| { | |
| "action_dim": 7, | |
| "action_model_type": "DiT-B", | |
| "data_root_dir": "/mnt/inspurfs/efm_t/robot_data/cache/LIBERO/dataset", | |
| "debug": false, | |
| "disable_instruction": false, | |
| "fix_system1": false, | |
| "future_action_window_size": 7, | |
| "hf_token": "hf_token", | |
| "image_aug": true, | |
| "is_resume": false, | |
| "load_all_data_for_training": true, | |
| "num_of_meta_query": 64, | |
| "past_action_window_size": 0, | |
| "pretrained_checkpoint": null, | |
| "repeated_diffusion_steps": 4, | |
| "resume_epoch": null, | |
| "resume_step": null, | |
| "run_id": "sys12_meta_query_action_only_sync_pretraining_v2_query_64_mlp_lora_libero_10_wrist--image_augstage1", | |
| "run_id_note": null, | |
| "run_root_dir": "outputs/libero_wrist", | |
| "save_interval": 1500, | |
| "seed": 42, | |
| "stage": "stage1", | |
| "trackers": [ | |
| "jsonl", | |
| "wandb" | |
| ], | |
| "use_ema": false, | |
| "use_mm": false, | |
| "vla": { | |
| "action_tokenizer": "extra_action_tokenizer", | |
| "base_vlm": "/mnt/petrelfs/yangshuai1/yangshuai1/share_mllm/Eagle2-2B", | |
| "data_mix": "libero_10_no_noops", | |
| "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": 5e-05, | |
| "lr_scheduler_type": "constant", | |
| "max_grad_norm": 1.0, | |
| "max_steps": null, | |
| "per_device_batch_size": 32, | |
| "reduce_in_full_precision": true, | |
| "shuffle_buffer_size": 250000, | |
| "train_strategy": "fsdp-full-shard", | |
| "type": "prism-qwen25-dinosiglip-224px+0_5b", | |
| "unfreeze_last_llm_layer": false, | |
| "vla_id": "prism-qwen25-dinosiglip-224px+0_5b", | |
| "warmup_ratio": 0.0, | |
| "weight_decay": 0.0 | |
| }, | |
| "wandb_entity": "shuaiyang2003", | |
| "wandb_project": "dual_sys_libero", | |
| "with_pointing": true | |
| } |