| { |
| "run_id": "0508_QwenLatent_13tasks_history_ActionState_50k", |
| "run_root_dir": "./runs", |
| "seed": 42, |
| "trackers": [ |
| "jsonl", |
| "wandb" |
| ], |
| "wandb_entity": "timsty", |
| "wandb_project": "vla_jepa", |
| "is_debug": false, |
| "framework": { |
| "name": "QwenLatent_history", |
| "qwenvl": { |
| "base_vlm": "/dataset_rc_mm/tangwl3@xiaopeng.com/jd/checkpoints/Qwen/Qwen3-VL-2B-Instruct", |
| "attn_implementation": "flash_attention_2", |
| "vl_hidden_dim": 2048, |
| "num_data_tokens": 32 |
| }, |
| "action_model": { |
| "ckpt_path": "/dataset_rc_mm/tangwl3@xiaopeng.com/jd/code/lap/runs/0418_Action_13tasks_actionstate_fixchunk15/final_model/pytorch_model.pt", |
| "action_size": 37, |
| "state_size": 74, |
| "use_state": "${datasets.vla_data.state_use_action_chunk}", |
| "hidden_size": 1024, |
| "intermediate_size": 3072, |
| "dataset_vocab_size": 256, |
| "num_data_tokens": 32, |
| "min_action_len": 5, |
| "num_encoder_layers": 28, |
| "num_decoder_layers": 28, |
| "num_attention_heads": 16, |
| "num_key_value_heads": 8, |
| "head_dim": 128, |
| "max_position_embeddings": 2048, |
| "max_action_chunk_size": 50, |
| "rms_norm_eps": 1e-06, |
| "attention_dropout": 0.0, |
| "use_vae_reparameterization": false, |
| "use_ema": false, |
| "chunk_size": "${datasets.vla_data.chunk_size}", |
| "loss_mode": "full", |
| "qwen3_pretrained_name_or_path": "/dataset_rc_mm/tangwl3@xiaopeng.com/jd/checkpoints/Qwen/Qwen3-0.6B" |
| } |
| }, |
| "datasets": { |
| "vla_data": { |
| "dataset_py": "lerobot_datasets", |
| "data_root_dir": "/dataset_rc_mm/tangwl3@xiaopeng.com/jd/data/transfer/data/IPEC-COMMUNITY", |
| "data_mix": "cross_embodiedment_13tasks", |
| "CoT_prompt": "Task: {instruction}. What are the next 15 actions to take?", |
| "default_image_resolution": [ |
| 3, |
| 224, |
| 224 |
| ], |
| "per_device_batch_size": 32, |
| "load_all_data_for_training": true, |
| "obs": [ |
| "image_0" |
| ], |
| "image_size": [ |
| 224, |
| 224 |
| ], |
| "video_backend": "torchcodec", |
| "load_video": true, |
| "chunk_size": 30, |
| "state_use_action_chunk": true, |
| "num_history_steps": 15, |
| "include_state": "${datasets.vla_data.state_use_action_chunk}" |
| } |
| }, |
| "trainer": { |
| "epochs": 100, |
| "max_train_steps": 50000, |
| "num_warmup_steps": 5000, |
| "num_stable_steps": 0, |
| "mode": "freeze_action_encoder_decay_aux_loss", |
| "loss_weights_decay_steps": 5000, |
| "save_interval": 5000, |
| "eval_interval": 50, |
| "max_checkpoints_to_keep": 10, |
| "learning_rate": { |
| "base": 5e-05, |
| "qwen_vl_interface": 5e-05, |
| "action_model": 5e-05 |
| }, |
| "lr_scheduler_type": "warmup_stable_cosine", |
| "scheduler_specific_kwargs": { |
| "min_lr_ratio": 0.001 |
| }, |
| "freeze_modules": "", |
| "loss_scale": { |
| "align_loss": 1.0, |
| "recon_loss": 1.0, |
| "predict_loss": 1.0 |
| }, |
| "warmup_ratio": 0.1, |
| "weight_decay": 0.0, |
| "logging_frequency": 10, |
| "gradient_clipping": 5.0, |
| "gradient_accumulation_steps": 1, |
| "optimizer": { |
| "name": "AdamW", |
| "betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "eps": 1e-08, |
| "weight_decay": 1e-08 |
| }, |
| "is_resume": false, |
| "resume_epoch": null, |
| "resume_step": null, |
| "enable_gradient_checkpointing": true, |
| "enable_mixed_precision_training": true |
| }, |
| "output_dir": "./runs/0508_QwenLatent_13tasks_history_ActionState_50k" |
| } |
