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base/train_config.json @ step 13249

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  1. base/train_config.json +171 -0
base/train_config.json ADDED
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+ {
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+ "name": "pi05_frame_base",
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+ "project_name": "openpi",
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+ "exp_name": "<PropagatingMissingType id='132838579010256'>",
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+ "model": {
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+ "action_dim": 32,
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+ "action_horizon": 50,
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+ "max_token_len": 200,
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+ "dtype": "bfloat16",
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+ "paligemma_variant": "gemma_2b",
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+ "action_expert_variant": "gemma_300m",
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+ "pi05": true,
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+ "discrete_state_input": true,
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+ "drop_state": false,
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+ "vision_resolution": 224,
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+ "history_frames": 1,
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+ "pytorch_compile_mode": null,
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+ "use_3dmix": false,
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+ "vggt_checkpoint": null,
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+ "inject_layers": [
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+ 0,
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+ 6,
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+ 12
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+ ],
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+ "geo_dropout": 0.1,
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+ "lora_scope": "all_linear",
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+ "inject_logit_bias": -4.0,
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+ "max_geo_views": 8,
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+ "geo_use_text_token": true,
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+ "freeze_vlm": false,
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+ "lora_rank": 16,
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+ "lora_alpha": 16.0
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+ },
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+ "weight_loader": {},
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+ "pytorch_weight_path": "/data/david/vggt-vla/checkpoints/pi05_base_pytorch",
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+ "pytorch_training_precision": "bfloat16",
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+ "gradient_checkpointing": true,
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+ "lr_schedule": {
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+ "warmup_steps": 1000,
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+ "peak_lr": 0.0005,
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+ "decay_steps": 13250,
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+ "decay_lr": 5e-05
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+ },
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+ "optimizer": {
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+ "b1": 0.9,
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+ "b2": 0.95,
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+ "eps": 1e-08,
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+ "weight_decay": 1e-07,
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+ "clip_gradient_norm": 1.0
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+ },
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+ "ema_decay": 0.99,
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+ "freeze_filter": "Nothing()",
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+ "data": {
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+ "repo_id": "mix/tuned",
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+ "assets": {
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+ "assets_dir": null,
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+ "asset_id": null
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+ },
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+ "base_config": {
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+ "repo_id": null,
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+ "asset_id": null,
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+ "norm_stats": null,
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+ "repack_transforms": {
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+ "inputs": [],
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+ "outputs": []
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+ },
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+ "data_transforms": {
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+ "inputs": [],
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+ "outputs": []
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+ },
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+ "model_transforms": {
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+ "inputs": [],
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+ "outputs": []
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+ },
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+ "use_quantile_norm": false,
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+ "action_sequence_keys": [
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+ "actions"
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+ ],
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+ "prompt_from_task": false,
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+ "rlds_data_dir": null,
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+ "action_space": null,
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+ "datasets": [],
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+ "vortex_repo_ids": [],
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+ "vortex_root": null,
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+ "vortex_weights": [],
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+ "vortex_split": "all",
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+ "vortex_val_fraction": 0.1,
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+ "vortex_val_episodes": null,
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+ "vortex_history_frames": 1,
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+ "vortex_history_spacing_s": 0.5,
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+ "vortex_state_mode": "absolute",
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+ "vortex_frame_yaw_max_rad": 0.0,
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+ "vortex_frame_yaw_probability": 0.5,
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+ "vortex_frame_yaw_min_motion_mm": 7.0,
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+ "vortex_frame_yaw_fixed": false,
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+ "vortex_jitter_state_dropout": 0.5,
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+ "vortex_target_hz": 15.0,
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+ "vortex_action_representation": "relative",
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+ "vortex_relative_rotation": "rotvec",
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+ "vortex_max_geo_views": 4,
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+ "vortex_stereo_mode": "both",
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+ "vortex_p_view_drop": 0.15,
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+ "vortex_p_geo_drop": 0.1,
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+ "vortex_cache_resolution": 256
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+ },
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+ "repo_ids": [
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+ "cong_ice_bucket_lid",
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+ "cong_plate_spin",
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+ "cong_centrifuge",
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+ "cong_box_test_merged",
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+ "cong_box_test_tactile",
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+ "cong_pick_and_place",
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+ "cong_pnp_vortex_stereo",
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+ "cong_pnp_vortex_5view_left",
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+ "cong_vortex_realsense",
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+ "cong_pocv2",
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+ "farm_uf850_multiobject",
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+ "the_amazing_pen_cap",
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+ "droid_raw"
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+ ],
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+ "root": "/data/david/vggt-vla/data",
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+ "action_representation": "relative",
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+ "relative_rotation": "world_rotvec",
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+ "weights": [],
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+ "group_targets": {
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+ "cong": 0.66,
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+ "droid": 0.3,
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+ "other": 0.04
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+ },
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+ "within_group": "frames",
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+ "dataset_emphasis": [
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+ [
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+ "cong_ice_bucket_lid",
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+ 1.5
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+ ],
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+ [
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+ "cong_pick_and_place",
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+ 1.5
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+ ]
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+ ],
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+ "split": "train",
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+ "val_fraction": 0.1,
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+ "val_episodes": 17,
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+ "history_frames": 1,
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+ "history_spacing_s": 0.5,
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+ "state_mode": "absolute",
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+ "stereo_mode": "both",
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+ "max_views": 8,
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+ "p_view_drop": 0.15,
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+ "p_geo_drop": 0.1,
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+ "frame_yaw_max_rad": 0.0,
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+ "frame_yaw_probability": 0.5,
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+ "frame_yaw_min_motion_mm": 7.0,
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+ "frame_yaw_fixed": false,
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+ "jitter_state_dropout": 0.5
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+ },
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+ "assets_base_dir": "./assets",
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+ "checkpoint_base_dir": "./checkpoints",
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+ "seed": 42,
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+ "batch_size": 32,
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+ "num_workers": 8,
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+ "num_train_steps": 13250,
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+ "overwrite": false,
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+ "resume": false,
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+ "wandb_enabled": true,
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+ "policy_metadata": null,
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+ "fsdp_devices": 1
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+ }