action_dim: 7
action_model_type: DiT-B
data_root_dir: s3://real_data_raw/open_x_embodiment_origin
debug: false
disable_instruction: false
fix_system1: false
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: null
repeated_diffusion_steps: 4
resume_epoch: null
resume_step: null
run_id: sys12_meta_query_action_only_sync_pretraining_v2_query_64_mlp_lora_reimplement_history=1_state--image_augstage1
run_id_note: null
run_root_dir: outputs/code_reimp
save_interval: 1500
seed: 42
stage: stage1
trackers:
- jsonl
- wandb
use_ema: false
use_mm: false
vla:
  action_tokenizer: extra_action_tokenizer
  base_vlm: /mnt/petrelfs/yangshuai1/yangshuai1/share_mllm/Eagle2-2B
  data_mix: bridge_rt_1
  enable_gradient_checkpointing: true
  enable_mixed_precision_training: true
  epochs: 100
  expected_world_size: 64
  freeze_llm_backbone: false
  freeze_vision_backbone: false
  global_batch_size: 896
  learning_rate: 5.0e-05
  lr_scheduler_type: constant
  max_grad_norm: 1.0
  max_steps: null
  per_device_batch_size: 14
  reduce_in_full_precision: true
  shuffle_buffer_size: 250000
  train_strategy: fsdp-shard-grad-op
  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