| run_id: subtask_m2w_libero_implicit_jepa_query_4 |
| run_root_dir: results |
| seed: 42 |
| wandb_entity: livion |
| wandb_project: m2w-vla |
| is_debug: false |
| framework: |
| name: QwenSubtaskM2W_phs |
| qwenvl: |
| base_vlm: ./playground/Pretrained_models/Qwen3-VL-4B-Instruct |
| attn_implementation: sdpa |
| vl_hidden_dim: 2048 |
| reasoning: |
| cot_reasoning_mode: implicit_query |
| latent_cot_num_queries: 4 |
| qwen_action_context_mode: exclude_cot_prompt |
| lambda_cot: 0.1 |
| generate_cot_at_inference: false |
| inference_cot_max_new_tokens: 96 |
| inference_cot_use_cache: true |
| inference_empty_cache: false |
| vjepa2: |
| hub_repo: facebookresearch/vjepa2:main |
| hub_model: vjepa2_1_vit_large_384 |
| hub_source: github |
| num_frames: 8 |
| image_size: 224 |
| jepa_predictor: |
| prediction_view: wrist |
| dropout: 0.0 |
| use_jepa_loss: true |
| lambda_jepa: 0.2 |
| jepa_predictor_depth: 4 |
| jepa_predictor_num_heads: 8 |
| jepa_predictor_bf16_autocast: true |
| jepa_predictor_activation_checkpointing: true |
| policy_context: |
| use_state: false |
| wrist_action_context_tokens: 32 |
| wrist_action_context_heads: 8 |
| wrist_action_context_layers: 1 |
| detach_wrist_action_context: true |
| action_model: |
| action_model_type: DiT-B |
| gradient_checkpointing: true |
| action_hidden_dim: 1024 |
| hidden_size: 1024 |
| add_pos_embed: true |
| max_seq_len: 1024 |
| action_dim: 7 |
| state_dim: null |
| action_horizon: 8 |
| past_action_window_size: 0 |
| noise_beta_alpha: 1.5 |
| noise_beta_beta: 1.0 |
| noise_s: 0.999 |
| num_timestep_buckets: 1000 |
| num_inference_timesteps: 4 |
| num_target_vision_tokens: 32 |
| diffusion_model_cfg: |
| cross_attention_dim: 2560 |
| dropout: 0.2 |
| final_dropout: true |
| interleave_self_attention: true |
| norm_type: ada_norm |
| num_layers: 16 |
| output_dim: 1024 |
| positional_embeddings: null |
| datasets: |
| vla_data: |
| dataset_py: subtask_m2w_datasets_phs |
| data_root_dir: playground/Datasets/LEROBOT_LIBERO_DATA |
| data_mix: libero_all |
| action_type: delta_qpos |
| per_device_batch_size: 16 |
| load_all_data_for_training: true |
| video_backend: torchvision_av |
| jepa_prediction_view: wrist |
| vlm_include_wrist_view: true |
| wrist_history_frames: 8 |
| future_wrist_frames: 8 |
| future_wrist_k: 8 |
| subtask_label_dir: playground/Datasets/subtask_m2w_labels_libero_qwen3vl_full_softqa_v31_compact_final_v16_20260630 |
| CoT_prompt: 'Your task is: {instruction} |
| |
| Using the current main-view and wrist-view images, identify the robot''s current |
| manipulation step. |
| |
| Output exactly: |
| |
| Subtask: ... |
| |
| Reasoning: ... |
| |
| Wrist: ... |
| |
| Do not add extra text.' |
| trainer: |
| max_train_steps: 30000 |
| num_warmup_steps: 2500 |
| is_resume: false |
| pretrained_checkpoint: null |
| reload_modules: null |
| resume_optimizer_state: true |
| train_qwen_vl: true |
| save_interval: 10000 |
| logging_frequency: 100 |
| repeated_diffusion_steps: 8 |
| learning_rate: |
| base: 2.5e-05 |
| jepa_predictor: 5.0e-05 |
| wrist_context_adapter: 5.0e-05 |
| action_model: 0.0001 |
| vlm: 1.0e-05 |
| lr_scheduler_type: cosine_with_min_lr |
| scheduler_specific_kwargs: |
| min_lr: 1.0e-06 |
| 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 |
| output_dir: results/subtask_m2w_libero_implicit_jepa_query_4 |
|
|
