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  1. InternVLPI-0320-eep-pretrain_TS_no_alpha_gripper_fix_sft_199000/checkpoints/steps_199000_pytorch_model.pt +3 -0
  2. InternVLPI-0320-eep-pretrain_TS_no_alpha_gripper_fix_sft_199000/config.yaml +68 -0
  3. InternVLPI-0320-eep-pretrain_TS_no_alpha_gripper_fix_sft_199000/dataset_statistics.json +218 -0
InternVLPI-0320-eep-pretrain_TS_no_alpha_gripper_fix_sft_199000/checkpoints/steps_199000_pytorch_model.pt ADDED
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InternVLPI-0320-eep-pretrain_TS_no_alpha_gripper_fix_sft_199000/config.yaml ADDED
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+ datasets:
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+ vla_data:
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+ data_mix: sft_all
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+ data_root_dir: /lumos-vePFS/shenzhen/data/data_warehouse/data_warehouse_output_clean
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+ dataset_py: lerobot_datasets
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+ image_size: 256
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+ num_workers: 4
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+ per_device_batch_size: 12
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+ video_backend: pyav
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+ framework:
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+ action_model:
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+ action_dim: 20
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+ add_pos_embed: true
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+ diffusion_model_cfg:
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+ dropout: 0.2
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+ final_dropout: true
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+ interleave_self_attention: true
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+ norm_type: ada_norm
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+ num_layers: 28
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+ output_dim: 2560
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+ positional_embeddings: null
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+ future_action_window_size: 29
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+ hidden_dim: 1024
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+ max_seq_len: 1024
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+ noise_beta_alpha: 1.5
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+ noise_beta_beta: 1.0
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+ noise_s: 0.999
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+ num_inference_timesteps: 8
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+ num_target_vision_tokens: 32
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+ num_timestep_buckets: 1000
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+ past_action_window_size: 0
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+ smoothness_loss_weight: 1
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+ state_dim: 20
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+ use_kv_cache_dit: true
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+ use_scaled_noise: true
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+ name: internvlPI
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+ qwenvl:
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+ attn_implementation: eager
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+ base_vlm: /lumos-vePFS/shenzhen/models/InternVL3_5-1B-Instruct
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+ num_vl_layers: 28
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+ vl_hidden_dim: 1024
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+ output_dir: /lumos-vePFS/shenzhen/models/lumos_pi/InternVLPI-0320-eep-pretrain_TS_no_alpha_gripper_fix_sft
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+ run_id: InternVLPI-0320-eep-pretrain_TS_no_alpha_gripper_fix_sft
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+ run_root_dir: /lumos-vePFS/shenzhen/models/lumos_pi
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+ seed: 42
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+ trainer:
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+ eval_interval: 10000000
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+ freeze_modules: null
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+ gradient_accumulation_steps: 3
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+ gradient_clipping: 1.0
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+ learning_rate:
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+ action_model: 0.0001
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+ base: 1.0e-05
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+ intern_vl_interface: 1.0e-05
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+ logging_frequency: 10
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+ lr_scheduler_type: cosine_with_min_lr
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+ max_train_steps: 200000
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+ num_warmup_steps: 5000
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+ optimizer:
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+ betas:
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+ eps: 1.0e-08
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+ weight_decay: 0
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+ pretrained_checkpoint: /lumos-vePFS/shenzhen/models/lumos_pi/InternVLPI-0310-eep-pretrain_TStest_gripper_fix_no_alpha_stable/checkpoints/steps_102000_pytorch_model.pt
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+ save_interval: 1000
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+ scheduler_specific_kwargs:
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+ min_lr: 1.0e-06
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