| seed: 42 | |
| wandb_entity: null | |
| wandb_project: Mem-0 | |
| is_debug: false | |
| execution_module: | |
| qwen_vl: | |
| model_path: ./checkpoints/Qwen3-VL-2B-Instruct | |
| system_prompt: null | |
| memory_bank: | |
| window_size: 30 | |
| initial_anchor_size: 1 | |
| num_heads: 8 | |
| dropout: 0.1 | |
| memory_accumulation: 8 | |
| action_model: | |
| action_model_type: DiT-B | |
| hidden_size: 2048 | |
| add_pos_embed: true | |
| max_seq_len: 1024 | |
| action_dim: 16 | |
| state_dim: 16 | |
| action_horizon: 30 | |
| repeated_diffusion_steps: 8 | |
| noise_beta_alpha: 1.5 | |
| noise_beta_beta: 1.0 | |
| noise_s: 0.999 | |
| num_timestep_buckets: 1000 | |
| num_inference_timesteps: 8 | |
| diffusion_model_cfg: | |
| cross_attention_dim: 2048 | |
| dropout: 0.2 | |
| final_dropout: true | |
| interleave_self_attention: true | |
| norm_type: ada_norm | |
| num_layers: 16 | |
| output_dim: 2048 | |
| positional_embeddings: null | |
| classifier: | |
| hidden_sizes: | |
| - 6144 | |
| - 2048 | |
| - 512 | |
| dropout: 0.1 | |
| pos_weight: 10.0 | |
| focal_gamma: 1.0 | |
| threshold: 0.5 | |
| loss_weights: | |
| lambda_action: 1.0 | |
| lambda_classifier: 0.2 | |
| dataloader: | |
| type: rmbench_random_episode | |
| num_workers: 2 | |
| shuffle_episodes: true | |
| seed: 42 | |
| infinite: true | |
| norm_stats_path: ./assets/m1_mix/norm_stats.json | |
| trainer: | |
| wandb_run_name: mem0_exec_m1_mix | |
| resume: null | |
| batch_size: 56 | |
| train_steps: 50000 | |
| eval_action_interval: 100 | |
| log_interval: 10 | |
| classifier_metrics_window_size: 20 | |
| enable_wandb: true | |
| checkpoint_dir: /mnt/data/limingleyang/rmbench_assets/checkpoints/m1_mix | |
| save_every_steps: 1000 | |
| save_final: true | |
| scheduler: cosine | |
| warmup_ratio: 0.05 | |
| grad_clip_norm: 2.5 | |
| weight_decay: 0.005 | |
| learning_rate: | |
| base: 1.0e-05 | |
| qwen_model: 1.0e-05 | |
| action_model: 0.0001 | |
| classifier: 0.0001 | |
| min_lr: | |
| base: 1.0e-06 | |
| qwen_model: 1.0e-06 | |
| action_model: 5.0e-06 | |
| classifier: 5.0e-06 | |
| freeze_modules: '' | |
| download_videos: false | |
| vla_dataset: | |
| RMBench: | |
| repo_id: /mnt/data/limingleyang/rmbench_assets/lerobot_datasets/m1_mix | |
| features_to_load: | |
| - observation.state | |
| - action | |
| - subtask | |
| - subtask_end | |
| - episode_id | |
| - observation.image.head_camera | |