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2f83f4a | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 | datasets:
vla_data:
data_mix: robotwin
data_root_dir: /inspire/ssd/project/embodied-basic-model/zhangjianing-253108140206/DATASET/robotwin_lerobot
dataset_py: lerobot_datasets
image_size:
- 224
- 224
per_device_batch_size: 8
video_backend: torchvision_av
framework:
action_model:
action_dim: 14
action_hidden_dim: 2560
action_model_type: DiT-B
future_action_window_size: 15
past_action_window_size: 0
name: QwenOFT
qwenvl:
base_vlm: /inspire/ssd/project/embodied-basic-model/zhangjianing-253108140206/DATASET/model/spiritv1.5
output_dir: /inspire/ssd/project/embodied-basic-model/zhangjianing-253108140206/experiment/spirit_vla/starvla-vla/results/124_robotwin_spirit
run_id: 124_robotwin_spirit
run_root_dir: /inspire/ssd/project/embodied-basic-model/zhangjianing-253108140206/experiment/spirit_vla/starvla-vla/results
seed: 42
trainer:
eval_interval: 1000
freeze_modules: true
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: 30000
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: 1732949190-tongji-university
wandb_project: spirit
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