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/prism-dinosiglip-224px+mx-rt_1_cotraining+robopoint_dino_freeze_st_4/checkpoints/step-390000-epoch-13-loss=0.0917.pt
resume_epoch: 13
resume_step: 390000
run_id: prism-dinosiglip-224px+mx-rt_1_cotraining+robopoint_dino_freeze_st_4
run_id_note: null
run_root_dir: logs
save_interval: 2500
seed: 7
trackers:
- jsonl
- wandb
vla:
  base_vlm: prism-dinosiglip-224px+7b
  co_training_data_mix: all+trace
  data_mix: rt_1
  enable_gradient_checkpointing: true
  enable_mixed_precision_training: true
  enable_tf32: true
  epochs: 50
  expected_world_size: 4
  freeze_llm_backbone: false
  freeze_vision_backbone: false
  global_batch_size: 128
  learning_rate: 8.882505490596547e-06
  lr_scheduler_type: linear-warmup+cosine-decay
  max_grad_norm: 1.0
  max_steps: null
  per_device_batch_size: 32
  reduce_in_full_precision: true
  shuffle_buffer_size: 256000
  train_strategy: fsdp-full-shard
  type: prism-dinosiglip-224px+mx-rt_1_cotraining+robopoint_dino_freeze_st_4
  unfreeze_last_llm_layer: false
  vla_id: prism-dinosiglip-224px+mx-rt_1_cotraining+robopoint_dino_freeze_st_4
  warmup_ratio: 0.0
  weight_decay: 0.0
wandb_entity: SU-Lab-openvla
wandb_project: openvla-cotraining