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