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{
"vla_name": "VITRA_Paligemma",
"task_name": "opentouch_keypoint_from_step140000_large",
"model": "vitra_paligemma2",
"fwd_pred_next_n": 16,
"seed": 42,
"batch_size": 1,
"output_root": "/home/chonghej/scratch/chonghej/VLA-HAND/runs/opentouch_step140000_adapt_touch_editor/adapt_checkpoints",
"log_root": "/home/chonghej/scratch/chonghej/VLA-HAND/runs/opentouch_step140000_adapt_touch_editor/adapt_logs",
"cache_root": "runs/opentouch_keypoint_from_step140000_adapt/cache/vitra_paligemma2",
"model_load_path": null,
"pretrain_path": "runs/gigahands_real_all_cam0_keypoints_mano_vitra3b_linked_train/checkpoints/gigahands_real_all_cam0_keypoints_mano_vitra3b_linked_stage1_TB2_B2_bf16True/checkpoints/epoch=0-step=140000.ckpt",
"resume": false,
"wandb_project": "vitra-opentouch-keypoint-adapt",
"wandb_entity": "",
"save_steps": 5000,
"epoch_save_interval": 100000,
"total_batch_size": 4,
"use_bf16": true,
"use_fov": true,
"untied_cognition_token": true,
"use_state": "DiT",
"loss_type": "human",
"train_setup": {
"freeze_option": "freeze_vision_encoder"
},
"state_encoder": {
"state_dim": 212
},
"action_model": {
"model_type": "DiT-B",
"token_size": 2304,
"action_dim": 192,
"hidden_size": 1024
},
"vlm": {
"type": "PaliGemmaForConditionalGeneration",
"name": "paligemma",
"pretrained_model_name_or_path": "google/paligemma2-3b-mix-224"
},
"trainer": {
"sharding_strategy": "shard-grad-op",
"strategy": "fsdp_paligemma_with_checkpointing",
"lr_scheduler_type": "backbone-freeze-warmup",
"gradient_clip_val": 1.0,
"learning_rate": 1e-05,
"weight_decay": 0.1,
"max_epochs": 100000,
"max_steps": 10000,
"reduce_in_full_precision": true,
"enable_mixed_precision_training": false,
"enable_gradient_checkpointing": true,
"action_model_learning_rate": 0.0001,
"llm_freeze_step": 5000,
"warmup_ratio": null
},
"train_dataset": {
"data_root_dir": "datasets/vitra_opentouch_keypoint_full_text_aligned",
"augmentation": false,
"set_none_ratio": 0.0,
"data_mix": "opentouch_keypoint_train",
"num_workers": 2,
"prefetch_factor": null,
"flip_augmentation": 1.0,
"action_type": "keypoints",
"use_rel": false,
"clip_len": null,
"normalization": true,
"state_mask_prob": 0.0,
"statistics_dataset_name": "opentouch_keypoint_train"
},
"repeated_diffusion_steps": 8,
"config": "/home/chonghej/scratch/chonghej/VLA-HAND/vitra/configs/human_pretrain_opentouch_keypoint_from_step140000.json",
"data_mix": null,
"debug": false,
"num_workers": 2,
"prefetch_factor": null,
"no_save_checkpoint": false
}