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v-vla
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{
 "name": "pi05_frame_base",
 "project_name": "openpi",
 "exp_name": "<PropagatingMissingType id='132838579010256'>",
 "model": {
  "action_dim": 32,
  "action_horizon": 50,
  "max_token_len": 200,
  "dtype": "bfloat16",
  "paligemma_variant": "gemma_2b",
  "action_expert_variant": "gemma_300m",
  "pi05": true,
  "discrete_state_input": true,
  "drop_state": false,
  "vision_resolution": 224,
  "history_frames": 1,
  "pytorch_compile_mode": null,
  "use_3dmix": false,
  "vggt_checkpoint": null,
  "inject_layers": [
   0,
   6,
   12
  ],
  "geo_dropout": 0.1,
  "lora_scope": "all_linear",
  "inject_logit_bias": -4.0,
  "max_geo_views": 8,
  "geo_use_text_token": true,
  "freeze_vlm": false,
  "lora_rank": 16,
  "lora_alpha": 16.0
 },
 "weight_loader": {},
 "pytorch_weight_path": "/data/david/vggt-vla/checkpoints/pi05_base_pytorch",
 "pytorch_training_precision": "bfloat16",
 "gradient_checkpointing": true,
 "lr_schedule": {
  "warmup_steps": 1000,
  "peak_lr": 0.0005,
  "decay_steps": 13250,
  "decay_lr": 5e-05
 },
 "optimizer": {
  "b1": 0.9,
  "b2": 0.95,
  "eps": 1e-08,
  "weight_decay": 1e-07,
  "clip_gradient_norm": 1.0
 },
 "ema_decay": 0.99,
 "freeze_filter": "Nothing()",
 "data": {
  "repo_id": "mix/tuned",
  "assets": {
   "assets_dir": null,
   "asset_id": null
  },
  "base_config": {
   "repo_id": null,
   "asset_id": null,
   "norm_stats": null,
   "repack_transforms": {
    "inputs": [],
    "outputs": []
   },
   "data_transforms": {
    "inputs": [],
    "outputs": []
   },
   "model_transforms": {
    "inputs": [],
    "outputs": []
   },
   "use_quantile_norm": false,
   "action_sequence_keys": [
    "actions"
   ],
   "prompt_from_task": false,
   "rlds_data_dir": null,
   "action_space": null,
   "datasets": [],
   "vortex_repo_ids": [],
   "vortex_root": null,
   "vortex_weights": [],
   "vortex_split": "all",
   "vortex_val_fraction": 0.1,
   "vortex_val_episodes": null,
   "vortex_history_frames": 1,
   "vortex_history_spacing_s": 0.5,
   "vortex_state_mode": "absolute",
   "vortex_frame_yaw_max_rad": 0.0,
   "vortex_frame_yaw_probability": 0.5,
   "vortex_frame_yaw_min_motion_mm": 7.0,
   "vortex_frame_yaw_fixed": false,
   "vortex_jitter_state_dropout": 0.5,
   "vortex_target_hz": 15.0,
   "vortex_action_representation": "relative",
   "vortex_relative_rotation": "rotvec",
   "vortex_max_geo_views": 4,
   "vortex_stereo_mode": "both",
   "vortex_p_view_drop": 0.15,
   "vortex_p_geo_drop": 0.1,
   "vortex_cache_resolution": 256
  },
  "repo_ids": [
   "cong_ice_bucket_lid",
   "cong_plate_spin",
   "cong_centrifuge",
   "cong_box_test_merged",
   "cong_box_test_tactile",
   "cong_pick_and_place",
   "cong_pnp_vortex_stereo",
   "cong_pnp_vortex_5view_left",
   "cong_vortex_realsense",
   "cong_pocv2",
   "farm_uf850_multiobject",
   "the_amazing_pen_cap",
   "droid_raw"
  ],
  "root": "/data/david/vggt-vla/data",
  "action_representation": "relative",
  "relative_rotation": "world_rotvec",
  "weights": [],
  "group_targets": {
   "cong": 0.66,
   "droid": 0.3,
   "other": 0.04
  },
  "within_group": "frames",
  "dataset_emphasis": [
   [
    "cong_ice_bucket_lid",
    1.5
   ],
   [
    "cong_pick_and_place",
    1.5
   ]
  ],
  "split": "train",
  "val_fraction": 0.1,
  "val_episodes": 17,
  "history_frames": 1,
  "history_spacing_s": 0.5,
  "state_mode": "absolute",
  "stereo_mode": "both",
  "max_views": 8,
  "p_view_drop": 0.15,
  "p_geo_drop": 0.1,
  "frame_yaw_max_rad": 0.0,
  "frame_yaw_probability": 0.5,
  "frame_yaw_min_motion_mm": 7.0,
  "frame_yaw_fixed": false,
  "jitter_state_dropout": 0.5
 },
 "assets_base_dir": "./assets",
 "checkpoint_base_dir": "./checkpoints",
 "seed": 42,
 "batch_size": 32,
 "num_workers": 8,
 "num_train_steps": 13250,
 "log_interval": 100,
 "save_interval": 1000,
 "keep_period": 5000,
 "overwrite": false,
 "resume": false,
 "wandb_enabled": true,
 "policy_metadata": null,
 "fsdp_devices": 1
}