ctr-archive-e229-step10000 / resolved_config.json
Shiki42's picture
Upload reviewed replacement artifact files (1/1)
93cc442 verified
Raw History Blame Contribute Delete
4.95 kB
{
"name": "pi05_putcab_athenb_fullhorizon_mb16_ga1_lora3ep",
"project_name": "parallelvla-pi05-putcab-athenb-fullhorizon-autodl",
"exp_name": "<tyro._singleton.PropagatingMissingType object at 0x7f6675973790>",
"model": {
"action_dim": 32,
"action_horizon": 50,
"max_token_len": 200,
"dtype": "bfloat16",
"paligemma_variant": "gemma_2b_lora",
"action_expert_variant": "gemma_300m_lora",
"pi05": true,
"casm_mode": "none",
"coordination_gate_hidden_dim": 64,
"cross_attention_dim": 128,
"cross_output_rank": 4,
"skill_adapter_rank": 4,
"gate_loss_weight": 0.2,
"gate_positive_weight": 1.0,
"usefulness_loss_weight": 0.2,
"phase_prior_loss_weight": 0.1,
"usefulness_temperature": 0.1,
"semantic_subtask_prediction": false,
"semantic_role_loss_weight": 0.2,
"semantic_stage_loss_weight": 0.2,
"semantic_stage_class_weights": [
13.81,
1.13,
0.93,
13.81,
3.78,
0.78
],
"discrete_state_input": true,
"bigate_sae": false,
"bigate_minimal_experts": false,
"bigate_joint_expert": false,
"bigate_inference_mode": "split",
"left_action_indices": [
0,
1,
2,
3,
4,
5,
6
],
"right_action_indices": [
7,
8,
9,
10,
11,
12,
13
],
"bigate_hidden_dim": 256,
"bigate_initial_probability": 0.99,
"bigate_gate_loss_weight": 0.1,
"bigate_communication_cost": 0.001,
"bigate_communication_dropout": 0.05,
"bigate_advantage_interval": 1,
"bigate_phase_a_steps": 1500,
"bigate_phase_b_end_step": 3500,
"bigate_training_gate_mode": "learned",
"bigate_inference_gate_mode": "learned"
},
"weight_loader": {
"params_path": "/root/ctr-e025-performance/weights/pi05-base-source/params",
"missing_regex": ".*lora.*"
},
"pytorch_weight_path": null,
"pytorch_training_precision": "bfloat16",
"pytorch_compute_precision": "float32",
"pytorch_attention_implementation": "sdpa",
"pytorch_gradient_checkpointing": true,
"pytorch_gradient_checkpointing_scope": "full",
"pytorch_fused_optimizer": false,
"pytorch_compile_mode": "none",
"pytorch_trainable_scope": "all",
"bigate_gate_freeze_steps": 0,
"bigate_joint_freeze_steps": 0,
"bigate_expert_lr": 1e-05,
"bigate_joint_expert_lr": 2e-06,
"bigate_projection_lr": 1e-05,
"bigate_gate_lr": 0.0001,
"lr_schedule": {
"warmup_steps": 1000,
"peak_lr": 2.5e-05,
"decay_steps": 30000,
"decay_lr": 2.5e-06
},
"optimizer": {
"b1": 0.9,
"b2": 0.95,
"eps": 1e-08,
"weight_decay": 1e-10,
"clip_gradient_norm": 1.0
},
"ema_decay": null,
"freeze_filter": "All(PathRegex(pattern=re.compile('.*llm.*'), sep='/'), Not(PathRegex(pattern=re.compile('.*lora.*'), sep='/')))",
"data": {
"repo_id": "Shiki42/PutCab-CTR-Train50-V4",
"assets": {
"assets_dir": "/root/autodl_oss_runs/putcab-reproduction-20260916/E229/norm-assets",
"asset_id": null
},
"base_config": {
"repo_id": null,
"asset_id": null,
"norm_stats": null,
"repack_transforms": {
"inputs": [],
"outputs": []
},
"data_transforms": {
"inputs": [],
"outputs": []
},
"model_transforms": {
"inputs": [],
"outputs": []
},
"use_quantile_norm": false,
"action_sequence_keys": [
"actions"
],
"prompt_from_task": true,
"video_backend": "pyav",
"rlds_data_dir": null,
"action_space": null,
"filter_dict_path": null
},
"use_delta_joint_actions": true,
"default_prompt": null,
"adapt_to_pi": false,
"inactive_action_weight": 0.0,
"repack_transforms": {
"inputs": [
{
"structure": {
"images": {
"cam_high": "observation.images.cam_high",
"cam_left_wrist": "observation.images.cam_left_wrist",
"cam_right_wrist": "observation.images.cam_right_wrist"
},
"state": "observation.state",
"actions": "action",
"action_is_pad": "action_is_pad",
"prompt": "prompt"
}
}
],
"outputs": []
},
"action_sequence_keys": [
"action"
]
},
"assets_base_dir": "./assets",
"checkpoint_base_dir": "./checkpoints",
"seed": 87431,
"train_episodes": null,
"validation_episodes": [],
"validation_interval": 0,
"validation_num_workers": 0,
"batch_size": 16,
"gradient_accumulation_steps": 1,
"num_workers": 4,
"prefetch_factor": 2,
"persistent_workers": true,
"pin_memory": true,
"num_train_steps": 10000,
"log_interval": 50,
"save_interval": 10000,
"keep_period": 10000,
"params_only_checkpoint": false,
"overwrite": false,
"resume": false,
"wandb_enabled": false,
"policy_metadata": null,
"fsdp_devices": 1
}