| 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 |
|
|
