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pis0/simple-checkpoints/g1wholebodybendpick-v0.simple.flow1000.cosine.lr1.0e-04.b256.gpus8.2603151312/argv.txt

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+finetune_simple_psi0_config
+--seed=292285
+--exp=g1wholebodybendpick-v0
+--train.name=finetune
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+--train.mixed_precision=bf16
+--train.train_batch_size=32
+--train.max_checkpoints_to_keep=5
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+--train.lr_scheduler_type=cosine
+--train.lr_scheduler_kwargs.weight_decay=1e-6
+--train.lr_scheduler_kwargs.betas 0.95 0.999
+--log.report_to=wandb
+--data.root_dir=/data/jliu/data
+--data.train-repo-ids=G1WholebodyBendPick-v0
+--data.transform.repack.pad-action-dim=36
+--data.transform.repack.pad-state-dim=36
+--data.transform.field.stat-path=meta/stats_psi0.json
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+--data.transform.field.pad-state-dim=36
+--data.transform.model.img-aug
+--data.transform.model.resize.size 180 320
+--data.transform.model.center_crop.size 180 320
+--model.model_name_or_path=/hfm/cache/checkpoints/hfm.pre.fast.mixed.1by1.2601091803.ckpt30k
+--model.pretrained-action-header-path=/hfm/cache/checkpoints/postpre.1by130k.pad36.mixed.2601131206.ckpt34k
+--model.noise-scheduler=flow
+--model.train-diffusion-steps=1000
+--model.n_conditions=0
+--model.action-chunk-size=30
+--model.action-dim=36
+--model.action-exec-horizon=30
+--model.observation-horizon=1
+--model.odim=36
+--model.view_feature_dim=2048
+--model.no-tune-vlm
+--model.no-use_film
+--model.no-combined_temb
+--model.rtc
+--model.max-delay=8

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+        view_feature_dim: 2048
+        vision_tower_lr: 1e-06
+        vlm_ckpt_step: null
+        weight_decay: 0.01
+seed:
+    value: 292285
+timestamp:
+    value: "2603151312"
+train:
+    value:
+        checkpointing_steps: 5000
+        data_parallel: ddp
+        deepspeed_config: /data/jliu/psi/src/InternVLA/config/deepseeds/zero3.json
+        enable_gradient_checkpointing: true
+        enable_mixed_precision_training: true
+        gradient_accumulation_steps: 1
+        hf_token: .hf_token
+        learning_rate: 0.0001
+        lora: false
+        lr_scheduler_kwargs:
+            betas:
+                - 0.95
+                - 0.999
+            eps: 1e-08
+            weight_decay: 1e-06
+        lr_scheduler_type: cosine
+        max_checkpoints_to_keep: 5
+        max_grad_norm: 1
+        max_training_steps: 40000
+        mixed_precision: bf16
+        name: finetune
+        num_train_epochs: null
+        num_workers: 8
+        output_dir: .runs
+        overfit_single_batch: false
+        reduce_in_full_precision: true
+        resume_from_checkpoint: null
+        sharding_strategy: full-shard
+        skip_resumed_steps: false
+        train_batch_size: 32
+        val_batch_size: 16
+        val_num_batches: 20
+        validation_steps: 500
+        warmup_ratio: null
+        warmup_steps: 1000
+wandb:
+    value:
+        entity: jliu530-soochow-university
+        group: null
+        id: null
+        name: null
+        project: psi
+        resume: allow