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fastumi_pickandplace_qwenDiscreteDiffusion_329v4/checkpoints/steps_10000_pytorch_model.pt

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fastumi_pickandplace_qwenDiscreteDiffusion_329v4/checkpoints/steps_5000_pytorch_model.pt

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fastumi_pickandplace_qwenDiscreteDiffusion_329v4/config.yaml

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+datasets:
+  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
+    action_high: 1.0
+    action_low: -1.0
+    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: 10000
+  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: 5000
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07
+wandb_entity: 2200011093-peking-university
+wandb_project: starVLA_FastUMI_dynamic_1

fastumi_pickandplace_qwenDiscreteDiffusion_329v4/dataset_statistics.json

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+    "num_transitions": 65939,
+    "num_trajectories": 525
+  }
+}

fastumi_pickandplace_qwenDiscreteDiffusion_329v4/final_model/pytorch_model.pt

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fastumi_pickandplace_qwenDiscreteDiffusion_329v4/summary.jsonl

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+{"steps": 5000}
+{"steps": 10000}