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vla_data:
action_mode: abs
data_mix: dynamic-329-v4
data_root_dir: playground/Datasets/FastUMI
dataset_py: lerobot_datasets
image_size:
- 224
- 224
per_device_batch_size: 8
video_backend: torchvision_av
framework:
action_model:
action_dim: 10
add_pos_embed: true
decode_schedule: cosine
diffusion_model_cfg:
attention_head_dim: 64
cross_attention_dim: 2048
dropout: 0.2
final_dropout: true
input_embedding_dim: 2048
interleave_self_attention: true
norm_type: ada_norm
num_attention_heads: 32
num_layers: 36
output_dim: 256
positional_embeddings: sinusoidal
future_action_window_size: 15
l1_loss_weight: 0.1
max_seq_len: 1024
no_mask_token_prob: 0.0
num_bins: 256
num_inference_steps: 8
num_target_vision_tokens: 32
past_action_window_size: 0
representation: bin
state_dim: 10
train_mask_schedule: cosine
use_simple_max: false
name: QwenDiscreteDiffusion
qwenvl:
attn_implementation: flash_attention_2
base_vlm: playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action
num_vl_layers: 36
vl_hidden_dim: 2048
output_dir: ./results/Checkpoints/fastumi_pickandplace_qwenDiscreteDiffusion_329v4
run_id: fastumi_pickandplace_qwenDiscreteDiffusion_329v4
run_root_dir: ./results/Checkpoints
seed: 42
trainer:
eval_interval: 100
freeze_modules: null
gradient_accumulation_steps: 1
gradient_clipping: 1.0
is_resume: true
learning_rate:
action_model: 0.0001
base: 1.0e-05
qwen_vl_interface: 1.0e-05
logging_frequency: 50
lr_scheduler_type: cosine_with_min_lr
max_train_steps: 20000
num_warmup_steps: 5000
optimizer:
betas:
- 0.9
- 0.95
eps: 1.0e-08
weight_decay: 1.0e-08
repeated_diffusion_steps: 4
save_format: pt
save_interval: 10000
scheduler_specific_kwargs:
min_lr: 5.0e-07
wandb_entity: 2200011093-peking-university
wandb_project: starVLA_FastUMI_dynamic_1
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