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