File size: 2,191 Bytes
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vla_data:
data_mix: robotwin_dynamic_task
data_root_dir: ./data/robotwin/dynamic-35tasks-clean-level1
dataset_py: lerobot_datasets
history_flow:
cpu_worker_num: 12
history_image_size:
- 64
- 64
history_mode: flow
image_size:
- 224
- 224
num_workers: 8
per_device_batch_size: 8
video_backend: torchvision_av
framework:
action_model:
action_dim: 14
action_hidden_dim: 2560
action_model_type: MLP
future_action_window_size: 15
past_action_window_size: 0
history_flow_stage: stage2
name: PUMA
qwenvl:
attn_implementation: sdpa
base_vlm: ./playground/Pretrained_models/Qwen3-VL-4B-Instruct-Action
world_model:
dino_backbone: dinov2_vitb14
enabled: true
feature_loss: cosine
future_view_index: 0
grounding:
box_threshold: 0.35
grounding_dino_checkpoint: ./playground/Pretrained_models/grounded_sam2/groundingdino_swint_ogc.pth
grounding_dino_config: ./playground/Pretrained_models/grounded_sam2/GroundingDINO_SwinT_OGC.py
max_boxes: 1
multimask_output: false
sam2_checkpoint: ./playground/Pretrained_models/grounded_sam2/sam2.1_hiera_large.pt
sam2_model_config: configs/sam2.1/sam2.1_hiera_l.yaml
text_threshold: 0.25
video_prompt: mask
grounding_mode: image
loss_weight: 0.05
supervision: per_frame
world_query_num: 4
output_dir: ./result/output/Dynamic_VLA/20260301-qwenoft-robotwin_dynamic_task-qwenaction-world-query-flow-stage2-h4s4f4s4-h64w64-dynamic-35task
run_id: puma-domino-dynamic-35task
run_root_dir: ./result/output/Dynamic_VLA
seed: 42
trainer:
eval_interval: 1000
freeze_modules: null
gradient_accumulation_steps: 1
gradient_clipping: 1.0
is_resume: false
learning_rate:
action_model: 0.0001
base: 1.0e-05
qwen_vl_interface: 1.0e-05
logging_frequency: 100
lr_scheduler_type: cosine_with_min_lr
max_train_steps: 100000
num_warmup_steps: 5000
optimizer:
betas:
- 0.9
- 0.95
eps: 1.0e-08
weight_decay: 1.0e-08
save_interval: 10000
scheduler_specific_kwargs:
min_lr: 5.0e-07
wandb_entity: heng_
wandb_project: Dynamic_VLA
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