Upload checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins/checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins

.gitattributes

@@ -863,3 +863,5 @@ checkpoints_vlm_gym_sliding_block_one_image_lr2e_5_mse_only_ins/checkpoints_vlm_
 checkpoints_vlm_gym_sliding_block_one_image_lr2e_5_mse_only_ins/checkpoints_vlm_gym_sliding_block_one_image_lr2e_5_mse_only_ins/wandb/offline-run-20260131_232206-vlm_gym_sliding_block_one_img_lr2e_5_mse_only_ins-run0/run-vlm_gym_sliding_block_one_img_lr2e_5_mse_only_ins-run0.wandb filter=lfs diff=lfs merge=lfs -text
 checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_ce_ins/checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_ce_ins/eval_used_rows/eval_manifest_checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_ce_ins_step3500_rank3.jsonl filter=lfs diff=lfs merge=lfs -text
 checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_ce_ins/checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_ce_ins/eval_used_rows/eval_manifest_checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_ce_ins_step3500_rank5.jsonl filter=lfs diff=lfs merge=lfs -text
+checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins/checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins/eval_used_rows/eval_manifest_vlm_gym_mujoco_pick_and_place_one_img_lr2e_5_mse_only_ins_step3000_rank3.jsonl filter=lfs diff=lfs merge=lfs -text
+checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins/checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins/eval_used_rows/eval_manifest_vlm_gym_mujoco_pick_and_place_one_img_lr2e_5_mse_only_ins_step3000_rank5.jsonl filter=lfs diff=lfs merge=lfs -text

checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins/checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins/eval_used_rows/eval_manifest_vlm_gym_mujoco_pick_and_place_one_img_lr2e_5_mse_only_ins_step3000_rank3.jsonl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ce9ad196053ffd47ad1362222f3a09edceb2c9881948acf107a405879903b55
+size 10921579

checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins/checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins/eval_used_rows/eval_manifest_vlm_gym_mujoco_pick_and_place_one_img_lr2e_5_mse_only_ins_step3000_rank5.jsonl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ffdbb31e3ebda0a29855edadc62e79ddcc2ba5e2747fb8109632c60d363fbba
+size 10585988

checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins/checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins/wandb/offline-run-20260130_175055-vlm_gym_mujoco_pick_and_place_one_img_lr2e_5_mse_only_ins-run0/files/config.yaml

