MLA_RLBench_post / config.json
lzy
Add model weights
189e351
{
"action_dim": 7,
"action_tokenizer_exist": false,
"class_dropout_prob": 0.0,
"data_root_dir": "/media/liuzhuoyang/data/rlbench/rlds/12tasks_selected_keyframe_pointcloud_0814",
"future_action_window_size": 0,
"hf_token": ".hf_token",
"image_aug": false,
"is_resume": false,
"llm_vision_layers": 8,
"load_all_data_for_training": true,
"past_action_window_size": 0,
"pretrained_checkpoint": "/media/liuzhuoyang/new_vla/Rec_Diff_beta/exp/exp_12tasks_selected_keyframe_pointcloud_0814_Pretrainrtx0818e1_FreezeVistrue_Window0_Difftrue_Recfalse_Contrastive_Vislayer8_1024_0403_0820/checkpoints/step-005415-epoch-300-loss=1.4414.pt",
"recon_image": true,
"recon_pointcloud": true,
"repeated_diffusion_steps": 4,
"resume_epoch": null,
"resume_step": null,
"run_id": "exp_12tasks_selected_keyframe_pointcloud_0814_Pretraindiff300_FreezeVistrue_Window0_Difftrue_PCtrue_Rectrue_Contrastive_Vislayer8_1024_0403_0822",
"run_id_note": null,
"run_root_dir": "/media/liuzhuoyang/new_vla/Rec_Diff_beta/exp",
"save_interval": 100,
"seed": 42,
"trackers": [
"jsonl",
"wandb"
],
"use_contrastive": true,
"use_diff": true,
"use_ema": false,
"use_pointcloud": true,
"use_reconstruction": true,
"use_roi": false,
"vla": {
"base_vlm": "prism-dinosiglip-224px+7b",
"data_mix": "rlbench",
"enable_gradient_checkpointing": true,
"enable_mixed_precision_training": true,
"epochs": 300,
"expected_world_size": 32,
"freeze_llm_backbone": false,
"freeze_vision_tower": true,
"global_batch_size": 256,
"learning_rate": 2e-05,
"lr_scheduler_type": "constant",
"max_grad_norm": 1.0,
"max_steps": null,
"per_device_batch_size": 8,
"reduce_in_full_precision": true,
"shuffle_buffer_size": 10000,
"train_strategy": "fsdp-full-shard",
"type": "prism-dinosiglip-224px+oxe+diffusion",
"unfreeze_last_llm_layer": false,
"vla_id": "prism-dinosiglip-224px+oxe+diffusion",
"warmup_ratio": 0.0,
"weight_decay": 0.0
},
"wandb_entity": "liumail2023-peking-university",
"wandb_project": "one_model_vla_sft"
}