From 2c1ceac0448c33219f8f7214c39b55cb987ad880 Mon Sep 17 00:00:00 2001 From: tactino <18781106300@163.com> Date: Tue, 29 Sep 2026 12:27:33 -0400 Subject: [PATCH] vla: FPO holds pi0.5 with FPO++'s fine-tuning in full (E42) - the cell, the clip from the lower seed, and the page's account of the collapse --- docs/media/coverage/coverage.json | 2 +- docs/media/coverage/pi0-fpo.jpg | Bin 8422 -> 9069 bytes docs/media/coverage/pi0-fpo.mp4 | Bin 39386 -> 32801 bytes docs/vla.md | 19 ++++++++++++++----- docs/vla.zh.md | 13 +++++++++---- 5 files changed, 24 insertions(+), 10 deletions(-) diff --git a/docs/media/coverage/coverage.json b/docs/media/coverage/coverage.json index 6e418be..250c398 100644 --- a/docs/media/coverage/coverage.json +++ b/docs/media/coverage/coverage.json @@ -1 +1 @@ -{"rows":[{"id":"fpo-fpo","label":"fpo-policy · FPO"},{"id":"fpo-dppo","label":"fpo-policy · DPPO"},{"id":"dppo-dppo","label":"dppo-policy · DPPO"},{"id":"gaussian-ppo","label":"Gaussian MLP · 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Over -seven such evaluations the released policy scored between 28 and 37. Click a -clip to see the two commands behind it. +seven such evaluations the released policy scored between 28 and 37. Where an +experiment ran two seeds, the clip and the number are the lower-scoring +seed's. Click a clip to see the two commands behind it. ## How it went @@ -32,8 +35,14 @@ than FPO++'s. Ten DPPO iterations left it at 20, three standard deviations below the released policy's mean ([E36](https://github.com/PlugRL/plugrl-server/tree/main/experiments/e36-pi0-longer)). -A run with FPO++'s fine-tuning in full is under way, to check whether what -remains of the collapse is still ours. +That fall was ours too. With the rest of FPO++'s fine-tuning in place (its +optimizer, gradient clipping, critic learning rate, raw rewards, lambda and +clip), ten FPO iterations left the same two seeds at 40 and 27 of 50 +([E42](https://github.com/PlugRL/plugrl-server/tree/main/experiments/e42-pi0-fpo-plus-plus)). +Neither reaches the bar set before the run, 42 of 50, so this is FPO holding +pi0.5, not improving it. The lower seed, whose clip is above, was drifting +the way E36's runs fell, only far more slowly. Whether it holds past ten +iterations is open. The scripts that recorded the clips are in [figures/coverage](https://github.com/PlugRL/plugrl-server/tree/main/figures/coverage). diff --git a/docs/vla.zh.md b/docs/vla.zh.md index f68f9d1..a6bd255 100644 --- a/docs/vla.zh.md +++ b/docs/vla.zh.md @@ -2,13 +2,14 @@ 主页展示了一个完整尺寸的 pi0.5 穿过 PlugRL 的边界跑通，评估结果和 openpi 公布的一致。 这一页是那份记录的其余部分：通过 PlugRL 用强化学习微调它，到目前为止做到了什么。 -简单说，还没能让策略变好。 +简单说，还没能让策略变好。前几次跑出来的崩塌都是我们自己的缺陷，修掉之后 FPO 基本让策略 +停在原来的水平。
三段视频都从同一个场景开始，也就是原版策略能完成的第一个场景；视频下面的数字来自 50 个 -回合的评估。原版策略在七次这样的评估里得分在 28 到 37 之间。点一下视频，会显示它背后的 -两条命令。 +回合的评估。原版策略在七次这样的评估里得分在 28 到 37 之间。实验跑了两个种子的，视频和 +数字都取分数较低的那个。点一下视频，会显示它背后的两条命令。 ## 经过 @@ -26,7 +27,11 @@ 还是自己的默认设置，没换成 FPO++ 的；十轮 DPPO 后是 20/50，比原版策略的平均低了三个 标准差（[E36](https://github.com/PlugRL/plugrl-server/tree/main/experiments/e36-pi0-longer)）。 -换上 FPO++ 完整设置的实验正在跑，用来确认剩下的崩塌还是不是我们的问题。 +这次下跌也是我们的问题。把 FPO++ 其余的微调设置补齐（优化器、梯度裁剪、critic 学习率、 +原始奖励、lambda 和 clip）之后，同样两个种子跑十轮 FPO，分别是 40/50 和 27/50 +（[E42](https://github.com/PlugRL/plugrl-server/tree/main/experiments/e42-pi0-fpo-plus-plus)）。 +两个都没达到跑之前定好的 42/50，所以这是 FPO 稳住了 pi0.5，不是把它变好了。分数较低的 +那个种子（上面的视频就是它）在往 E36 那样的方向漂，只是慢得多；再往后跑还稳不稳，还不知道。 录这些视频的脚本在 [figures/coverage](https://github.com/PlugRL/plugrl-server/tree/main/figures/coverage)。