| action_dim: 7 |
| action_model_type: DiT-L |
| consolidate_type: tome |
| data_root_dir: /training-results/haodong/Real/memoryvla_rlds |
| dataloader_type: stream |
| ema_decay: 0.999 |
| fusion_type: gate |
| future_action_window_size: 15 |
| group_size: 16 |
| hf_token: HF_TOKEN |
| image_aug: false |
| image_aug_mode: spatial |
| is_resume: false |
| load_all_data_for_training: true |
| mem_length: 256 |
| per_token_size: 256 |
| pretrained_checkpoint: /training-results/haodong/MemoryVLA/code/pretrained/CogACT-Large/checkpoints/CogACT-Large.pt |
| repeated_diffusion_steps: 4 |
| resume_epoch: 0 |
| resume_step: 0 |
| retain_optimizer_checkpoints: 2 |
| retrieval_layers: 2 |
| run_id: piper-color-sorting-frozen16-ema-real21-20260823-053817 |
| run_id_note: null |
| run_root_dir: /training-results/haodong/MemoryVLA/runs/piper-color-sorting |
| save_interval: 2000 |
| save_on_terminate: true |
| seed: 42 |
| trackers: |
| - jsonl |
| - wandb |
| update_fused: false |
| use_ema: true |
| use_timestep_pe: true |
| vla: |
| base_vlm: prism-dinosiglip-224px+7b |
| data_mix: custom_finetuning |
| enable_gradient_checkpointing: true |
| enable_mixed_precision_training: true |
| epochs: 100 |
| expected_world_size: 16 |
| freeze_llm_backbone: true |
| freeze_vision_backbone: true |
| global_batch_size: 32 |
| learning_rate: 2.0e-05 |
| lr_scheduler_type: linear-warmup+cosine-decay |
| max_grad_norm: 1.0 |
| max_steps: 20000 |
| per_device_batch_size: 2 |
| reduce_in_full_precision: true |
| shuffle_buffer_size: 64 |
| train_strategy: fsdp-full-shard |
| type: prism-dinosiglip-224px+oxe+diffusion |
| unfreeze_last_llm_layer: false |
| vla_id: prism-dinosiglip-224px+oxe+diffusion |
| warmup_ratio: 0.03 |
| weight_decay: 0.0 |
| wandb_entity: spikingtransformer |
| wandb_project: Memory World Model |
|
|
