File size: 1,775 Bytes
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vla_data:
data_mix: delta_state
data_root_dir: /mnt/xlab-nas-2/vla_dataset
dataset_py: lerobot_datasets
image_size:
- 224
- 224
num_workers: 6
per_device_batch_size: 16
sequential_step_sampling: false
framework:
action_model:
action_dim: 14
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: 1024
positional_embeddings: null
future_action_window_size: 15
hidden_size: 1024
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: 14
name: QwenJAT
qwenvl:
base_vlm: ./checkpoints/Qwen3-VL-4B-Instruct-Action
output_dir: /mnt/workspace/lintong.lt/output/vla_pretrain/0323_pretrain_Qwen3VL4BJAT_bs2048
run_id: 0323_pretrain_Qwen3VL4BJAT_bs2048
run_root_dir: /mnt/workspace/lintong.lt/output/vla_pretrain
seed: 42
trainer:
eval_interval: 2000
freeze_modules: null
gradient_accumulation_steps: 2
gradient_clipping: 1.0
is_resume: false
learning_rate:
action_model: 0.0001
base: 3.0e-05
qwen_vl_interface: 1.0e-05
logging_frequency: 100
lr_scheduler_type: cosine_with_min_lr
max_train_steps: 200000
num_warmup_steps: 2000
optimizer:
betas:
- 0.9
- 0.95
eps: 1.0e-08
weight_decay: 1.0e-08
repeated_diffusion_steps: 4
save_interval: 2000
scheduler_specific_kwargs:
min_lr: 5.0e-07
wandb_entity: your_wandb_entity
wandb_project: llavavla
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