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inference_action_mode=continuous
is baked into the config.| Steps / epochs | 12,000 / ~7.1 |
| Global batch | 64 (8 GPUs × 8) |
| VLM | LoRA r=64 @ 5e-5; action expert full FT @ 1e-4 |
| Schedule | cosine, 600 warmup, decay ratio 0.1 |
| Augmentation | brightness/contrast/saturation 0.8–1.2, hue ±0.02, sharpness 0.5–1.5, affine ±5°/5% |
| Action space | 14-D absolute joint pose, chunk 30/30 @ 30 Hz |
| Normalization | quantile q01/q99; grippers raw |
| Split / seed | 100/0 / 1000 |
step:12K smpl:768K ep:530 epch:7.06 loss:1.130 grdn:1.412 lr:5.0e-06 updt_s:2.355 data_s:0.075 smp/s:26 mem_gb:25.86 discrete_ce_loss:1.127 discrete_z_loss:0.000 action_flow_loss:0.004norm_tag.Put all oranges in the bowl.--robot.max_gripper_delta=0.05 (data needs 0.05/tick).