co_training: true
data_root_dir: data
hf_token: ./hf-token
image_aug: false
is_resume: true
local_rank: 0
pretrained_checkpoint: /ariesdv0/agopalkr/openvla-logs/pi-0-224px-bridge_cotraining_st_8/checkpoints/step-285000-epoch-17-loss=0.0839.pt
resume_epoch: 17
resume_step: 285000
run_id: pi-0-224px-bridge_cotraining_st_8
run_id_note: null
run_root_dir: logs
save_interval: 2500
seed: 7
trackers:
- jsonl
- wandb
vla:
  base_vlm: paligemma-224px+3b
  co_training_data_mix: all+trace
  data_mix: bridge
  enable_gradient_checkpointing: true
  enable_mixed_precision_training: true
  enable_tf32: true
  epochs: 50
  expected_world_size: 8
  freeze_llm_backbone: false
  freeze_vision_backbone: false
  global_batch_size: 128
  learning_rate: 2.0e-05
  lr_scheduler_type: linear-warmup+cosine-decay
  max_grad_norm: 1.0
  max_steps: null
  per_device_batch_size: 16
  reduce_in_full_precision: true
  shuffle_buffer_size: 256000
  train_strategy: fsdp-full-shard
  type: pi-0-224px-bridge_cotraining_st_8
  unfreeze_last_llm_layer: false
  vla_id: pi-0-224px-bridge_cotraining_st_8
  warmup_ratio: 0.0
  weight_decay: 0.0
wandb_entity: SU-Lab-openvla
wandb_project: pi-0-cotraining