| add_proprio: false | |
| add_stop_token: false | |
| cameras: | |
| - 3rd | |
| colossum: false | |
| current_pose_input: false | |
| data_folder: | |
| - /home/lpy/BridgeVLA_dev/finetune/Real/data | |
| debug: false | |
| dpo_beta: 0.1 | |
| entry: !!python/name:__main__.%3Clambda%3E '' | |
| ep_per_task: 20 | |
| eval_interval: 5 | |
| exp_cfg_opts: '' | |
| exp_cfg_path: /home/lpy/BridgeVLA_dev/finetune/Real/configs/real.yaml | |
| exp_note: train_put_coke_with_different_rotation | |
| few_shot: false | |
| freeze_language_model: false | |
| freeze_vision_tower: true | |
| layer_concat: false | |
| layer_index: -1 | |
| load_pretrain: false | |
| log_dir: /home/lpy/BridgeVLA_dev/finetune/Real/logs | |
| lr: 8.0e-05 | |
| mvt_cfg_opts: '' | |
| mvt_cfg_path: /home/lpy/BridgeVLA_dev/finetune/bridgevla/mvt/configs/rvt2.yaml | |
| output_arm_flag: false | |
| palligemma_type: 1 | |
| pretrain_path: null | |
| pretrained_rlbench_dir: null | |
| refresh_replay: false | |
| test_data_folder: null | |
| test_split_ratio: 0.0 | |
| update_dpo: false | |
| with_eval: false | |