| datasets: |
| 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 |
|
|
