Initial pi0.6 minimal validation

2026-07-11 22:35:54 +08:00
commit 53ef020b46
27 changed files with 3459 additions and 0 deletions
@@ -0,0 +1,54 @@
+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
+
+experience:
+  augmentation_factor: 1
+  gamma: 0.99
+  n_step: 4
+  positive_quantile: 0.7
+
+model:
+  patch_size: 16
+  n_heads: 4
+  n_layers: 3
+  mlp_ratio: 3
+  policy_d_model: 96
+  value_d_model: 64
+  max_text_tokens: 64
+  max_action_tokens: 32
+  action_start_token_id: 269
+  dropout: 0.0
+  value_bins: 201
+  value_min: -1.0
+  value_max: 0.0
+
+train:
+  base_steps: 300
+  value_steps: 400
+  mixed_steps: 300
+  recap_steps: 700
+  batch_size: 4
+  learning_rate: 0.001
+  value_learning_rate: 0.001
+  weight_decay: 0.0
+  grad_clip_norm: 1.0
+  token_loss_weight: 1.0
+  flow_loss_weight: 2.0
+  value_loss_weight: 1.0
+  log_every: 20
+
+recap:
+  condition_dropout: 0.3
+  cfg_beta: 2.0
+  force_interventions_positive: true
+
+inference:
+  flow_steps: 10
+  cfg_beta: 2.0