution: logitnormal
train_time_sound_distribution: logitnormal
train_time_video_distribution: waver
train_time_weight: uniform
use_discrete_rf: false
use_dynamic_shift: false
use_high_sigma_strategy: false
use_high_sigma_strategy_action: false
use_high_sigma_strategy_sound: false
resolution: '256'
sound_dim: null
sound_gen: false
sound_latent_fps: 25
sound_tokenizer: null
state_ch: 48
state_t: 300
tokenizer:
_target_: cosmos_framework.model.vfm.tokenizers.wan2pt2_vae_4x16x16.Wan2pt2VAEInterface
bucket_name: ''
chunk_duration: 93
encode_bucket_multiple: null
encode_chunk_frames:
'256': 68
'480': 24
'720': 12
encode_exact_durations: null
keep_decoder_cache: false
object_store_credential_path_pretrained: ''
spatial_compression_factor: 16
temporal_compression_factor: 4
temporal_window: null
use_streaming_encode: false
vae_path: /workspace/cosmos/checkpoints/wan22_vae/Wan2.2_VAE.pth
video_temporal_causal: false
vision_gen: true
vlm_config:
layer_module: Qwen2MoTDecoderLayer
model_instance:
_target_: cosmos_framework.model.vfm.mot.unified_mot.Qwen3VLTextForCausalLM
config:
_target_: cosmos_framework.configs.base.defaults.vlm.create_vlm_config
base_config:
_target_: cosmos_framework.model.vfm.mot.unified_mot.Qwen3VLMoTConfig.from_json_file
json_file: cosmos_framework/model/vfm/vlm/qwen3_vl/configs/Qwen3-VL-8B-Instruct.json
freeze_und: false
layer_module: MoTDecoderLayer
qk_norm_for_text: true
tie_word_embeddings: true
model_name: Qwen/Qwen3-VL-8B-Instruct
pretrained_weights:
backbone_path: s3://bucket0/cosmos3/pretrained/huggingface/Qwen/Qwen3-VL-8B-Instruct/
checkpoint_format: null
credentials_path: ''
enable_gcs_patch_in_boto3: true
enabled: false
qk_norm: false
safetensors_path: ''
tie_word_embeddings: false
tokenizer:
_target_: cosmos_framework.configs.base.defaults.vlm.create_qwen2_tokenizer_with_download
config_variant: hf
pretrained_model_name: Qwen/Qwen3-VL-8B-Instruct
use_system_prompt: false
model_parallel:
_cpu_offloading_context: null
async_tensor_model_parallel_allreduce: false
autocast_dtype: torch.float32
barrier_with_L1_time: true
batch_p2p_comm: true
batch_p2p_sync: true
bf16: false
context_parallel_size: 1
cpu_offloading: false
cpu_offloading_activations: true
cpu_offloading_double_buffering: false
cpu_offloading_num_layers: 0
cpu_offloading_weights: false
cross_entropy_fusion_impl: native
cross_entropy_loss_fusion: false
deallocate_pipeline_outputs: false
defer_embedding_wgrad_compute: false
delay_wgrad_compute: false
deterministic_mode: false
enable_autocast: false
ep_overlap_early_attn_memory_release: false
expert_model_parallel_size: 1
expert_tensor_parallel_size: 1
finalize_model_grads_func: null
fp16: false
grad_scale_func: null
grad_sync_func: null
gradient_accumulation_fusion: false
hierarchical_context_parallel_sizes: null
microbatch_group_size_per_vp_stage: 1
moe_extended_tp: false
no_sync_func: null
num_microbatches_with_partial_activation_checkpoints: null
overlap_moe_expert_parallel_comm: false
overlap_p2p_comm: false
overlap_p2p_comm_warmup_flush: false
param_sync_func: null
params_dtype: torch.float32
perform_initialization: true
pipeline_dtype: null
pipeline_model_parallel_comm_backend: null
pipeline_model_parallel_size: 1
sequence_parallel: false
tensor_model_parallel_size: 1
timers: null
tp_comm_atomic_ag: false
tp_comm_atomic_rs: false
tp_comm_bootstrap_backend: nccl
tp_comm_bulk_dgrad: true
tp_comm_bulk_wgrad: true
tp_comm_overlap: false
tp_comm_overlap_ag: true
tp_comm_overlap_disable_fc1: false
tp_comm_overlap_disable_qkv: false
tp_comm_overlap_rs: true
tp_comm_overlap_rs_dgrad: false
tp_comm_split_ag: true
tp_comm_split_rs: true
use_cpu_initialization: false
use_ring_exchange_p2p: false
use_te_rng_tracker: false
variable_seq_lengths: false
virtual_pipeline_model_parallel_size: null
wgrad_deferral_limit: 0
optimizer:
_target_: cosmos_framework.utils.vfm.optimizer.build_optimizer
betas:
- 0.9
- 0.95
disable_weight_decay_for_1d_params: false
eps: 1.0e-06
fused: true
keys_to_select:
- moe_gen
- time_embedder
- vae2llm
- llm2vae
- action2llm
- llm2action
- action_modality_embed
- q_proj_moe_gen
- k_proj_moe_gen
- v_proj_moe_gen
- o_proj_moe_gen
lr: 2.0e-05
lr_multipliers: {}
model: null
optimizer_type: AdamW
weight_decay: 0
scheduler:
_target_: cosmos_framework.utils.vfm.optimizer.build_lr_scheduler
cycle_lengths:
- 1000
f_max:
- 1.0
f_min:
- 0.0
f_start:
- 0.0
lr_scheduler_type: LambdaCosine
optimizer: null
verbosity_interval: 0
warm_up_steps:
- 50
trainer:
callbacks:
compile_tokenizer:
_target_: cosmos_framework.callbacks.compile_tokenizer.CompileTokenizer
compile_after_iterations: 3
enabled: false
