| custom_eval: |
| comparisons_per_task: 5 |
| confusion_matrix: |
| - mw |
| custom_eval_random_seed: 42 |
| eval_types: |
| - reward_alignment |
| - policy_ranking |
| num_examples_per_quality_pr: 5 |
| num_partial_successes: 5 |
| pad_frames: true |
| policy_ranking: |
| - rbm-1m-ood |
| policy_ranking_max_tasks: 100 |
| quality_preference: |
| - mw |
| reward_alignment: |
| - rbm-1m-id |
| - rbm-1m-ood |
| reward_alignment_max_trajectories: 10 |
| subsample_n_frames: null |
| use_frame_steps: true |
| data: |
| data_source_weights: |
| metaworld_train: 1.0 |
| molmoact_dataset_household: 1.0 |
| molmoact_dataset_tabletop: 1.0 |
| oxe_droid: 1.0 |
| roboarena: 1.0 |
| dataloader_num_workers: 8 |
| dataloader_persistent_workers: true |
| dataloader_pin_memory: true |
| dataset_preference_ratio: 0.7 |
| dataset_success_cutoff_file: robometer/data/dataset_success_cutoff.txt |
| dataset_type: strategy_first |
| eval_datasets: |
| - mw |
| eval_subset_size: null |
| load_embeddings: false |
| max_frames: 8 |
| max_frames_after_preprocessing: 64 |
| max_success: 1.0 |
| max_trajectories: -1 |
| min_frames_per_trajectory: 5 |
| min_success: 0.5 |
| partial_success_threshold: 0.2 |
| predict_last_frame_partial_progress: false |
| preference_strategy_ratio: |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| progress_discrete_bins: 10 |
| progress_loss_type: discrete |
| progress_pred_type: absolute_wrt_total_frames |
| progress_strategy_ratio: |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| - 1.0 |
| resized_height: null |
| resized_width: null |
| sample_type_ratio: |
| - 1.0 |
| - 0.0 |
| - 0.0 |
| seed: 42 |
| shuffle: true |
| shuffle_progress_frames: false |
| train_datasets: |
| - rbm-1m-id |
| traj_same_source_prob: 0.5 |
| use_multi_image: true |
| use_per_frame_progress_token: true |
| debug: false |
| logging: |
| log_level: debug |
| log_to: |
| - wandb |
| save_best: |
| greater_is_better: |
| - true |
| - true |
| - true |
| - true |
| - true |
| hub_private: false |
| hub_save_every: 1000 |
| hub_token: null |
| keep_top_k: 5 |
| metric_names: |
| - eval_p_rank/kendall_last_utd_so101_clean_top |
| - eval_p_rank/kendall_last_usc_xarm |
| - eval_p_rank/kendall_last_usc_franka |
| - eval_p_rank/kendall_last_rfm_new_mit_franka_nowrist |
| - eval_p_rank/kendall_last_usc_trossen |
| save_every: 250 |
| upload_to_hub: false |
| save_model: true |
| save_processor: true |
| wandb_entity: clvr |
| wandb_mode: null |
| wandb_notes: all run with prog_token per frame, qwen 4b, discrete progress, 10 bins |
| wandb_project: robometer |
| loss: |
| predict_last_frame_progress: false |
| progress_discrete_bins: 10 |
| progress_loss_type: discrete |
| success_positive_weight: 1.0 |
| mode: train |
| model: |
| average_temporal_patches: true |
| base_model_id: Qwen/Qwen3-VL-4B-Instruct |
| frame_pooling: mean |
| frame_pooling_attn_temperature: 1.0 |
| model_type: default |
| peft_vision_encoder: false |
| progress_discrete_bins: 10 |
| progress_loss_type: discrete |
| quantization: false |
| rewind: null |
| torch_dtype: bfloat16 |
| train_language_model: true |
| train_preference_head: true |
| train_progress_head: true |
| train_success_head: true |
| train_vision_encoder: false |
| trust_remote_code: true |
| use_multi_image: true |
| use_peft: false |
| use_per_frame_progress_token: true |
| use_unsloth: true |
| peft: |
| bias: none |
| lora_alpha: 64 |
| lora_dropout: 0.05 |
| peft_vision_encoder: false |
| r: 32 |
| target_modules: |
| - q_proj |
| - k_proj |
| - v_proj |
| - o_proj |
| - gate_proj |
| - up_proj |
| - down_proj |
| trainer_cls: rbm_heads |
| training: |
| beta: 0.1 |
| bf16: true |
| custom_eval_steps: 250 |
| dataloader_num_workers: 8 |
| dataloader_persistent_workers: true |
| dataloader_pin_memory: true |
| ddp_bucket_cap_mb: 25 |
| ddp_find_unused_parameters: false |
| do_eval: true |
| eval_steps: 250 |
| evaluation_strategy: steps |
| exp_name: ant_rfm_qwen4b_4gpu_bs16_pref_prog_succ_8_frames_all_discrete_10_bins_part2 |
| fp16: false |
| gradient_accumulation_steps: 1 |
| gradient_checkpointing: true |
| learning_rate: 2.0e-05 |
| logging_steps: 1 |
| lr_scheduler_type: cosine |
| max_grad_norm: 10.0 |
| max_seq_length: 1024 |
| max_steps: 15000 |
| num_gpus: 2 |
| num_train_epochs: -1 |
| output_dir: ./logs |
| overwrite_output_dir: true |
| per_device_eval_batch_size: 16 |
| per_device_train_batch_size: 16 |
| predict_pref_progress: true |
| prediction_loss_only: true |
| remove_unused_columns: false |
| resume_from_checkpoint: /gpfs/home/jessezha/scrubbed_storage/reward_fm/logs/ant_rfm_qwen4b_4gpu_bs16_pref_prog_succ_8_frames_all_discrete_10_bins/ckpt-avg-5metrics=0.6973_step=3000 |
| run_default_eval: false |
| save_steps: 200 |
| save_strategy: 'no' |
| vision_encoder_lr: 5.0e-06 |
| vision_encoder_num_layers: 3 |
| warmup_ratio: 0.1 |
| warmup_steps: 0 |
| weight_decay: 0.01 |
|
|