@@ -0,0 +1,454 @@
+wandb_version: 1
+
+_wandb:
+  desc: null
+  value:
+    python_version: 3.11.10
+    cli_version: 0.23.1
+    framework: huggingface
+    huggingface_version: 4.49.0
+    is_jupyter_run: false
+    is_kaggle_kernel: false
+    start_time: 1769795455
+    t:
+      1:
+      - 1
+      - 5
+      - 11
+      - 41
+      - 49
+      - 53
+      - 71
+      - 105
+      2:
+      - 1
+      - 5
+      - 11
+      - 41
+      - 49
+      - 53
+      - 71
+      - 105
+      3:
+      - 4
+      - 13
+      - 14
+      - 37
+      - 42
+      - 61
+      4: 3.11.10
+      5: 0.23.1
+      6: 4.49.0
+      13: linux-x86_64
+    e:
+      ba61gt8b494kobzpcjhqydgkjgg0f01m:
+        os: Linux-6.6.93+-x86_64-with-glibc2.35
+        python: CPython 3.11.10
+        started_at: '2026-01-30T17:50:55.569928Z'
+        args:
+        - --dataset_config_file
+        - ./data/configs/vlm_gym_mujoco_pick_and_place_train_mseloss_only.yaml
+        - --eval_dataset_config_file
+        - ./data/configs/vlm_gym_mujoco_pick_and_place_eval_mseloss_only.yaml
+        - --viz_dataset_config_file
+        - ./data/configs/vlm_gym_mujoco_pick_and_place_eval_mseloss_only.yaml
+        - --inference_hash_file
+        - /home/clouduser/Code/Github/launch_new/hashes_test_set_v10.json
+        - --task_name
+        - mujoco_pick_and_place_v5
+        - --train_data_dir
+        - /home/clouduser/Code/data/gym/mujoco_pick_and_place_v5/train/
+        - --train_jsonl_path
+        - /home/clouduser/Code/data/gym/mujoco_pick_and_place_v5/train/
+        - --eval_data_dir
+        - /home/clouduser/Code/data/gym/mujoco_pick_and_place_v5/train/
+        - --eval_jsonl_path
+        - /home/clouduser/Code/data/gym/mujoco_pick_and_place_v5/train/
+        - --model_path
+        - /home/clouduser/Code/Models/BAGEL-7B-MoT
+        - --layer_module
+        - Qwen2MoTDecoderLayer
+        - --max_latent_size
+        - '64'
+        - --resume-from
+        - /home/clouduser/Code/Models/BAGEL-7B-MoT
+        - --finetune_from_hf
+        - 'True'
+        - --auto_resume
+        - 'False'
+        - --resume-model-only
+        - 'True'
+        - --finetune-from-ema
+        - 'True'
+        - --log_every
+        - '1'
+        - --lr
+        - 2e-5
+        - --warmup_steps
+        - '300'
+        - --lr_scheduler
+        - cosine
+        - --num_worker
+        - '1'
+        - --expected_num_tokens
+        - '40000'
+        - --max_num_tokens
+        - '40000'
+        - --max_num_tokens_per_sample
+        - '40000'
+        - --visual_und
+        - 'True'
+        - --save_every
+        - '5000'
+        - --total_steps
+        - '5000'
+        - --text_cond_dropout_prob
+        - '0.0'
+        - --vae_cond_dropout_prob
+        - '0.0'
+        - --vit_cond_dropout_prob
+        - '0.0'
+        - --ema
+        - '0.993'
+        - --checkpoint_dir
+        - /dev/shm/models/checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins
+        - --wandb_project
+        - bagel
+        - --wandb_name
+        - vlm_gym_mujoco_pick_and_place_one_img_lr2e_5_mse_only_ins
+        - --wandb_dir
+        - /dev/shm/models/checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins
+        - --wandb_offline
+        - 'True'
+        program: /home/clouduser/Code/Github/unified_world_model/train/pretrain_unified_navit.py
+        code_path: train/pretrain_unified_navit.py
+        code_path_local: train/pretrain_unified_navit.py
+        git:
+          remote_url: https://github.com/para-lost/unified_world_model
+          commit: 20694bc0d8bf3c48fe817e31af63a14d6e1e3619
+        root: /dev/shm/models/checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins
+        host: junyizhang-launch-new-226991236-1-0
+        executable: /opt/conda/bin/python3.11
+        cpu_count: 48
+        cpu_count_logical: 96
+        gpu_type: NVIDIA A100-SXM4-80GB
+        gpu_count: 8
+        disk:
+          /:
+            total: '1052461830144'
+            used: '250625495040'
+        memory:
+          total: '1437332606976'
+        gpu_nvidia:
+        - name: NVIDIA A100-SXM4-80GB
+          memory_total: '85899345920'
+          cuda_cores: 6912
+          architecture: Ampere
+          uuid: GPU-6a6e4d54-a3c0-6d18-c5ee-cc2cf2e99d2e
+        - name: NVIDIA A100-SXM4-80GB
+          memory_total: '85899345920'
+          cuda_cores: 6912
+          architecture: Ampere
+          uuid: GPU-86a21cf2-d179-a47e-ebd9-c44f0d8fb880
+        - name: NVIDIA A100-SXM4-80GB
+          memory_total: '85899345920'
+          cuda_cores: 6912
+          architecture: Ampere
+          uuid: GPU-578f2a8c-902b-d80b-9313-096e44aff975
+        - name: NVIDIA A100-SXM4-80GB
+          memory_total: '85899345920'
+          cuda_cores: 6912
+          architecture: Ampere
+          uuid: GPU-8ea85cb2-644b-4ead-2562-2bcc44c9f8cc
+        - name: NVIDIA A100-SXM4-80GB
+          memory_total: '85899345920'
+          cuda_cores: 6912
+          architecture: Ampere
+          uuid: GPU-fa6d38ad-7f31-9967-2b4a-83c47d6c199a
+        - name: NVIDIA A100-SXM4-80GB
+          memory_total: '85899345920'
+          cuda_cores: 6912
+          architecture: Ampere
+          uuid: GPU-454503d4-8ac0-fe74-671d-1c3206314270
+        - name: NVIDIA A100-SXM4-80GB
