ai-agent-book 精选快照（<2MB 代码与文档，来自 github.com/bojieli/ai-agent-book）
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||||
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||||
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||||
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||||
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||||
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Load Diff
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||||
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|
||||
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||||
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||||
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||||
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||||
],
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"shell_command": "EXP7_13_EPISODE_JSONL=/home/ubuntu/ai-agent-book/chapter7/openvla-robotwin2-eval/runs/exp7-13-localgpu-20260803-v1/chunk_1/episodes.jsonl EXP7_13_ARM=chunk_1 EXP7_13_UPSTREAM_COMMIT=7c51662df27b586f9e8a1ab35fcf849f2b8852f9 HYDRA_FULL_ERROR=1 TOKENIZERS_PARALLELISM=true NCCL_DEBUG=WARN ROBOT_PLATFORM=ALOHA VERL_DISABLE_VLLM_IMPORT=1 /home/ubuntu/.venvs/exp7-13-robotwin/bin/python -u -m verl.trainer.main_ppo data.task_suite_name=robotwin2_move_can_pot data.num_trials_per_task=128 data.n_samples=1 data.filter_accuracy=False data.train_batch_size=64 data.val_batch_size=8 data.max_prompt_length=256 data.max_response_length=128 actor_rollout_ref.model.path=/home/ubuntu/checkpoints/exp7-13-openvla-move-can-pot actor_rollout_ref.model.vla=openvla-oft actor_rollout_ref.model.action_token_len=14 actor_rollout_ref.model.action_chunks_len=1 actor_rollout_ref.model.resume=False actor_rollout_ref.actor.num_images_in_input=3 actor_rollout_ref.actor.traj_mini_batch_size=8 actor_rollout_ref.actor.ppo_mini_batch_size=128 actor_rollout_ref.actor.ppo_micro_batch_size=8 actor_rollout_ref.actor.use_dynamic_bsz=False actor_rollout_ref.actor.fsdp_config.param_offload=False actor_rollout_ref.actor.fsdp_config.grad_offload=True actor_rollout_ref.actor.fsdp_config.optimizer_offload=True actor_rollout_ref.rollout.twin2_task_config=exp7_13_three_view actor_rollout_ref.rollout.twin2_instruction_type=seen actor_rollout_ref.rollout.num_images_in_input=3 actor_rollout_ref.rollout.use_proprio=True actor_rollout_ref.rollout.val_micro_batch_size=8 actor_rollout_ref.rollout.temperature=1.6 actor_rollout_ref.rollout.experiment_name=exp7_13_move_can_pot_chunk_1 actor_rollout_ref.rollout.micro_batch_size=1 actor_rollout_ref.rollout.unnorm_key=robotwin2_move_can_pot_1k actor_rollout_ref.rollout.model_family=openvla actor_rollout_ref.rollout.task_suite_name=robotwin2_move_can_pot actor_rollout_ref.rollout.num_steps_wait=10 actor_rollout_ref.rollout.pretrained_checkpoint=/home/ubuntu/checkpoints/exp7-13-openvla-move-can-pot actor_rollout_ref.rollout.center_crop=True actor_rollout_ref.rollout.max_prompt_length=512 actor_rollout_ref.rollout.tensor_model_parallel_size=1 actor_rollout_ref.rollout.name=hf actor_rollout_ref.rollout.gpu_memory_utilization=0.9 actor_rollout_ref.ref.log_prob_micro_batch_size=32 actor_rollout_ref.ref.fsdp_config.param_offload=True algorithm.adv_estimator=grpo algorithm.kl_ctrl.kl_coef=0.0 'trainer.logger=['\"'\"'console'\"'\"']' trainer.project_name=AI-Agent-Book-Experiment-7-13 trainer.experiment_name=exp7_13_move_can_pot_chunk_1 trainer.default_local_dir=/home/ubuntu/ai-agent-book/chapter7/openvla-robotwin2-eval/runs/exp7-13-localgpu-20260803-v1/chunk_1/checkpoints trainer.n_gpus_per_node=1 trainer.nnodes=1 trainer.save_freq=-1 trainer.test_freq=-1 trainer.total_epochs=1 trainer.val_only=True trainer.val_before_train=True trainer.runtime_env=/home/ubuntu/ai-agent-book/chapter7/openvla-robotwin2-eval/runs/exp7-13-localgpu-20260803-v1/instrumented-upstream/align.json trainer.wandb_mode=disabled"
