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Browse files- apt_vla_ftpp/ckpt_latest.pt +3 -0
- apt_vla_ftpp/config.json +40 -0
apt_vla_ftpp/ckpt_latest.pt
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version https://git-lfs.github.com/spec/v1
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oid sha256:b1f77f247d17fdd599faceccc89ecb923d6a296f2f584c99afdc3265af03326d
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size 5083611072
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apt_vla_ftpp/config.json
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{
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"load_from_va": false,
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"train_stage": 1,
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"model": "base",
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"pretrained_ckpt": null,
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"vlm_finetune_mode": "full",
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"use_gradient_checkpointing": true,
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"vlm_lr": 1e-05,
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"vlm_wd": 1e-10,
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"bs": 128,
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"workers": 8,
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"persistent_workers": true,
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"pin_memory": true,
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"prefetch_factor": 4,
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"bind_cpu_affinity": true,
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"fp16": true,
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"use_prefetcher": true,
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"use_compile": false,
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"grad_clip": 1.0,
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"max_lr": 0.0001,
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"wd": 0.01,
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"num_warmup": 10000,
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"gradient_accumulation_steps": 1,
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"ema_enabled": false,
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"ema_start": 400000,
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"ema_decay": 0.9995,
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"dataset_classes": [
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"PickPlaceCan"
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],
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"dataset_weights": [
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1
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],
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"sample_multiplex": 1,
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"log_interval": 100,
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"save_interval": 10000,
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"save_latest_interval": 1000,
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"max_iterations": 50000,
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"robot_pose_aug": false,
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"camera_view_dropout": 0.0
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}
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