File size: 2,401 Bytes
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vla_data:
CoT_prompt: Your task is {instruction}. To identify the key objects for your task.
Locate their bounding boxes in [x1,y1,x2,y2] format.
data_mix: xpolicylab
data_root_dir: /mnt/project/world_model/data/sim_benchmark
dataset_py: lerobot_datasets
delete_pause_frame: false
image_size:
- 224
- 224
per_device_batch_size: 6
training_task_weights:
- 1
- 1
- 1
- 1
use_delta_action: false
framework:
action_model:
action_dim: 14
action_horizon: 16
action_model_type: DiT-B
add_pos_embed: true
diffusion_model_cfg:
cross_attention_dim: 2560
dropout: 0.2
final_dropout: true
interleave_self_attention: true
norm_type: ada_norm
num_layers: 8
output_dim: 2560
positional_embeddings: null
future_action_window_size: 15
future_obs_index: 5
hidden_size: 2560
max_num_embodiments: 1
max_seq_len: 1024
noise_beta_alpha: 1.5
noise_beta_beta: 1.0
noise_s: 0.999
num_inference_timesteps: 4
num_target_vision_tokens: 32
num_timestep_buckets: 1000
num_views: 1
obs_horizon: 2
obs_loss_weight: 1.0
only_policy: true
only_wo_video_gen: false
past_action_window_size: 0
policy_and_video_gen: false
state_dim: 14
vision_encoder_path: /mnt/home/liukai/World-Action-Model/pretrained
vision_encoder_size: s
vision_encoder_type: dinov3
name: QwenMMDiT
qwenvl:
base_vlm: /mnt/home/liukai/starVLA/playground/pretrained/vlm/Qwen3-VL-4B-Instruct
output_dir: /mnt/project/world_model/checkpoints/lda/post-train/xpolicylab/single_view
run_id: single_view
run_root_dir: /mnt/project/world_model/checkpoints/lda/post-train/xpolicylab
seed: 42
trainer:
eval_interval: 1000
freeze_modules: action_model.vision_encoder
gradient_accumulation_steps: 1
gradient_clipping: 1.0
is_resume: false
learning_rate:
action_model: 0.0001
base: 4.0e-05
qwen_vl_interface: 1.0e-05
logging_frequency: 100
lr_scheduler_type: cosine_with_min_lr
max_train_steps: 200000
num_warmup_steps: 5000
optimizer:
betas:
- 0.9
- 0.95
eps: 1.0e-08
weight_decay: 1.0e-08
pretrained_checkpoint: null
repeated_diffusion_steps: 2
save_interval: 5000
scheduler_specific_kwargs:
min_lr: 5.0e-07
wandb_entity: KaiLiu-Personal
wandb_project: lda-xpolicylab
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