mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-17 17:50:09 +00:00
Pepijn
12cce8f2cc
Pi 0.5 paper §IV.D Eq. (1) sets the loss balance to α=10 between text CE and flow MSE: actions are the primary output and the flow head should dominate the gradient signal. SmolVLA2 was defaulting both weights to 1.0, which inverts that — text CE (~0.5-2.0 nats) ends up larger than flow MSE (~0.1-1.0), so the action expert gets less gradient than the LM head despite being the primary task. Match the paper's split: text_loss_weight=1.0, flow_loss_weight=10.0. Same as ``pi052`` (the new full reproduction policy). Also pin the values explicitly in the SLURM launcher so the choice is visible and overridable per-run rather than buried in the config default. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
83 lines
3.1 KiB
Bash
83 lines
3.1 KiB
Bash
#!/bin/bash
|
|
#SBATCH --job-name=smolvla2-hirobot
|
|
#SBATCH --partition=hopper-prod
|
|
#SBATCH --qos=high
|
|
#SBATCH --time=48:00:00
|
|
#SBATCH --ntasks=1
|
|
#SBATCH --gpus-per-task=8
|
|
|
|
# SmolVLA2 training on an annotated dataset.
|
|
#
|
|
# The high_level_subtask recipe (recipes/smolvla2_hirobot.yaml) was
|
|
# fixed in PR3 to supervise the LM head with the *current* active
|
|
# subtask span at every frame, not the next-span target which is
|
|
# empty on stable phases. With the old recipe the head learned to
|
|
# emit ``\n`` on every chunk boundary; the new one supervises a
|
|
# real, scene-grounded string at every frame.
|
|
#
|
|
# Two regularisers are still on:
|
|
#
|
|
# * --dataset.image_transforms.enable=true: torchvision-v2
|
|
# ColorJitter + SharpnessJitter + RandomAffine per frame; default
|
|
# envelope (brightness ±20% etc).
|
|
# * --policy.{plan,memory,subtask}_dropout_prob: randomly drop the
|
|
# context messages carrying the named recipe binding so the model
|
|
# handles missing/stale context. Mirrors Pi0.7 §V.E.
|
|
|
|
set -euo pipefail
|
|
|
|
cd "${LEROBOT_ROOT:-$HOME/lerobot}"
|
|
|
|
export PATH="$HOME/miniconda3/bin:$HOME/.local/bin:$PATH"
|
|
export LD_LIBRARY_PATH="$HOME/miniconda3/lib:${LD_LIBRARY_PATH:-}"
|
|
export NCCL_TIMEOUT="${NCCL_TIMEOUT:-1800}"
|
|
export HF_HUB_DOWNLOAD_TIMEOUT="${HF_HUB_DOWNLOAD_TIMEOUT:-120}"
|
|
export WANDB_INIT_TIMEOUT="${WANDB_INIT_TIMEOUT:-300}"
|
|
|
|
DATASET="${DATASET:-pepijn223/super_poulain_full_tool3}"
|
|
POLICY_REPO_ID="${POLICY_REPO_ID:-pepijn223/smolvla2_hirobot_super_poulain_tool6}"
|
|
JOB_NAME="${JOB_NAME:-smolvla2-hirobot-super-poulain-tool6}"
|
|
NUM_PROCESSES="${NUM_PROCESSES:-8}"
|
|
BATCH_SIZE="${BATCH_SIZE:-32}"
|
|
STEPS="${STEPS:-15000}"
|
|
RUN_ID="${SLURM_JOB_ID:-$(date +%Y%m%d_%H%M%S)}"
|
|
OUTPUT_DIR="${OUTPUT_DIR:-/fsx/pepijn/outputs/train/smolvla2_hirobot_super_poulain_tool3_${STEPS}_${RUN_ID}}"
|
|
|
|
echo "Training smolvla2 on $DATASET"
|
|
echo " GPUs: $NUM_PROCESSES"
|
|
echo " batch: $BATCH_SIZE / GPU (global=$((NUM_PROCESSES * BATCH_SIZE)))"
|
|
echo " steps: $STEPS"
|
|
echo " output: $OUTPUT_DIR"
|
|
echo " augmentation: image_transforms ON, prompt dropout {plan:0.30 memory:0.30 subtask:0.20}"
|
|
|
|
accelerate launch --multi_gpu --num_processes="$NUM_PROCESSES" \
|
|
-m lerobot.scripts.lerobot_train \
|
|
--policy.type=smolvla2 \
|
|
--policy.recipe_path=recipes/smolvla2_hirobot.yaml \
|
|
--dataset.repo_id="$DATASET" \
|
|
--dataset.revision=main \
|
|
--dataset.video_backend=pyav \
|
|
--output_dir="$OUTPUT_DIR" \
|
|
--job_name="$JOB_NAME" \
|
|
--policy.repo_id="$POLICY_REPO_ID" \
|
|
--policy.compile_model=false \
|
|
--policy.device=cuda \
|
|
--policy.tokenizer_max_length=512 \
|
|
--policy.text_loss_weight=1.0 \
|
|
--policy.flow_loss_weight=10.0 \
|
|
--steps="$STEPS" \
|
|
--policy.scheduler_decay_steps="$STEPS" \
|
|
--batch_size="$BATCH_SIZE" \
|
|
--wandb.enable=true \
|
|
--wandb.disable_artifact=true \
|
|
--wandb.project=hirobot \
|
|
--log_freq=100 \
|
|
--save_freq="$STEPS" \
|
|
--num_workers=0 \
|
|
--dataset.image_transforms.enable=true \
|
|
--dataset.image_transforms.max_num_transforms=3 \
|
|
--dataset.image_transforms.random_order=true \
|
|
--policy.plan_dropout_prob=0.30 \
|
|
--policy.memory_dropout_prob=0.30 \
|
|
--policy.subtask_dropout_prob=0.20
|