|
||||
},
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||||
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|
||||
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||||
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|
||||
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|
||||
"environment": {
|
||||
"EXP7_13_EPISODE_JSONL": "/home/ubuntu/ai-agent-book/chapter7/openvla-robotwin2-eval/runs/exp7-13-localgpu-20260803-v1/chunk_25/episodes.jsonl",
|
||||
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||||
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|
||||
"HYDRA_FULL_ERROR": "1",
|
||||
"TOKENIZERS_PARALLELISM": "true",
|
||||
"NCCL_DEBUG": "WARN",
|
||||
"ROBOT_PLATFORM": "ALOHA",
|
||||
"VERL_DISABLE_VLLM_IMPORT": "1"
|
||||
},
|
||||
"argv": [
|
||||
"/home/ubuntu/.venvs/exp7-13-robotwin/bin/python",
|
||||
"-u",
|
||||
"-m",
|
||||
"verl.trainer.main_ppo",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"actor_rollout_ref.model.path=/home/ubuntu/checkpoints/exp7-13-openvla-move-can-pot",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"actor_rollout_ref.rollout.twin2_task_config=exp7_13_three_view",
|
||||
"actor_rollout_ref.rollout.twin2_instruction_type=seen",
|
||||
"actor_rollout_ref.rollout.num_images_in_input=3",
|
||||
"+actor_rollout_ref.rollout.action_token_len=14",
|
||||
"actor_rollout_ref.rollout.use_proprio=True",
|
||||
"actor_rollout_ref.rollout.val_micro_batch_size=8",
|
||||
"actor_rollout_ref.rollout.temperature=1.6",
|
||||
"actor_rollout_ref.rollout.experiment_name=exp7_13_move_can_pot_chunk_25",
|
||||
"actor_rollout_ref.rollout.micro_batch_size=1",
|
||||
"actor_rollout_ref.rollout.unnorm_key=robotwin2_move_can_pot_1k",
|
||||
"actor_rollout_ref.rollout.model_family=openvla",
|
||||
"actor_rollout_ref.rollout.task_suite_name=robotwin2_move_can_pot",
|
||||
"actor_rollout_ref.rollout.num_steps_wait=10",
|
||||
"actor_rollout_ref.rollout.pretrained_checkpoint=/home/ubuntu/checkpoints/exp7-13-openvla-move-can-pot",
|
||||
"actor_rollout_ref.rollout.center_crop=True",
|
||||
"actor_rollout_ref.rollout.max_prompt_length=512",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"actor_rollout_ref.ref.fsdp_config.param_offload=True",
|
||||
"algorithm.adv_estimator=grpo",
|
||||
"algorithm.kl_ctrl.kl_coef=0.0",
|
||||
"trainer.logger=['console']",
|
||||
"trainer.project_name=AI-Agent-Book-Experiment-7-13",
|
||||
"trainer.experiment_name=exp7_13_move_can_pot_chunk_25",
|
||||
"trainer.default_local_dir=/home/ubuntu/ai-agent-book/chapter7/openvla-robotwin2-eval/runs/exp7-13-localgpu-20260803-v1/chunk_25/checkpoints",
|
||||
"trainer.n_gpus_per_node=1",
|
||||
"trainer.nnodes=1",
|
||||
"trainer.save_freq=-1",
|
||||
"trainer.test_freq=-1",
|
||||
"trainer.total_epochs=1",
|
||||
"trainer.val_only=True",
|
||||
"trainer.val_before_train=True",
|
||||
"trainer.runtime_env=/home/ubuntu/ai-agent-book/chapter7/openvla-robotwin2-eval/runs/exp7-13-localgpu-20260803-v1/instrumented-upstream/align.json",
|
||||
"trainer.wandb_mode=disabled"
|
||||
],
|
||||
