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apt_vla_ftlibero/ckpt_latest.pt

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+version https://git-lfs.github.com/spec/v1
+oid sha256:53cde67d53fb39b0ee27bd8d6b224848d137ad5eb7c59ee4eb31fde1b0718c77
+size 1235824074

apt_vla_ftlibero/config.json

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+{
+    "load_from_va": false,
+    "train_stage": 1,
+    "model": "base",
+    "pretrained_ckpt": null,
+    "vlm_finetune_mode": "frozen",
+    "use_gradient_checkpointing": false,
+    "vlm_lr": null,
+    "vlm_wd": 1e-10,
+    "bs": 64,
+    "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": 2000,
+    "gradient_accumulation_steps": 1,
+    "ema_enabled": false,
+    "ema_start": 400000,
+    "ema_decay": 0.9995,
+    "dataset_classes": [
+        "LiberoSpatial",
+        "LiberoObject",
+        "LiberoGoal",
+        "Libero10"
+    ],
+    "dataset_weights": [
+        1,
+        1,
+        1,
+        1
+    ],
+    "sample_multiplex": 1000,
+    "log_interval": 100,
+    "save_interval": 10000,
+    "save_latest_interval": 1000,
+    "max_iterations": 50000,
+    "robot_pose_aug": false,
+    "camera_view_dropout": 0.0
+}