MMaDA-VLA / args.json
yliu-cs's picture
Upload MMaDA-VLA model
cbb223a
{
"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
}