| datasets: |
| vla_data: |
| CoT_prompt: '{instruction}' |
| data_mix: fourier_gr1_unified_1000 |
| data_root_dir: playground/Datasets/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim |
| delete_pause_frame: false |
| image_size: |
| - 224 |
| - 224 |
| per_device_batch_size: 16 |
| video_backend: pyav |
| frameskip: |
| cache_dir: playground/frameskip/frameskip_cache_vac_cr20-100 |
| default_compression_ratio: 1.0 |
| enabled: true |
| importance: |
| allow_backend_fallback: false |
| alpha: 0.6 |
| beta: 0.2 |
| device: cuda |
| enable_vac: true |
| gamma: 0.2 |
| max_vac_frames: 16 |
| type: gripper_aware |
| vac_beta: 0.2 |
| video_backend: ffmpeg |
| visual_encoder_checkpoint: /mnt/project_ai4edu/share/models/timm/vit_large_patch14_dinov2.lvd142m/pytorch_model.bin |
| visual_encoder_name: vit_large_patch14_dinov2 |
| pruning: |
| compression_ratios: |
| - 0.2 |
| - 0.3 |
| - 0.4 |
| - 0.5 |
| - 0.6 |
| - 0.7 |
| - 0.8 |
| - 0.9 |
| - 1.0 |
| used_compression_ratios: |
| - 0.2 |
| - 0.2 |
| - 0.2 |
| - 0.2 |
| - 0.2 |
| - 1.0 |
| training: |
| dynamic_ratio: true |
| ratio_schedule: uniform |
| warmup_steps: 5000 |
| framework: |
| action_model: |
| action_dim: 29 |
| action_horizon: 16 |
| action_model_type: DiT-B |
| add_pos_embed: true |
| diffusion_model_cfg: |
| cross_attention_dim: 2560 |
| dropout: 0.2 |
| final_dropout: true |
| interleave_self_attention: true |
| norm_type: ada_norm |
| num_layers: 16 |
| output_dim: 2560 |
| positional_embeddings: null |
| future_action_window_size: 15 |
| hidden_size: 2560 |
| max_seq_len: 1024 |
| noise_beta_alpha: 1.5 |
| noise_beta_beta: 1.0 |
| noise_s: 0.999 |
| num_inference_timesteps: 4 |
| num_target_vision_tokens: 32 |
| num_timestep_buckets: 1000 |
| past_action_window_size: 0 |
| state_dim: 58 |
| name: QwenGR00T |
| qwenvl: |
| base_vlm: Qwen/Qwen3-VL-4B-Instruct |
| template: qwen3_vl |
| run_root_dir: ./results/Checkpoints/FrameSkip/RoboCasa |
| seed: 42 |
| trainer: |
| eval_interval: 1000 |
| freeze_modules: true |
| gradient_accumulation_steps: 1 |
| gradient_clipping: 1.0 |
| is_resume: true |
| learning_rate: |
| action_model: 0.0001 |
| base: 1.0e-05 |
| qwen_vl_interface: 1.0e-05 |
| logging_frequency: 100 |
| lr_scheduler_type: cosine_with_min_lr |
| max_train_steps: 100000 |
| num_warmup_steps: 5000 |
| optimizer: |
| betas: |
| - 0.9 |
| - 0.95 |
| eps: 1.0e-08 |
| weight_decay: 1.0e-08 |
| save_interval: 10000 |
| scheduler_specific_kwargs: |
| min_lr: 5.0e-07 |
| wandb_entity: jinhuiye |
| wandb_project: starVLA |
|
|
