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