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: 5.0e-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