| datasets: |
| vla_data: |
| action_mode: abs |
| data_mix: robotwin_clean_50 |
| data_root_dir: ./playground/Datasets/RoboTwin |
| dataset_py: lerobot_datasets |
| per_device_batch_size: 48 |
| sequential_step_sampling: false |
| video_backend: pyav |
| framework: |
| action_model: |
| act_dim_feedforward: 2048 |
| act_dropout: 0.1 |
| act_hidden_dim: 256 |
| act_loss_type: l1 |
| act_mlp_hidden_dim: 512 |
| act_nheads: 8 |
| act_num_layers: 3 |
| act_state_hidden_dim: 256 |
| act_state_tokens: 2 |
| action_dim: 14 |
| action_hidden_dim: 1024 |
| action_horizon: 50 |
| action_model_type: act |
| diffusion_model_cfg: |
| cross_attention_dim: 256 |
| hidden_size: 1024 |
| state_dim: 14 |
| dinov3: |
| attn_implementation: flash_attention_2 |
| freeze_vision_encoder: false |
| image_size: 224 |
| local_files_only: false |
| model_path: facebook/dinov3-vitl16-pretrain-lvd1689m |
| num_views: 3 |
| vision_dropout: 0.1 |
| vision_pos_init_std: 0.01 |
| vision_pos_scale_init: 0.01 |
| fusion: |
| enhancer_inner_dim: 1024 |
| fusion_dropout: 0.0 |
| fusion_droppath: 0.1 |
| hidden_dim: 256 |
| nheads: 8 |
| num_layers: 6 |
| text_dropout: 0.0 |
| groundingdino: |
| load_bert: false |
| load_feature_enhancer: false |
| load_pretrained: false |
| load_text_proj: false |
| pretrained_ckpt: null |
| name: GroundingDINODiT |
| text: |
| attn_implementation: flash_attention_2 |
| bert_path: google-bert/bert-base-uncased |
| freeze_text_encoder: true |
| local_files_only: false |
| max_text_len: 256 |
| sub_sentence_present: true |
| output_dir: . |
| run_id: turbovla_robotwin_clean50_55k_ema |
| run_root_dir: . |
| seed: 42 |
| trainer: |
| ema_decay: 0.999 |
| ema_device: cuda |
| eval_interval: 1000 |
| freeze_modules: text_encoder.bert |
| gradient_clipping: 1.0 |
| learning_rate: |
| action_model: 5.0e-05 |
| base: 5.0e-05 |
| dinov3: 5.0e-05 |
| feature_enhancer: 5.0e-05 |
| text_encoder: 5.0e-05 |
| vision_proj: 5.0e-05 |
| logging_frequency: 50 |
| lr_scheduler_type: warmup_constant_with_factor |
| max_train_steps: 100000 |
| num_warmup_steps: 1000 |
| optimizer: |
| betas: |
| - 0.9 |
| - 0.95 |
| eps: 1.0e-08 |
| weight_decay: 1.0e-10 |
| save_format: safetensors |
| save_interval: 5000 |
| scheduler_specific_kwargs: |
| warmup_start_factor: 0.0 |
| wandb_entity: null |
| wandb_project: TurboVLA-RoboTwin |
|
|
