diff --git a/config.json b/config.json new file mode 100644 index 0000000000000000000000000000000000000000..374f0326dc178a32670debf6fce738e396af1806 --- /dev/null +++ b/config.json @@ -0,0 +1,59 @@ +{ + "action_dim": 7, + "action_model_type": "DiT-L", + "consolidate_type": "tome", + "data_root_dir": "./data/openx_256", + "dataloader_type": "stream", + "fusion_type": "gate", + "future_action_window_size": 15, + "group_size": 16, + "hf_token": "hf_xxx", + "image_aug": true, + "is_resume": false, + "load_all_data_for_training": true, + "mem_length": 16, + "per_token_size": 256, + "pretrained_checkpoint": "./pretrained/CogACT-Large/checkpoints/CogACT-Large.pt", + "repeated_diffusion_steps": 4, + "resume_epoch": 0, + "resume_step": 0, + "retrieval_layers": 2, + "run_id": "memvla-bridge", + "run_id_note": null, + "run_root_dir": "./log/bridge", + "save_interval": 2500, + "seed": 42, + "trackers": [ + "jsonl", + "wandb" + ], + "update_fused": false, + "use_ema": false, + "use_timestep_pe": true, + "vla": { + "base_vlm": "prism-dinosiglip-224px+7b", + "data_mix": "bridge", + "enable_gradient_checkpointing": true, + "enable_mixed_precision_training": true, + "epochs": 100, + "expected_world_size": 8, + "freeze_llm_backbone": false, + "freeze_vision_backbone": false, + "global_batch_size": 256, + "learning_rate": 2e-05, + "lr_scheduler_type": "constant", + "max_grad_norm": 1.0, + "max_steps": 50000, + "per_device_batch_size": 32, + "reduce_in_full_precision": true, + "shuffle_buffer_size": 128000, + "train_strategy": "fsdp-full-shard", + "type": "prism-dinosiglip-224px+oxe+diffusion", + "unfreeze_last_llm_layer": false, + "vla_id": "prism-dinosiglip-224px+oxe+diffusion", + "warmup_ratio": 0.0, + "weight_decay": 0.0 + }, + "wandb_entity": "shihao-thu", + "wandb_project": "memvla" +} \ No newline at end of file diff --git a/config.yaml b/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7dd07ab9f675f6659a31b8a9f485f9ee35aa2c95 --- /dev/null +++ b/config.yaml @@ -0,0 +1,55 @@ +action_dim: 7 +action_model_type: DiT-L +consolidate_type: tome +data_root_dir: ./data/openx_256 +dataloader_type: stream +fusion_type: gate +future_action_window_size: 15 +group_size: 16 +hf_token: hf_xxx +image_aug: true +is_resume: false +load_all_data_for_training: true +mem_length: 16 +per_token_size: 256 +pretrained_checkpoint: ./pretrained/CogACT-Large/checkpoints/CogACT-Large.pt +repeated_diffusion_steps: 4 +resume_epoch: 0 +resume_step: 0 +retrieval_layers: 2 +run_id: memvla-bridge +run_id_note: null +run_root_dir: ./log/bridge +save_interval: 2500 +seed: 42 +trackers: +- jsonl +- wandb +update_fused: false +use_ema: false +use_timestep_pe: true +vla: + base_vlm: prism-dinosiglip-224px+7b + data_mix: bridge + enable_gradient_checkpointing: true + enable_mixed_precision_training: true + epochs: 100 + expected_world_size: 8 + freeze_llm_backbone: false + freeze_vision_backbone: false + global_batch_size: 256 + learning_rate: 2.0e-05 + 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