v-vla / hist3 /train_config.json
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{
"name": "pi05_frame_hist3",
"project_name": "openpi",
"exp_name": "<PropagatingMissingType id='135159682251792'>",
"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": 3,
"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": 7280,
"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": 3,
"history_spacing_s": 0.5,
"state_mode": "relative_history",
"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": 7280,
"log_interval": 100,
"save_interval": 1000,
"keep_period": 5000,
"overwrite": false,
"resume": false,
"wandb_enabled": true,
"policy_metadata": null,
"fsdp_devices": 1
}