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