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MMaDA-VLA

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MMaDA-VLA
File size: 2,680 Bytes
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{
    "pretrained_mmada": "/home/MMaDA-8B-Base",
    "pretrained_mmadavla": null,
    "action_chunk_size": 5,
    "data_paths": [
        "/home/mmadavla_arxiv_ver/roboturk_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/iamlab_cmu_pickup_insert_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/dlr_edan_shared_control_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/droid_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/berkeley_fanuc_manipulation_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/austin_buds_dataset_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/language_table_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/kuka_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/taco_play_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/austin_sirius_dataset_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/goal.parquet",
        "/home/mmadavla_arxiv_ver/bc_z_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/stanford_hydra_dataset_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/berkeley_autolab_ur5_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/90.parquet",
        "/home/mmadavla_arxiv_ver/10.parquet",
        "/home/mmadavla_arxiv_ver/furniture_bench_dataset_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/calvin.parquet",
        "/home/mmadavla_arxiv_ver/utaustin_mutex_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/fmb_dataset_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/toto_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/austin_sailor_dataset_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/jaco_play_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/object.parquet",
        "/home/mmadavla_arxiv_ver/cmu_stretch_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/berkeley_cable_routing_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/spatial.parquet",
        "/home/mmadavla_arxiv_ver/viola_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/fractal20220817_data_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/nyu_franka_play_dataset_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/bridgev2_lerobot.parquet",
        "/home/mmadavla_arxiv_ver/ucsd_kitchen_dataset_lerobot.parquet"
    ],
    "cache_dir": "/home/cache_dir",
    "max_text_len": 128,
    "output_dir": "./ckpt-arxiv-ver/MMaDA-VLA/pretrained/lr1e-4",
    "seed": 509,
    "batch_size_per_gpu": 10,
    "mixed_precision": "bf16",
    "learning_rate": 0.0001,
    "weight_decay": 0.01,
    "beta": [
        0.9,
        0.999
    ],
    "warmup_ratio": 0.01,
    "num_train_epochs": 1,
    "save_epoch": 1,
    "max_grad_norm": 1.0,
    "min_masking_rate": 0.0,
    "mask_contiguous_region_prob": null
}