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bf16_zero_pp_rank_0_mp_rank_00_optim_states.pt

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+size 9302450124

checkpoint.json

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+{
+  "type": "ds_model",
+  "version": 0.0,
+  "checkpoints": "mp_rank_00_model_states.pt"
+}

config.json

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+{
+  "device": "cuda",
+  "run_name": "Evo1_metaworld_stage2",
+  "vlm_name": "OpenGVLab/InternVL3-1B",
+  "action_head": "flowmatching",
+  "return_cls_only": false,
+  "disable_wandb": true,
+  "dataset_type": "lerobot",
+  "data_paths": null,
+  "dataset_config_path": "dataset/config.yaml",
+  "image_size": 448,
+  "binarize_gripper": false,
+  "use_augmentation": true,
+  "lr": 1e-05,
+  "batch_size": 4,
+  "max_steps": 80000,
+  "warmup_steps": 1000,
+  "grad_clip_norm": 1.0,
+  "weight_decay": 0.001,
+  "log_interval": 10,
+  "ckpt_interval": 2500,
+  "save_dir": "./checkpoints/stage2",
+  "resume": true,
+  "resume_path": "./checkpoints/stage1/step_2500",
+  "resume_pretrain": true,
+  "finetune_vlm": true,
+  "finetune_action_head": true,
+  "per_action_dim": 24,
+  "state_dim": 24,
+  "horizon": 50,
+  "num_layers": 8,
+  "num_workers": 4,
+  "dropout": 0.2,
+  "action_dim": 1200
+}

mp_rank_00_model_states.pt

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norm_stats.json

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+  }
+}