training_summary.json

{
  "artifact_type": "inference_model",
  "checkpoint_step": 100,
  "base_model": "robbyant/lingbot-va-base",
  "dataset": "pengyue-polaron/nyush-galaxea-a1-fruit-placement-eef-v21",
  "dataset_revision": "1bc2c4035e7dc638f7dd9fa5ec7987bec66d0933",
  "included_tasks": [
    "put the red mango into the blue plate"
  ],
  "dataset_episodes": 26,
  "dataset_frames": 8783,
  "hardware": "2 x NVIDIA A100",
  "distributed_strategy": "FSDP full-parameter fine-tuning",
  "parameter_dtype": "bfloat16",
  "optimizer": "fused AdamW",
  "learning_rate": 1e-05,
  "warmup_steps": 10,
  "adam_beta1": 0.9,
  "adam_beta2": 0.95,
  "weight_decay": 0.1,
  "per_rank_batch_size": 1,
  "world_size": 2,
  "gradient_accumulation_steps": 8,
  "effective_global_batch_size": 16,
  "mean_latent_loss": 0.161962,
  "mean_action_loss": 0.020129,
  "last_50_step_mean_latent_loss": 0.149802,
  "last_50_step_mean_action_loss": 0.005676,
  "final_latent_loss": 0.1375,
  "final_action_loss": 0.0044,
  "source_action_dimension": 8,
  "model_action_dimension": 30,
  "used_action_channel_ids": [0, 1, 2, 3, 4, 5, 6, 28],
  "includes_optimizer_state": false
}