warmup_resolutions: null
dataloader_speed:
every_n: 100
save_s3: false
step_size: 1
device_monitor:
_target_: cosmos_framework.callbacks.device_monitor.DeviceMonitor
every_n: 100
log_memory_detail: true
save_s3: false
step_size: 1
upload_every_n_mul: 5
every_n_sample_ema:
_target_: cosmos_framework.callbacks.every_n_draw_sample.EveryNDrawSample
do_x0_prediction: false
every_n: 100
fps: 16
guidance:
- 0.0
- 3.0
- 7.0
is_ema: true
n_sample_to_save: 128
n_sigmas_for_x0_prediction: 4
n_viz_sample: 2
num_sampling_step: 35
prompt_type: t5_xxl
run_at_start: false
save_local: false
save_s3: false
step_size: 1
use_negative_prompt: false
every_n_sample_reg:
_target_: cosmos_framework.callbacks.every_n_draw_sample.EveryNDrawSample
do_x0_prediction: false
every_n: 100
fps: 16
guidance:
- 3.0
is_ema: false
n_sample_to_save: 8
n_sigmas_for_x0_prediction: 4
n_viz_sample: 1
num_sampling_step: 16
prompt_type: t5_xxl
run_at_start: false
save_local: true
save_s3: false
step_size: 1
use_negative_prompt: false
expert_heatmap:
_target_: cosmos_framework.callbacks.expert_heatmap.ExpertHeatmap
every_n: 1000
grad_clip:
_target_: cosmos_framework.callbacks.grad_clip.GradClip
clip_norm: 0.1
force_finite: true
track_per_modality: true
heart_beat:
_target_: cosmos_framework.callbacks.heart_beat.HeartBeat
every_n: 100
save_s3: false
step_size: 1
update_interval_in_minute: 10
iter_speed:
_target_: cosmos_framework.callbacks.iter_speed.IterSpeed
every_n: 1
hit_thres: 50
save_s3: false
save_s3_every_log_n: 500
load_pretrained:
_target_: cosmos_framework.callbacks.load_pretrained.LoadPretrained
config: null
trainer: null
low_precision:
_target_: cosmos_framework.utils.callback.LowPrecisionCallback
config: null
trainer: null
update_iter: 1
manual_gc:
_target_: cosmos_framework.callbacks.manual_gc.ManualGarbageCollection
every_n: 5
gc_level: 1
warm_up: 1
mfu:
_target_: cosmos_framework.callbacks.mfu.MFUCallback
backwardpass_ratio: 2.0
every_n: 1
grad_accum_iter: 2
hit_thres: 5
include_padding: true
include_vae_encoder: true
moe_specialization:
_target_: cosmos_framework.callbacks.moe_specialization_callback.MoESpecializationCallback
every_n: 250
moe_stability:
_target_: cosmos_framework.callbacks.moe_stability_callback.MoEStabilityCallback
every_n: 250
norm_monitor:
_target_: cosmos_framework.callbacks.norm_monitor.NormMonitor
every_n: 100
layer_norm_only: false
log_stat_wandb: false
model_key: null
save_s3: false
step_size: 1
track_activations: false
ofu:
_target_: cosmos_framework.callbacks.ofu.OFUCallback
every_n: 1
hit_thres: 5
param_count:
_target_: cosmos_framework.callbacks.param_count.ParamCount
save_s3: false
sequence_packing_padding:
_target_: cosmos_framework.callbacks.sequence_packing_padding.SequencePackingPadding
every_n: 50
sigma_loss_analysis:
_target_: cosmos_framework.callbacks.sigma_loss_analysis.SigmaLossAnalysis
every_n: 250
every_n_viz: 250
save_s3: false
skip_nan_step:
_target_: cosmos_framework.callbacks.skip_nan_step.SkipNaNStep
max_consecutive_nan: 20
termination_signal_checkpoint:
_target_: cosmos_framework.callbacks.termination_signal_checkpoint.TerminationSignalCheckpoint
min_save_fraction: 0.3333333333333333
training_stats:
log_freq: 50
wandb:
_target_: cosmos_framework.utils.callback.WandBCallback
config: null
trainer: null
wandb_2x:
_target_: cosmos_framework.callbacks.wandb_log.WandbCallback
logging_iter_multipler: 2
save_logging_iter_multipler: 1
save_s3: false
wandb_val:
_target_: cosmos_framework.callbacks.wandb_log_eval.WandbCallback
save_s3: false
compile_config:
recompile_limit: 8
use_duck_shape: false
cudnn:
benchmark: true
deterministic: false
ddp:
broadcast_buffers: true
find_unused_parameters: false
static_graph: true
distributed_parallelism: fsdp
grad_accum_iter: 2
grad_scaler_args:
enabled: false
logging_iter: 1
max_iter: 500
max_val_iter: null
memory_format: torch.preserve_format
profiling:
enable_memory_snapshot: false
enable_nsys: false
enable_profiling: false
profile_freq: 1
profile_memory: false
profile_warmup: 3
record_shape: false
save_s3: false
target_ranks:
- 0
- 1
- 2
- 3
- 4
- 5
- 6
- 7
with_modules: true
with_stack: true
run_validation: false
run_validation_on_start: false
save_zero_checkpoint: false
seed: 42
straggler_detection:
analyze_backward: true
analyze_dataloading: true
analyze_forward: true
analyze_optimizer: true
enabled: false
max_diff: 2.0
profile_freq: 1
raise_error: true
report_freq: 100
save_s3: false
timeout_period: 999999999
type: cosmos_framework.trainer.ImaginaireTrainer
validation_iter: 100
upload_reproducible_setup: false
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