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