pi05_robodojo_step45000 / train_config.json
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{
"dataset": {
"repo_id": "RoboDojo-Benchmark/RoboDojo",
"root": "/lustre/fsw/portfolios/nvr/projects/nvr_elm_llm/users/zekail/data/RoboDojo/data/RoboDojo_lerobot_v30_video",
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"affine": {
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}
},
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"video_backend": "torchcodec",
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},
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"policy": {
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"input_features": {
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},
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"private": null,
"tags": null,
"license": null,
"pretrained_path": "/lustre/fsw/portfolios/nvr/projects/nvr_elm_llm/users/zekail/outputs/pi05_robodojo_baseline_50k_gc_fresh/checkpoints/last/pretrained_model",
"paligemma_variant": "gemma_2b",
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"dtype": "bfloat16",
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"normalization_mapping": {
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"STATE": "QUANTILES",
"ACTION": "QUANTILES"
},
"attention_backend": "sdpa",
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"compile_model": false,
"compile_mode": "max-autotune",
"fuse_qkv": false,
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"optimizer_lr": 2.5e-05,
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"scheduler_decay_steps": 30000,
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"vlm_config": {},
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},
"output_dir": "/lustre/fsw/portfolios/nvr/projects/nvr_elm_llm/users/zekail/outputs/pi05_robodojo_baseline_50k_gc_fresh",
"job_name": "pi05_robodojo_baseline_50k_gc_fresh",
"resume": true,
"seed": 1000,
"cudnn_deterministic": false,
"num_workers": 8,
"batch_size": 16,
"steps": 50000,
"eval_freq": 20000,
"log_freq": 50,
"tolerance_s": 0.0001,
"save_checkpoint": true,
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"optimizer": {
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"betas": [
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"num_decay_steps": 50000,
"peak_lr": 1e-05,
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},
"eval": {
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"batch_size": 50,
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},
"wandb": {
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"disable_artifact": true,
"project": "flashvla-robodojo",
"entity": null,
"notes": null,
"run_id": "bbbzwr5x",
"mode": null,
"add_tags": true
},
"peft": null,
"use_rabc": false,
"rabc_progress_path": null,
"rabc_kappa": 0.01,
"rabc_epsilon": 1e-06,
"rabc_head_mode": "sparse",
"rename_map": {},
"checkpoint_path": "/lustre/fsw/portfolios/nvr/projects/nvr_elm_llm/users/zekail/outputs/pi05_robodojo_baseline_50k_gc_fresh/checkpoints/last",
"grad_accum_steps": 2,
"fsdp": {
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"mixed_precision": "bf16",
"reduce_dtype": "float32",
"reshard_after_forward": true,
"cpu_offload": false,
"state_dict_type": "SHARDED_STATE_DICT",
"save_pretrained_max_shard_size": "50GB"
},
"robotwin_multitask": {
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"roots": [],
"root": "",
"config_subdir": "aloha-agilex_randomized_500",
"config_subdirs": [],
"tasks": [],
"stats_path": ""
},
"flashvla_init": {
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"reset_time_mlp": true,
"time_mlp_init": "random",
"action_expert_norm_init": "zero"
},
"checkpoint_keep_last": 3,
"checkpoint_keep_every_n_steps": 0
}