{ "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 }