Initial pi0 minimal validation

2026-07-11 20:04:18 +08:00
commit 4fe0099f3f
18 changed files with 1611 additions and 0 deletions
@@ -0,0 +1,31 @@
+seed: 7
+device: auto
+output_dir: outputs/overfit
+
+data:
+  source_manifest: ../../alpamayo/alpamayo-qwen05b-validation/data/processed/overfit_manifest.jsonl
+  num_variants: 4
+  image_size: 64
+  action_horizon: 16
+
+model:
+  d_model: 96
+  n_heads: 4
+  n_layers: 3
+  mlp_ratio: 3
+  patch_size: 16
+  max_text_tokens: 64
+  dropout: 0.0
+
+train:
+  steps: 600
+  batch_size: 4
+  learning_rate: 0.001
+  weight_decay: 0.0
+  grad_clip_norm: 1.0
+  flow_loss_weight: 1.0
+  log_every: 20
+
+inference:
+  flow_steps: 10
+  noise_seed: 4