| action_dim: 7 |
| action_model_type: DiT-B |
| data_root_dir: "" |
| debug: false |
| future_action_window_size: 15 |
| hf_token: hf_token |
| image_aug: true |
| is_resume: false |
| load_all_data_for_training: true |
| past_action_window_size: 3 |
| pretrained_checkpoint: "path/to/ckpt" |
| repeated_diffusion_steps: 4 |
| resume_epoch: null |
| resume_step: null |
| run_id: step4_7B |
| run_id_note: null |
| run_root_dir: outputs/step4_7B |
| save_interval: 2500 |
| seed: 42 |
| trackers: |
| - jsonl |
| - wandb |
| use_ema: false |
| vla: |
| base_vlm: prism-dinosiglip-224px+7b |
| data_mix: bridge_rt_1 |
| enable_gradient_checkpointing: true |
| enable_mixed_precision_training: true |
| epochs: 100 |
| expected_world_size: 64 |
| freeze_llm_backbone: false |
| freeze_vision_backbone: false |
| global_batch_size: 512 |
| learning_rate: 4.0e-05 |
| lr_scheduler_type: constant |
| max_grad_norm: 1.0 |
| max_steps: null |
| per_device_batch_size: 8 |
| reduce_in_full_precision: true |
| shuffle_buffer_size: 250000 |
| 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: 0.0 |
| weight_decay: 0.0 |
| wandb_entity: "" |
| wandb_project: "" |
