| 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: 1.0e-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: 5.0e-05 |
| qwen_vl_interface: 5.0e-05 |
| action_model: 5.0e-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: 1.0e-08 |
| weight_decay: 1.0e-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 |
|
|
