| { | |
| "device": "cuda", | |
| "run_name": "Evo_da3_film_true_masked_3stages_stage3_metaworld_resume", | |
| "vlm_name": "OpenGVLab/InternVL3-1B", | |
| "action_head": "flowmatching", | |
| "return_cls_only": false, | |
| "disable_wandb": true, | |
| "dataset_type": "lerobot", | |
| "data_paths": null, | |
| "dataset_config_path": "dataset/config_metaworld.yaml", | |
| "image_size": 448, | |
| "binarize_gripper": false, | |
| "use_augmentation": true, | |
| "lr": 1e-05, | |
| "batch_size": 16, | |
| "max_steps": 180000, | |
| "warmup_steps": 1000, | |
| "grad_clip_norm": 1.0, | |
| "weight_decay": 0.001, | |
| "use_da3": true, | |
| "log_interval": 10, | |
| "ckpt_interval": 2500, | |
| "save_dir": "/share/jitingliu/checkpoints/Evo_da3_film_true_masked_3stages/metaworld/stage3/", | |
| "resume": true, | |
| "resume_path": "/share/jitingliu/checkpoints/Evo_da3_film_true_masked_3stages/metaworld/stage3/step_120000", | |
| "resume_pretrain": false, | |
| "finetune_vlm": true, | |
| "finetune_action_head": true, | |
| "finetune_da3": true, | |
| "per_action_dim": 24, | |
| "state_dim": 24, | |
| "horizon": 50, | |
| "num_layers": 8, | |
| "num_workers": 4, | |
| "dropout": 0.2, | |
| "action_dim": 1200 | |
| } |