| { | |
| "load_from_va": false, | |
| "train_stage": 0, | |
| "model": "base", | |
| "pretrained_ckpt": null, | |
| "vlm_finetune_mode": "frozen", | |
| "use_gradient_checkpointing": false, | |
| "vlm_lr": null, | |
| "bs": 128, | |
| "workers": 8, | |
| "persistent_workers": true, | |
| "pin_memory": true, | |
| "prefetch_factor": 4, | |
| "bind_cpu_affinity": true, | |
| "fp16": true, | |
| "use_prefetcher": true, | |
| "use_compile": false, | |
| "grad_clip": 1.0, | |
| "max_lr": 0.0001, | |
| "wd": 0.01, | |
| "num_warmup": 10000, | |
| "gradient_accumulation_steps": 1, | |
| "ema_enabled": false, | |
| "ema_start": 400000, | |
| "ema_decay": 0.9995, | |
| "dataset_classes": [ | |
| "Droid", | |
| "AgibotWorldAlpha", | |
| "InternA1Franka", | |
| "InternA1Lift2", | |
| "InternA1Genie1", | |
| "InternA1SplitAloha", | |
| "InternM1Franka" | |
| ], | |
| "dataset_weights": [ | |
| 10, | |
| 10, | |
| 2, | |
| 2, | |
| 2, | |
| 2, | |
| 2 | |
| ], | |
| "sample_multiplex": 1, | |
| "log_interval": 100, | |
| "save_interval": 100000, | |
| "save_latest_interval": 2000, | |
| "max_iterations": 50000, | |
| "robot_pose_aug": false, | |
| "camera_view_dropout": 0.0 | |
| } |