| # @package _global_ | |
| # FlashWAM (M1_FusedKV_RopeFixed): decoupled MoT, 1-layer action expert, | |
| # fused_kv KV source, action-aligned video RoPE fix. | |
| # FROM SCRATCH on the pusht dataset (see data/pusht_2cam.yaml). | |
| # Recipe is identical to the dish_utensil runs so the two datasets stay | |
| # comparable: 4 GPUs x batch 8 x accum 1 = global 32, 30 epochs, resume: null. | |
| # | |
| # 32,131 frames / 32 = 1,005 steps per epoch -> 30,150 steps total, | |
| # 6 checkpoints at every 5th epoch. Submitted INDEPENDENTLY of its twin (no | |
| # --dependency), per the user's standing no-chaining preference. | |
| # | |
| # save_every is a PLACEHOLDER — the sbatch recomputes it from meta/info.json | |
| # at launch and passes the real value as a CLI override. | |
| defaults: | |
| - override /data: pusht_2cam | |
| - override /model: lift_flashwam_m1_fusedkv_ropefixed | |
| - _self_ | |
| # dataloading | |
| batch_size: 8 # 4 GPUs x 8 x accum 1 = global 32 | |
| num_workers: 12 | |
| # scheduler | |
| lr_scheduler_type: "cosine" | |
| learning_rate: 1e-4 | |
| num_epochs: 30 | |
| max_steps: null | |
| log_every: 10 | |
| save_every: 5025 # PLACEHOLDER -- overridden at launch, see header | |
| eval_every: 0 | |
| # training | |
| gradient_accumulation_steps: 1 | |
| weight_decay: 1e-2 | |
| resume: null | |