+          memory_total: '85899345920'
+          cuda_cores: 6912
+          architecture: Ampere
+          uuid: GPU-1146f784-f5da-be8c-5923-723d1ce2b87a
+        - name: NVIDIA A100-SXM4-80GB
+          memory_total: '85899345920'
+          cuda_cores: 6912
+          architecture: Ampere
+          uuid: GPU-37ae0407-87e5-318f-c422-27a647c3ea9a
+        cuda_version: '12.2'
+        writer_id: ba61gt8b494kobzpcjhqydgkjgg0f01m
+visual_gen:
+  desc: null
+  value: true
+visual_und:
+  desc: null
+  value: true
+results_dir:
+  desc: null
+  value: results
+checkpoint_dir:
+  desc: null
+  value: /dev/shm/models/checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins
+wandb_project:
+  desc: null
+  value: bagel
+wandb_name:
+  desc: null
+  value: vlm_gym_mujoco_pick_and_place_one_img_lr2e_5_mse_only_ins
+wandb_runid:
+  desc: null
+  value: '0'
+wandb_resume:
+  desc: null
+  value: allow
+wandb_offline:
+  desc: null
+  value: true
+wandb_dir:
+  desc: null
+  value: /dev/shm/models/checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins
+global_seed:
+  desc: null
+  value: 4396
+auto_resume:
+  desc: null
+  value: false
+resume_from:
+  desc: null
+  value: /home/clouduser/Code/Models/BAGEL-7B-MoT
+resume_model_only:
+  desc: null
+  value: true
+finetune_from_ema:
+  desc: null
+  value: true
+finetune_from_hf:
+  desc: null
+  value: true
+log_every:
+  desc: null
+  value: 1
+save_every:
+  desc: null
+  value: 5000
+total_steps:
+  desc: null
+  value: 5000
+warmup_steps:
+  desc: null
+  value: 300
+lr_scheduler:
+  desc: null
+  value: cosine
+lr:
+  desc: null
+  value: 2.0e-05
+min_lr:
+  desc: null
+  value: 1.0e-07
+beta1:
+  desc: null
+  value: 0.9
+beta2:
+  desc: null
+  value: 0.95
+eps:
+  desc: null
+  value: 1.0e-15
+ema:
+  desc: null
+  value: 0.993
+max_grad_norm:
+  desc: null
+  value: 1.0
+timestep_shift:
+  desc: null
+  value: 1.0
+mse_weight:
+  desc: null
+  value: 1.0
+ce_weight:
+  desc: null
+  value: 1.0
+ce_loss_reweighting:
+  desc: null
+  value: false
+expected_num_tokens:
+  desc: null
+  value: 40000
+num_replicate:
+  desc: null
+  value: 1
+num_shard:
+  desc: null
+  value: 8
+sharding_strategy:
+  desc: null
+  value: HYBRID_SHARD
+backward_prefetch:
+  desc: null
+  value: BACKWARD_PRE
+cpu_offload:
+  desc: null
+  value: false
+freeze_llm:
+  desc: null
+  value: false
+freeze_vit:
+  desc: null
+  value: false
+freeze_vae:
+  desc: null
+  value: true
+freeze_und:
+  desc: null
+  value: false
+copy_init_moe:
+  desc: null
+  value: true
+use_flex:
+  desc: null
+  value: false
+eval_every:
+  desc: null
+  value: 500
+num_eval_batches:
+  desc: null
+  value: 20
+use_ema_for_eval:
+  desc: null
+  value: true
+eval_log_dir:
+  desc: null
+  value: null
+eval_run_tag:
+  desc: null
+  value: ''
+viz_every:
+  desc: null
+  value: 500
+viz_n:
+  desc: null
+  value: 8
+viz_outdir:
+  desc: null
+  value: results/viz
+eval_dataset_config_file:
+  desc: null
+  value: ./data/configs/vlm_gym_mujoco_pick_and_place_eval_mseloss_only.yaml
+viz_dataset_config_file:
+  desc: null
+  value: ./data/configs/vlm_gym_mujoco_pick_and_place_eval_mseloss_only.yaml
+eval_print_n:
+  desc: null
+  value: 3
+save_ema_only:
+  desc: null
+  value: true
+save_optimizer:
+  desc: null
+  value: false
+model_path:
+  desc: null
+  value: /home/clouduser/Code/Models/BAGEL-7B-MoT
+llm_path:
+  desc: null
+  value: hf/Qwen2.5-0.5B-Instruct/
+llm_qk_norm:
+  desc: null
+  value: true
+tie_word_embeddings:
+  desc: null
+  value: false
+layer_module:
+  desc: null
+  value: Qwen2MoTDecoderLayer
+vae_path:
+  desc: null
+  value: flux/vae/ae.safetensors
+vit_path:
+  desc: null
+  value: hf/siglip-so400m-14-980-flash-attn2-navit/
+max_latent_size:
+  desc: null
+  value: 64
+latent_patch_size:
+  desc: null
+  value: 2
+vit_patch_size:
+  desc: null
+  value: 14
+vit_max_num_patch_per_side:
+  desc: null
+  value: 70
+connector_act:
+  desc: null
+  value: gelu_pytorch_tanh
+interpolate_pos:
+  desc: null
+  value: false
+vit_select_layer:
+  desc: null
+  value: -2
+vit_rope:
+  desc: null
+  value: false
+text_cond_dropout_prob:
+  desc: null
+  value: 0.0
+vae_cond_dropout_prob:
+  desc: null
+  value: 0.0
+vit_cond_dropout_prob:
+  desc: null
+  value: 0.0
+dataset_config_file:
+  desc: null
+  value: ./data/configs/vlm_gym_mujoco_pick_and_place_train_mseloss_only.yaml
+train_data_dir:
+  desc: null
+  value: /home/clouduser/Code/data/gym/mujoco_pick_and_place_v5/train/
+train_jsonl_path:
+  desc: null
+  value: /home/clouduser/Code/data/gym/mujoco_pick_and_place_v5/train/
+eval_data_dir:
+  desc: null
+  value: /home/clouduser/Code/data/gym/mujoco_pick_and_place_v5/train/
+eval_jsonl_path:
+  desc: null
+  value: /home/clouduser/Code/data/gym/mujoco_pick_and_place_v5/train/
+inference_hash_file:
+  desc: null
+  value: /home/clouduser/Code/Github/launch_new/hashes_test_set_v10.json
+task_name:
+  desc: null
+  value: mujoco_pick_and_place_v5
+instructions_dir:
+  desc: null
+  value: null
+prefetch_factor:
+  desc: null
+  value: 2
+num_workers:
+  desc: null
+  value: 1
+max_num_tokens_per_sample:
+  desc: null
+  value: 40000
+max_num_tokens:
+  desc: null
+  value: 40000
+prefer_buffer_before:
+  desc: null
+  value: 16384
+max_buffer_size:
+  desc: null
+  value: 50
+data_seed:
+  desc: null
+  value: 42

checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins/checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins/wandb/offline-run-20260130_175055-vlm_gym_mujoco_pick_and_place_one_img_lr2e_5_mse_only_ins-run0/files/wandb-summary.json

@@ -1 +1 @@
-{"_runtime": 23998.512595126, "eval/mse": 0.18744079768657684, "ce": 0, "total_mse_tokens": 107008, "total_ce_tokens": 0, "total_norm": 0.13836659491062164, "total_samples": 8, "mem_cache": 77412, "_step": 490, "eval/ce": 0, "_timestamp": 1769819407.7535627, "mse": 0.10408680140972137, "lr": 1.9919020726696604e-05, "mem_allocated": 64235.0546875}
+{"_runtime": 130077.56297464, "eval/mse": 0.08559266477823257, "ce": 0, "total_mse_tokens": 117760, "total_ce_tokens": 0, "total_norm": 0.0780048817396164, "total_samples": 8, "mem_cache": 77398, "_step": 2700, "eval/ce": 0, "_timestamp": 1769925486.8077943, "mse": 0.08694417029619217, "lr": 9.710873949111085e-06, "mem_allocated": 64234.796875}

checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins/checkpoints_vlm_gym_mujoco_pick_and_place_one_image_lr2e_5_mse_only_ins/wandb/offline-run-20260130_175055-vlm_gym_mujoco_pick_and_place_one_img_lr2e_5_mse_only_ins-run0/run-vlm_gym_mujoco_pick_and_place_one_img_lr2e_5_mse_only_ins-run0.wandb

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8500a4f263ec56e8ea137e023e876a57bc3ea2efe0ff3e1f07810a6481734e63
-size 33226752
+oid sha256:b27959a0f08078239ff64b2e1a619d4286f4b14543a0228ebbb2314c6f55b6ef
+size 40009728