"shell_command": "EXP7_13_EPISODE_JSONL=/home/ubuntu/ai-agent-book/chapter7/openvla-robotwin2-eval/runs/exp7-13-localgpu-20260803-v1/chunk_25/episodes.jsonl EXP7_13_ARM=chunk_25 EXP7_13_UPSTREAM_COMMIT=7c51662df27b586f9e8a1ab35fcf849f2b8852f9 HYDRA_FULL_ERROR=1 TOKENIZERS_PARALLELISM=true NCCL_DEBUG=WARN ROBOT_PLATFORM=ALOHA VERL_DISABLE_VLLM_IMPORT=1 /home/ubuntu/.venvs/exp7-13-robotwin/bin/python -u -m verl.trainer.main_ppo data.task_suite_name=robotwin2_move_can_pot data.num_trials_per_task=128 data.n_samples=1 data.filter_accuracy=False data.train_batch_size=64 data.val_batch_size=8 data.max_prompt_length=256 data.max_response_length=128 actor_rollout_ref.model.path=/home/ubuntu/checkpoints/exp7-13-openvla-move-can-pot actor_rollout_ref.model.vla=openvla-oft actor_rollout_ref.model.action_token_len=14 actor_rollout_ref.model.action_chunks_len=25 actor_rollout_ref.model.resume=False actor_rollout_ref.actor.num_images_in_input=3 actor_rollout_ref.actor.traj_mini_batch_size=8 actor_rollout_ref.actor.ppo_mini_batch_size=128 actor_rollout_ref.actor.ppo_micro_batch_size=8 actor_rollout_ref.actor.use_dynamic_bsz=False actor_rollout_ref.actor.fsdp_config.param_offload=False actor_rollout_ref.actor.fsdp_config.grad_offload=True actor_rollout_ref.actor.fsdp_config.optimizer_offload=True actor_rollout_ref.rollout.twin2_task_config=exp7_13_three_view actor_rollout_ref.rollout.twin2_instruction_type=seen actor_rollout_ref.rollout.num_images_in_input=3 actor_rollout_ref.rollout.use_proprio=True actor_rollout_ref.rollout.val_micro_batch_size=8 actor_rollout_ref.rollout.temperature=1.6 actor_rollout_ref.rollout.experiment_name=exp7_13_move_can_pot_chunk_25 actor_rollout_ref.rollout.micro_batch_size=1 actor_rollout_ref.rollout.unnorm_key=robotwin2_move_can_pot_1k actor_rollout_ref.rollout.model_family=openvla actor_rollout_ref.rollout.task_suite_name=robotwin2_move_can_pot actor_rollout_ref.rollout.num_steps_wait=10 actor_rollout_ref.rollout.pretrained_checkpoint=/home/ubuntu/checkpoints/exp7-13-openvla-move-can-pot actor_rollout_ref.rollout.center_crop=True actor_rollout_ref.rollout.max_prompt_length=512 actor_rollout_ref.rollout.tensor_model_parallel_size=1 actor_rollout_ref.rollout.name=hf actor_rollout_ref.rollout.gpu_memory_utilization=0.9 actor_rollout_ref.ref.log_prob_micro_batch_size=32 actor_rollout_ref.ref.fsdp_config.param_offload=True algorithm.adv_estimator=grpo algorithm.kl_ctrl.kl_coef=0.0 'trainer.logger=['\"'\"'console'\"'\"']' trainer.project_name=AI-Agent-Book-Experiment-7-13 trainer.experiment_name=exp7_13_move_can_pot_chunk_25 trainer.default_local_dir=/home/ubuntu/ai-agent-book/chapter7/openvla-robotwin2-eval/runs/exp7-13-localgpu-20260803-v1/chunk_25/checkpoints trainer.n_gpus_per_node=1 trainer.nnodes=1 trainer.save_freq=-1 trainer.test_freq=-1 trainer.total_epochs=1 trainer.val_only=True trainer.val_before_train=True trainer.runtime_env=/home/ubuntu/ai-agent-book/chapter7/openvla-robotwin2-eval/runs/exp7-13-localgpu-20260803-v1/instrumented-upstream/align.json trainer.wandb_mode=disabled"
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File diff suppressed because it is too large
Load Diff
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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"path": "/home/ubuntu/RoboTwin2",
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|
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|
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},
|
||||
"ready_for_real_validation": true,
|
||||
"blocking_checks": [],
|
||||
"acceptance_note": "Preflight readiness is necessary but never sufficient for Experiment 7-13 completion."
