| run_id: 1007_Pi05_stack_cube_red_yellow_subtask |
| run_root_dir: ./results/Checkpoints/vla |
| seed: 42 |
| trackers: |
| - jsonl |
| is_debug: false |
| framework: |
| name: Pi05 |
| model: |
| model_path: ${oc.env:PI05_MODEL_PATH,playground/Pretrained_models/pi05_base_pytorch} |
| tokenizer_path: ${oc.env:PI05_TOKENIZER_PATH,/inspire/ssd/project/robot3d/mazipei-253107140027/.cache/openpi/big_vision/paligemma_tokenizer.model} |
| dtype: bfloat16 |
| paligemma_variant: gemma_2b |
| action_expert_variant: gemma_300m |
| vision_variant: So400m/14 |
| max_token_len: 200 |
| num_images: 3 |
| fast_tokenizer_path: playground/Pretrained_models/fast |
| fast_max_tokens: null |
| action_ce_weight: 0.01 |
| subtask_enabled: true |
| subtask_ce_weight: 0.01 |
| subtask_max_tokens: 64 |
| infer_mode: flow_with_subtask |
| action_model: |
| action_dim: 14 |
| state_dim: 14 |
| model_action_dim: 32 |
| action_horizon: 50 |
| num_inference_steps: 10 |
| rtc_training_max_delay: 0 |
| datasets: |
| vla_data: |
| normalization_mode: min_max |
| dataset_py: vla_datasets |
| subtask_key: subtask_generation |
| disable_state: true |
| data_root_dir: playground/Datasets/LEROBOT_LIBERO_DATA |
| data_mix: stack_cube_red_yellow |
| per_device_batch_size: 8 |
| split_strategy: episode_ratio |
| eval_ratio: 0.02 |
| split_seed: 42 |
| eval_per_device_batch_size: 4 |
| num_workers: 8 |
| prefetch_factor: 4 |
| load_all_data_for_training: true |
| action_horizon: ${framework.action_model.action_horizon} |
| image_size: |
| - 224 |
| - 224 |
| state_pad_size: ${framework.action_model.state_dim} |
| action_pad_size: ${framework.action_model.action_dim} |
| use_future_frames: false |
| future_frame_stride: 1 |
| trainer: |
| global_batch_size: 64 |
| max_train_steps: 30000 |
| num_warmup_steps: 1000 |
| save_interval: 2000 |
| eval_interval: 2000 |
| learning_rate: |
| base: 2.5e-05 |
| lr_scheduler_type: cosine_with_min_lr |
| scheduler_specific_kwargs: |
| min_lr: 0.0 |
| freeze_modules: null |
| loss_scale: |
| vla: 1.0 |
| max_grad_norm: 1.0 |
| weight_decay: 0.0 |
| logging_frequency: 10 |
| gradient_clipping: 1.0 |
| gradient_accumulation_steps: 1 |
| optimizer: |
| name: AdamW |
| betas: |
| - 0.9 |
| - 0.95 |
| eps: 1.0e-08 |
| weight_decay: 1.0e-10 |
| enable_gradient_checkpointing: true |
| enable_compile: true |
| resume_from_checkpoint: latest |
| save_format: pt |
| output_dir: ./results/Checkpoints/vla/1007_Pi05_stack_cube_red_yellow_subtask |
|
|
