| seed: 42 |
| run_root_dir: runs |
| save_checkpoint: true |
| vla_id: qwen_joint_vla |
| vlm_path: /fs/fast/u2021000902/previous_nvme/VLM/Qwen3-VL-2B-Instruct |
| vlm_model_id: Qwen3 |
| default_image_size: 224 |
| codebook_size: 16 |
| use_latent: false |
| layer_idx: 17 |
| pretrained_checkpoint: /home/linyihan/linyh/VLM/InternVL3_5-1B |
| from_pretrained: false |
| FAST_tokenizer_path: '' |
| data_root_dir: /fs/fast/u2021000902/previous_nvme/VLM/robotwin_latent |
| data_mix: |
| - aloha_move_can_pot |
| - aloha_move_playingcard_away |
| - aloha_pick_dual_bottles |
| - aloha_place_container_plate |
| shuffle_buffer_size: 128 |
| image_aug: true |
| window_size: 25 |
| use_wrist_image: true |
| use_proprio: true |
| use_pro_version: true |
| num_images_in_input: 2 |
| action_tokenizer_ckpt: /home/u2021000902/lyh_use/laq/results_libero/tokenizer_step_50000.pt |
| type: training |
| epochs: 10 |
| max_steps: 30000 |
| global_batch_size: 128 |
| per_device_batch_size: 16 |
| learning_rate: 0.0001 |
| weight_decay: 0.01 |
| max_grad_norm: 1.0 |
| lr_scheduler_type: step-decay |
| warmup_ratio: 0.03 |
| save_step: 20000 |
| token_loss_weight: 0.1 |
| use_val: false |
| wandb_project: vla |
| use_wandb: true |
|
|
