| 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 |
|
|
