Upload stacking_cups_20260911_qwenpi_uniform_left_s2_h30_c18_training_rtc_prefix4to8_2gpu_gb32_ft5k config.full.yaml

models/stacking-cups-20260911-qwenpi-v3-uniform-left-s2-h30-c18-2gpu-gb32-50k-training-rtc-prefix4to8-ft5k-20260912/config.full.yaml

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+run_id: stacking_cups_20260911_qwenpi_uniform_left_s2_h30_c18_training_rtc_prefix4to8_2gpu_gb32_ft5k
+run_root_dir: /scratch/wangpc/DiscreteRTCv2/results/Checkpoints
+seed: 42
+wandb_entity: 401910710-university-of-california-berkeley
+wandb_project: starVLA_piper
+is_debug: false
+version_id: '0.21'
+framework:
+  name: QwenPI_v3_UniformBSpline_TrainingRTC
+  qwenvl:
+    base_vlm: ./playground/Pretrained_models/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2560
+    num_vl_layers: 36
+  action_model:
+    action_model_type: TrainingRTC_LayerwiseFM
+    action_dim: 7
+    state_dim: 7
+    action_horizon: 18
+    repeated_diffusion_steps: 2
+    num_inference_timesteps: 4
+    add_pos_embed: true
+    max_seq_len: 1024
+    num_target_vision_tokens: 32
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    diffusion_model_cfg:
+      action_dit_hidden_dim: 1024
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      positional_embeddings: null
+      attention_head_dim: 64
+      num_layers: 36
+      input_embedding_dim: 1024
+      cross_attention_dim: 1024
+      num_attention_heads: 16
+    rtc_min_delay_steps: 4
+    rtc_max_delay_steps: 8
+    rtc_delay_sampling: uniform
+    future_action_window_size: 17
+    past_action_window_size: 0
+  action_representation:
+    type: continuous_uniform_bspline
+    mode: uniform_left
+    action_dim: 7
+    frequency_hz: 30.0
+    executable_horizon: 30
+    num_control_points: 18
+    degree: 3
+    span_length_steps: 2
+    regularization: 0.0001
+    end_padding: true
+    implementation_version: uniform_left_direct_fit_v1
+    rtc_conditioning_space: spline_parameter_rows
+    rtc_delay_unit: parameter_rows
+    rtc_min_ready_rows: 4
+    rtc_max_ready_rows: 8
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    data_root_dir: ./data
+    data_mix: stacking_cups_20260911_30hz_uniform_left_bspline
+    controls_dataset_path: ./data/stacking_cups/20260911_UniformBSpline
+    include_state: true
+    action_type: abs_qpos
+    action_mode: abs
+    sequential_step_sampling: false
+    per_device_batch_size: 16
+    load_all_data_for_training: true
+    obs_image_size:
+    - 224
+    - 224
+    delete_pause_frame: false
+    video_backend: torchvision_av
+    num_workers: 2
+    persistent_workers: true
+    prefetch_factor: 2
+    pin_memory: true
+trainer:
+  pretrained_checkpoint: ./results/Checkpoints/stacking_cups_20260911_qwenpi_uniform_left_s2_h30_c18_2gpu_gb32_50k/checkpoints/steps_50000_pytorch_model.pt
+  strict_pretrained_checkpoint: true
+  freeze_modules: qwen_vl_interface
+  max_train_steps: 5000
+  num_warmup_steps: 125
+  save_interval: 5000
+  eval_interval: 1000
+  repeated_diffusion_steps: 2
+  learning_rate:
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-06
+    action_model: 5.0e-05
+    project_layers: 2.0e-05
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+  loss_scale:
+    vla: 1.0
+    vlm: 0.0
+  max_grad_norm: 1.0
+  weight_decay: 0.0
+  logging_frequency: 20
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 1
+  gradient_checkpointing: true
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  save_format: pt
+  is_resume: false
+config_yaml: /scratch/wangpc/DiscreteRTCv2/examples/realRobots/Piper/train_files/starvla_qwenpi_stacking_cups_20260911_30hz_uniform_left_s2_h30_c18_training_rtc_prefix4to8_2gpu_gb32_ft5k.yaml
+output_dir: /scratch/wangpc/DiscreteRTCv2/results/Checkpoints/stacking_cups_20260911_qwenpi_uniform_left_s2_h30_c18_training_rtc_prefix4to8_2gpu_gb32_ft5k