| { |
| "action_dim": 7, |
| "action_model_type": "DiT-L", |
| "consolidate_type": "tome", |
| "dataset_name": "realpushmultit", |
| "episode_instructions_file": null, |
| "fusion_type": "gate", |
| "future_action_window_size": 15, |
| "group_size": 16, |
| "hf_token": ".hf_token", |
| "image_aug": false, |
| "image_key": "img_third", |
| "instruction": "push the T-shaped block to visit each T-shaped target region on the table without revisiting any", |
| "is_resume": true, |
| "lora": { |
| "alpha": 48.0, |
| "cog_cross_targets": [ |
| "q_proj", |
| "k_proj", |
| "v_proj" |
| ], |
| "dit_attn_targets": [ |
| "q", |
| "v" |
| ], |
| "dropout": 0.05, |
| "enabled": true, |
| "llama_alpha": 16.0, |
| "llama_r": 8, |
| "llama_targets": [ |
| "q_proj", |
| "v_proj" |
| ], |
| "lora_cog_gate": true, |
| "lora_llama": true, |
| "lora_vision": true, |
| "r": 24, |
| "vision_alpha": 16.0, |
| "vision_r": 8, |
| "vision_targets": [ |
| "qkv" |
| ] |
| }, |
| "mem_length": 16, |
| "per_token_size": 256, |
| "pretrained_checkpoint": "/workspace/diffusion_policy/runs/memoryvla_realpushmultit/memoryvla_realpushmultit_lora_bs64_v1/checkpoints/step-006000-epoch-03-loss=0.0703.pt", |
| "repeated_diffusion_steps": 4, |
| "resume_epoch": 3, |
| "resume_step": 6000, |
| "retrieval_layers": 2, |
| "run_id": "memoryvla_realpushmultit_lora_bs64_v1", |
| "run_id_note": null, |
| "run_root_dir": "runs/memoryvla_realpushmultit", |
| "save_interval": 1000, |
| "seed": 42, |
| "trackers": [ |
| "jsonl", |
| "wandb" |
| ], |
| "update_fused": false, |
| "use_ema": false, |
| "use_timestep_pe": true, |
| "val_ratio": 0.05, |
| "vla": { |
| "base_vlm": "prism-dinosiglip-224px+7b", |
| "data_mix": "oxe_magic_soup_plus_minus", |
| "enable_gradient_checkpointing": true, |
| "enable_mixed_precision_training": true, |
| "epochs": 100, |
| "expected_world_size": 4, |
| "freeze_llm_backbone": false, |
| "freeze_vision_backbone": false, |
| "global_batch_size": 256, |
| "learning_rate": 0.0002, |
| "lr_scheduler_type": "linear-warmup+cosine-decay", |
| "max_grad_norm": 1.0, |
| "max_steps": 10000, |
| "per_device_batch_size": 64, |
| "reduce_in_full_precision": true, |
| "shuffle_buffer_size": 250000, |
| "train_strategy": "fsdp-full-shard", |
| "type": "prism-dinosiglip-224px+oxe+diffusion", |
| "unfreeze_last_llm_layer": false, |
| "vla_id": "prism-dinosiglip-224px+oxe+diffusion", |
| "warmup_ratio": 0.05, |
| "weight_decay": 0.0 |
| }, |
| "wandb_entity": "williamcao-uc-san-diego", |
| "wandb_project": "memoryvla_realpushmultit_lora", |
| "zarr_path": "data/real_push_multit/RealPushMultiT_320.zarr" |
| } |
