# @package _global_
defaults:
- override /model: g05
- override /tokenizer: actioncodec
- override /data: r1pro_wbc
- _self_
shard_datasets_by_node: false
use_fsdp: false
fsdp_sharding_strategy: hybrid
fsdp_mixed_precision: false
fsdp_prefetch: true
fsdp_reshard_after_forward: true
vlm:
  cotrain: false
  batch_size: ${model.batch_size}
  num_workers: 4
  vlm_batch_ratio: 0.2
  loss_weight: 1.0
datastatics_path: null
logger:
  type: wandb
  mode: offline
  workspace: null
deploy_checkpoint:
  enabled: true
tokenizer:
  vq_config:
    block_wise_autoregressive: false
    block_size: 8
    num_residuals: 2
    rule_based_key_patterns:
    - gripper
    rule_based_binarize_threshold: 0.0
    use_group_markers: true
    group_order_shuffle: false
    dropout_noop_parts: true
    absent_key_fill_value: -100.0
    parts_meta:
      left_control: 9
      left_gripper: 1
      right_control: 9
      right_gripper: 1
      lower_body: 7
    model_arch:
      codebook_size: 4096
model:
  enable_bf16_training: false
  use_8bit_optimizer: false
  learning_rate: 4.0e-05
  batch_size: 8
  num_workers: 16
  prefetch_factor: 4
  max_epochs: 10
  max_steps: null
  warmup_ratio: null
  warmup_steps: 200
  lr_scheduler_type: cosine
  lr_min_ratio: 0.0
  constant_end_ratio: 0.08
  weight_decay: 0.03
  processor:
    vlm_input_action_norm_default_mode: null
    vlm_input_action_norm_exception_mode: null
    tokenizer_params:
      local_files_only: true
    camera_size_config:
      exterior:
      - 256
      - 256
      wrist_left:
      - 256
      - 256
      wrist_right:
      - 256
      - 256
    action_filter:
      _target_: g05.data_processor.transforms.action_filter.DummyActionFilter
    action_state_merger:
      _target_: g05.data_processor.transforms.action_state_merger.GroupedPaddingMerger
      max_action_shape_meta: ${oc.load:configs/data/parts_meta/r1pro.yaml,parts_meta}
      max_state_shape_meta: ${oc.load:configs/data/parts_meta/r1pro.yaml,parts_meta}
      merge_spec: ${oc.load:configs/data/parts_meta/r1pro.yaml,merge_spec}
      merge: true
  model_arch:
    vision_lr_multiplier: 0.1
    action_dim: 27
    proprio_dim: 27
    fm:
      num_flow_samples: 4
    ar:
      block_wise_autoregressive: false
    predict_cot: false
    input_preprocessor:
      pred_eov: false