apt_vla_ftpp/config.json

{
    "load_from_va": false,
    "train_stage": 1,
    "model": "base",
    "pretrained_ckpt": null,
    "vlm_finetune_mode": "full",
    "use_gradient_checkpointing": true,
    "vlm_lr": 1e-05,
    "vlm_wd": 1e-10,
    "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": [
        "PickPlaceCan"
    ],
    "dataset_weights": [
        1
    ],
    "sample_multiplex": 1,
    "log_interval": 100,
    "save_interval": 10000,
    "save_latest_interval": 1000,
    "max_iterations": 50000,
    "robot_pose_aug": false,
    "camera_view_dropout": 0.0
}