| run_id: 0501_robotwin_all_qwenrealpi_all_2 |
| run_root_dir: ./results/Checkpoints |
| seed: 42 |
| trackers: |
| - jsonl |
| - wandb |
| wandb_entity: your_wandb_entity |
| wandb_project: starVLA_Robotwin |
| is_debug: false |
| version_id: '0.21' |
| framework: |
| name: QwenRealPI |
| qwenvl: |
| base_vlm: /inspire/qb-ilm/project/qproject-fundationmodel/public/zzt/models/Qwen/Qwen3-VL-4B-Instruct |
| attn_implementation: flash_attention_2 |
| vl_hidden_dim: 2048 |
| action_model: |
| action_dim: 14 |
| state_dim: 14 |
| action_horizon: 16 |
| hidden_size: 1024 |
| num_inference_timesteps: 10 |
| noise_beta_alpha: 1.5 |
| noise_beta_beta: 1.0 |
| noise_s: 0.999 |
| init_from_llm: false |
| future_action_window_size: 15 |
| action_hidden_dim: 1024 |
| past_action_window_size: 0 |
| obs_image_size: |
| - 224 |
| - 224 |
| datasets: |
| vla_data: |
| dataset_py: lerobot_datasets |
| data_root_dir: playground/Datasets/RoboTwin |
| data_mix: robotwin_all |
| action_type: abs_qpos |
| action_mode: abs |
| sequential_step_sampling: false |
| default_image_resolution: |
| - 3 |
| - 224 |
| - 224 |
| per_device_batch_size: 32 |
| load_all_data_for_training: true |
| obs: |
| - image_0 |
| image_size: |
| - 224 |
| - 224 |
| video_backend: pyav |
| trainer: |
| epochs: 100 |
| max_train_steps: 150000 |
| num_warmup_steps: 5000 |
| save_interval: 10000 |
| eval_interval: 1000 |
| learning_rate: |
| base: 1.0e-05 |
| qwen_vl_interface: 1.0e-05 |
| action_model: 0.0001 |
| lr_scheduler_type: cosine_with_min_lr |
| scheduler_specific_kwargs: |
| min_lr: 5.0e-07 |
| freeze_modules: qwen_vl_interface.model.model.visual |
| loss_scale: |
| vla: 1.0 |
| max_grad_norm: 1.0 |
| warmup_ratio: 0.1 |
| weight_decay: 0.0 |
| logging_frequency: 100 |
| 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 |
| valid_size: 256 |
| config_yaml: ./examples/Robotwin/train_files/real_pi.yaml |
| output_dir: ./results/Checkpoints/0501_robotwin_all_qwenrealpi_all_2 |
|
|