|
||||
}
|
||||
+147
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|
||||
{
|
||||
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||||
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|
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"historical_rollouts_accepted": false,
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|
||||
},
|
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"configuration": {
|
||||
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|
||||
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|
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|
||||
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|
||||
"expected_checkpoint_revision": "a1f0ac0aa32d31ffab7131b0eda3e11719f39ee5",
|
||||
"task": "move_can_pot",
|
||||
"task_suite": "robotwin2_move_can_pot",
|
||||
"task_config": "exp7_13_three_view",
|
||||
"checkpoint_env": "OPENVLA_CHECKPOINT",
|
||||
"robotwin2_env": "ROBOTWIN2_PATH",
|
||||
"align_path_env": "SIMPLEVLA_ALIGN_PATH",
|
||||
"model_family": "openvla",
|
||||
"vla": "openvla-oft",
|
||||
"action_dimension": 14,
|
||||
"action_token_length": 14,
|
||||
"action_chunks": [
|
||||
1,
|
||||
25
|
||||
],
|
||||
"rgb_views": 3,
|
||||
"proprio_dimension": 14,
|
||||
"control_hz": 50,
|
||||
"iid_validation_seeds": 128,
|
||||
"ood_validation_seeds": 128,
|
||||
"gpus_required": 1,
|
||||
"failure_modes": [
|
||||
"grasp_failure",
|
||||
"transport_collision",
|
||||
"placement_position_error",
|
||||
"placement_orientation_error",
|
||||
"gripper_release_failure",
|
||||
"timeout",
|
||||
"environment_error",
|
||||
"other_observed_failure"
|
||||
]
|
||||
},
|
||||
"arms": {
|
||||
"chunk_1": {
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"by_split": {
|
||||
"iid": {
|
||||
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|
||||
"successes": 0,
|
||||
"success_rate": 0.0
|
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},
|
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|
||||
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|
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|
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"success_rate": 0.0
|
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}
|
||||
},
|
||||
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|
||||
"count": 256,
|
||||
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|
||||
"std": 0.0,
|
||||
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|
||||
"p50": 200.0,
|
||||
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|
||||
"max": 200.0
|
||||
},
|
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|
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"count": 256,
|
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"mean": 4.0,
|
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"std": 0.0,
|
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"min": 4.0,
|
||||
"p50": 4.0,
|
||||
"p95": 4.0,
|
||||
"max": 4.0
|
||||
},
|
||||
"failure_modes": {
|
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"timeout": 256
|
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},
|
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"unclassified_failure_count": 0,
|
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"missing_video_count": 0,
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"unmatched_video_count": 0
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},
|
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"chunk_25": {
|
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"action_chunk_length": 25,
|
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"episodes": 256,
|
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"successes": 26,
|
||||
"success_rate": 0.1015625,
|
||||
"by_split": {
|
||||
"iid": {
|
||||
"episodes": 128,
|
||||
"successes": 13,
|
||||
"success_rate": 0.1015625
|
||||
},
|
||||
"ood": {
|
||||
"episodes": 128,
|
||||
"successes": 13,
|
||||
"success_rate": 0.1015625
|
||||
}
|
||||
},
|
||||
"completion_action_steps": {
|
||||
"count": 256,
|
||||
"mean": 190.13671875,
|
||||
"std": 29.939405918177442,
|
||||
"min": 50.0,
|
||||
"p50": 200.0,
|
||||
"p95": 200.0,
|
||||
"max": 200.0
|
||||
},
|
||||
"completion_control_seconds_at_50hz": {
|
||||
"count": 256,
|
||||
"mean": 3.802734375,
|
||||
"std": 0.5987881183635488,
|
||||
"min": 1.0,
|
||||
"p50": 4.0,
|
||||
"p95": 4.0,
|
||||
"max": 4.0
|
||||
},
|
||||
"failure_modes": {
|
||||
"timeout": 230
|
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},
|
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"unclassified_failure_count": 0,
|
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"missing_video_count": 0,
|
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"unmatched_video_count": 0
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}
|
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},
|
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"controlled_action_chunk_comparison": {
|
||||
"complete_pairs": 256,
|
||||
"chunk_25_wins": 26,
|
||||
"chunk_1_wins": 0,
|
||||
"ties": 230,
|
||||
"mean_paired_success_delta": 0.1015625,
|
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"unpaired_rows": 0
|
||||
},
|
||||
"strict_completion": {
|
||||
"complete": true,
|
||||
"errors": []
|
||||
}
|
||||
}
|
||||
+30
@@ -0,0 +1,30 @@
|
||||
# Experiment 7-13 OpenVLA + RoboTwin2 evaluation
|
||||
|
||||
Official completion: **True**
|
||||
|
||||
| Arm | Episodes | Success rate | IID | OOD | Completion p50 / p95 (50 Hz seconds) |
|
||||
| --- | ---: | ---: | ---: | ---: | ---: |
|
||||
| chunk_1 | 256 | 0.0 | 0.0 | 0.0 | 4.0 / 4.0 |
|
||||
| chunk_25 | 256 | 0.1015625 | 0.1015625 | 0.1015625 | 4.0 / 4.0 |
|
||||
|
||||
## Controlled comparison
|
||||
|
||||
```json
|
||||
{
|
||||
"complete_pairs": 256,
|
||||
"chunk_25_wins": 26,
|
||||
"chunk_1_wins": 0,
|
||||
"ties": 230,
|
||||
"mean_paired_success_delta": 0.1015625,
|
||||
"unpaired_rows": 0
|
||||
}
|
||||
```
|
||||
|
||||
## Failure modes
|
||||
|
||||
- chunk_1: {"timeout": 256}
|
||||
- chunk_25: {"timeout": 230}
|
||||
|
||||
## Completion audit
|
||||
|
||||
- Every direct manuscript gate is supported by real per-episode evidence.
|
||||
Reference in New Issue
Block a user