{
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  "action_model_type": "DiT-L",
  "consolidate_type": "tome",
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  "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",
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  "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",
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  "seed": 42,
  "trackers": [
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  "update_fused": false,
  "use_ema": false,
  "use_timestep_pe": true,
  "val_ratio": 0.05,
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    "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,
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    "global_batch_size": 256,
    "learning_rate": 0.0002,
    "lr_scheduler_type": "linear-warmup+cosine-decay",
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    "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
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  "wandb_entity": "williamcao-uc-san-diego",
  "wandb_project": "memoryvla_realpushmultit_lora",
  "zarr_path": "data/real_push_multit/RealPushMultiT_320.zarr"
}