| run_id: SimplerEnv |
| run_root_dir: checkpoints |
| seed: 42 |
| trackers: |
| - json |
| is_debug: false |
| framework: |
| name: VLA_JEPA |
| qwenvl: |
| base_vlm: /home/dataset-local/models/Qwen3-VL-2B-Instruct |
| attn_implementation: flash_attention_2 |
| vl_hidden_dim: 2048 |
| action_model: |
| action_model_type: DiT-B |
| action_hidden_dim: 1024 |
| hidden_size: 1024 |
| add_pos_embed: true |
| max_seq_len: 1024 |
| action_dim: 7 |
| state_dim: 8 |
| future_action_window_size: 6 |
| action_horizon: 7 |
| past_action_window_size: 0 |
| repeated_diffusion_steps: 8 |
| noise_beta_alpha: 1.5 |
| noise_beta_beta: 1.0 |
| noise_s: 0.999 |
| num_timestep_buckets: 1000 |
| num_inference_timesteps: 4 |
| num_target_vision_tokens: 32 |
| diffusion_model_cfg: |
| cross_attention_dim: 2048 |
| dropout: 0.2 |
| final_dropout: true |
| interleave_self_attention: true |
| norm_type: ada_norm |
| num_layers: 16 |
| output_dim: 1024 |
| positional_embeddings: null |
| vj2_model: |
| base_encoder: /home/dataset-local/models/vjepa2-vitl-fpc64-256 |
| depth: 12 |
| num_heads: 8 |
| special_action_token: <|action_{}|> |
| num_action_tokens_per_timestep: 8 |
| embodied_action_token: <|embodied_action|> |
| num_embodied_action_tokens_per_instruction: 32 |
| num_frames: 8 |
| reduce_in_full_precision: true |
| datasets: |
| vla_data: |
| dataset_py: lerobot_datasets |
| data_root_dir: /home/dataset-local/datasets/LeRobot/OXE_LEROBOT_DATASET |
| data_mix: bridge_rt_1 |
| action_type: delta_ee |
| CoT_prompt: Your task is {instruction}. Infer the temporal dynamics from frames |
| {actions} and produce the corresponding policy actions {e_actions}. |
| resolution_size: 224 |
| video_resolution_size: 256 |
| per_device_batch_size: 32 |
| load_all_data_for_training: true |
| action_horizon: 7 |
| with_state: false |
| trainer: |
| epochs: 100 |
| max_train_steps: 30000 |
| num_warmup_steps: 5000 |
| save_interval: 10000 |
| eval_interval: 100 |
| learning_rate: |
| base: 3.0e-05 |
| qwen_vl_interface: 1.0e-05 |
| action_model: 0.0001 |
| vj_predictor: 0.0005 |
| lr_scheduler_type: cosine_with_min_lr |
| scheduler_specific_kwargs: |
| min_lr: 1.0e-05 |
| freeze_modules: '' |
| loss_scale: |
| vla: 1.0 |
| vlm: 0.1 |
| max_grad_norm: 1.0 |
| warmup_ratio: 0.1 |
| weight_decay: 0.0 |
| logging_frequency: 10 |
| gradient_clipping: 1.0 |
| gradient_accumulation_steps: 1 |
| optimizer: |
| name: AdamW |
| betas: |
| - 0.9 |
| - 0.95 |
| eps: 1.0e-08 |
| weight_decay: 1.0e-08 |
| is_resume: false |
| resume_epoch: null |
| resume_step: null |
| enable_gradient_checkpointing: true |
| enable_mixed_precision_training: true |
| output_dir: checkpoints/SimplerEnv |
|
|
