config.json

{
  "action_dim": 7,
  "action_model_type": "DiT-B",
  "data_root_dir": "s3://real_data_raw/open_x_embodiment_origin",
  "debug": false,
  "fix_system1": true,
  "future_action_window_size": 15,
  "hf_token": "hf_token",
  "image_aug": true,
  "is_resume": false,
  "load_all_data_for_training": true,
  "num_of_meta_query": 64,
  "past_action_window_size": 0,
  "pretrained_checkpoint": "/mnt/petrelfs/yangshuai1/rep/cogact_with_history/outputs/head_balation/sys12_meta_query_action_only_sync_pretraining_v2_query_64_mlp_lora--image_aug/checkpoints/step-034500-epoch-08_unload_lora.pt",
  "repeated_diffusion_steps": 4,
  "resume_epoch": null,
  "resume_step": null,
  "run_id": "sys12_meta_query_full_finetune_sync_cotraining_v2_xlora_freeze_head_instruction_long--image_augstage2",
  "run_id_note": null,
  "run_root_dir": "outputs/head_balation",
  "save_interval": 1500,
  "seed": 42,
  "stage": "stage2",
  "trackers": [
    "jsonl",
    "wandb"
  ],
  "use_ema": false,
  "use_mm": true,
  "vla": {
    "action_tokenizer": "extra_action_tokenizer",
    "base_vlm": "/mnt/petrelfs/yangshuai1/yangshuai1/share_mllm/Eagle2-2B",
    "data_mix": "bridge_rt_1",
    "enable_gradient_checkpointing": false,
    "enable_mixed_precision_training": true,
    "epochs": 100,
    "expected_world_size": 64,
    "freeze_llm_backbone": false,
    "freeze_vision_backbone": false,
    "global_batch_size": 512,
    "learning_rate": 5e-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": 250000,
    "train_strategy": "fsdp-full-shard",
    "type": "prism-qwen25-dinosiglip-224px+0_5b",
    "unfreeze_last_llm_layer": false,
    "vla_id": "prism-qwen25-dinosiglip-224px+0_5b",
    "warmup_ratio": 0.0,
    "weight_decay": 0.0
  },
  "wandb_entity": "shuaiyang2003",
  "wandb_project": "dual_sys"
}