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psi0/text.g1soni.flow1000.cosine.lr1.0e-04.b128.gpus8.2608201919/argv.txt

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+scripts/train.py
+finetune_sonic_psi0_config
+--seed=292285
+--exp=text
+--timestamp=2608201919
+--train.resume_from_checkpoint=latest
+--train.name=finetune
+--train.data_parallel=ddp
+--train.mixed_precision=bf16
+--train.train_batch_size=16
+--train.max_checkpoints_to_keep=5
+--train.gradient_accumulation_steps=1
+--train.learning_rate=1e-4
+--train.max_training_steps=100000
+--train.warmup_ratio=None
+--train.warmup_steps=1000
+--train.checkpointing_steps=20000
+--train.validation_steps=5000
+--train.val_num_batches=20
+--train.max_grad_norm=1.0
+--train.lr_scheduler_type=cosine
+--train.lr_scheduler_kwargs.weight_decay=1e-6
+--train.lr_scheduler_kwargs.betas 0.95 0.999
+--log.report_to=wandb
+--data.root_dir=.data
+--data.train_repo_ids=g1_sonic_lerobot_0810_merged_train
+--data.val_repo_ids=g1_sonic_lerobot_0810_merged_val
+--data.transform.repack.image-keys observation.images.head
+--data.transform.repack.action-keys action[16:80] action[:14] action[14:16]
+--data.transform.repack.dataset-name=g1sonic0810
+--data.transform.repack.pad-action-dim=80
+--data.transform.repack.pad-state-dim=45
+--data.transform.repack.instruction-key=annotation.task
+--data.transform.field.stat-path=.data/g1_sonic_lerobot_0810_merged_train/meta/stats_psi0.json
+--data.transform.field.stat-action-keys action[16:80] action[:14] action[14:16]
+--data.transform.field.action_norm_type=bounds
+--data.transform.field.normalize-state
+--data.transform.field.pad-action-dim=80
+--data.transform.field.pad-state-dim=45
+--data.transform.model.img-aug
+--data.transform.model.resize.size 270 480
+--data.transform.model.center_crop.size 270 480
+--model.model_name_or_path=cache/checkpoints/psi0/pre.fast.2605160748.ckpt.ego390k
+--model.pretrained-action-header-path=cache/checkpoints/psi0/postpre.1by1.pad36.2601131206.ckpt.he30k
+--model.noise-scheduler=flow
+--model.train-diffusion-steps=1000
+--model.n_conditions=0
+--model.action-chunk-size=30
+--model.action-dim=80
+--model.action-exec-horizon=30
+--model.observation-horizon=1
+--model.odim=45
+--model.view_feature_dim=2048
+--model.tune-vlm
+--model.lang-backbone-lr=1e-6
+--model.vision-tower-lr=1e-5
+--model.mm-projector-lr=1e-4
+--model.gradient-checkpointing
+--model.no-use_film
+--model.qk-norm=rms_norm
+--model.combined-temb
+--model.pooled-text-encoder=clip
+--model.pooled-text-encoder-path=openai/clip-vit-large-patch14
+--model.pooled-projection-dim=768
+--model.pooled-cache-path=clip_pooled_cache.pt
+--model.no-rtc
+--model.max-delay=8

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psi0/text.g1soni.flow1000.cosine.lr1.0e-04.b128.gpus8.2608201919/envs.txt

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+}