| { |
| "run_id": "InternVLPI-0127-eep-test", |
| "run_root_dir": "/lumos-vePFS/shenzhen/models/lumos_pi", |
| "seed": 42, |
| "trackers": [ |
| "jsonl" |
| ], |
| "wandb_entity": null, |
| "wandb_project": null, |
| "is_debug": false, |
| "framework": { |
| "name": "internvlPI", |
| "qwenvl": { |
| "base_vlm": "/lumos-vePFS/shenzhen/models/InternVL3_5-1B-Instruct", |
| "attn_implementation": "eager", |
| "vl_hidden_dim": 2048 |
| }, |
| "action_model": { |
| "add_pos_embed": true, |
| "hidden_size": 1024, |
| "max_seq_len": 1024, |
| "action_model_type": "DiT-B", |
| "action_dim": 20, |
| "state_dim": 20, |
| "future_action_window_size": 15, |
| "past_action_window_size": 0, |
| "action_horizon": 30, |
| "repeated_diffusion_steps": 2, |
| "noise_beta_alpha": 1.5, |
| "noise_beta_beta": 1.0, |
| "noise_s": 0.999, |
| "num_timestep_buckets": 1000, |
| "num_inference_timesteps": 8, |
| "num_target_vision_tokens": 32, |
| "use_scaled_noise": true, |
| "diffusion_model_cfg": { |
| "dropout": 0.2, |
| "final_dropout": true, |
| "interleave_self_attention": true, |
| "norm_type": "ada_norm", |
| "num_layers": 28, |
| "output_dim": 2560, |
| "positional_embeddings": null |
| }, |
| "smoothness_loss_weight": 1 |
| } |
| }, |
| "datasets": { |
| "vla_data": { |
| "dataset_py": "lerobot_datasets", |
| "data_root_dir": "/lumos-vePFS/shenzhen/data/data_warehouse/data_warehouse_output", |
| "data_mix": "train_QwenPI", |
| "per_device_batch_size": 4, |
| "num_workers": 2, |
| "action_type": "abs_ee", |
| "image_size": [ |
| 480, |
| 360 |
| ], |
| "video_backend": "pyav" |
| } |
| }, |
| "trainer": { |
| "epochs": 100, |
| "max_train_steps": 35000, |
| "num_warmup_steps": 5000, |
| "save_interval": 1000, |
| "eval_interval": 100000, |
| "learning_rate": { |
| "base": 1e-05, |
| "intern_vl_interface": 1e-05, |
| "action_model": 0.0001 |
| }, |
| "lr_scheduler_type": "cosine_with_min_lr", |
| "scheduler_specific_kwargs": { |
| "min_lr": 1e-06 |
| }, |
| "freeze_modules": null, |
| "loss_scale": { |
| "vla": 1.0, |
| "vlm": 0.05 |
| }, |
| "max_grad_norm": 1.0, |
| "warmup_ratio": 0.1, |
| "weight_decay": 0.0, |
| "logging_frequency": 10, |
| "gradient_clipping": 1.0, |
| "gradient_accumulation_steps": 2, |
| "optimizer": { |
| "name": "AdamW", |
| "betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "eps": 1e-08, |
| "weight_decay": 0 |
| } |
| }, |
| "is_resume": true, |
| "resume_epoch": null, |
| "resume_step": 5000, |
| "enable_gradient_checkpointing": true, |
| "enable_mixed_precision_training": true, |
| "report_to": "jsonl", |
| "output_dir": "/lumos-vePFS/shenzhen/models/lumos_pi/InternVLPI-0127-eep-test" |
| } |
