File size: 3,599 Bytes
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vla_data:
data_mix: uf850_stack_cups_20hz
data_root_dir: dataset
enable_primary_random_resized_crop: false
enable_primary_video_aug: false
enable_video_frame_cache: false
image_resolution: 256
num_frames: 6
per_device_batch_size: 32
sec_chunk: 2.5
state_on_frame_grid: false
target_action_hz: null
train_split_all: true
val_tail_ratio: 0.01
video_backend: pyav
framework:
action_model:
action_horizon: 50
detach_future_feature: true
enable_flow_h_t1_scheduled_sampling: false
enable_loss_distill: true
flow_action_num_queries: 8
flow_cfg:
action_dim: 32
attend_text_every_n_blocks: 2
attention_heads: 16
cfg_drop_prob: 0.0
cfg_guidance_scale: 1.0
early_readout_loss_weight: 0.5
hidden_dim: 1024
horizon_sec: 2.5
interleave_self_attention: true
log_flow_loss_per_group: 5
noise_beta_alpha: 1.5
noise_beta_beta: 1.0
noise_s: 0.999
num_inference_steps: 10
num_layers: 16
num_target_vision_tokens: -1
num_timestep_buckets: 1000
state_dim: 32
token_independent_noise: false
use_action_positional_embeddings: true
use_alternate_vldit: true
use_state: false
vlm_dim: 2048
flow_h_t1_pred_prob_end: 1.0
flow_h_t1_pred_prob_start: 0.0
flow_h_t1_pred_ramp_steps: 10000
flow_only_mode: false
future_action_window_size: 49
future_prediction: true
lam_ckpt_path: latent_action_model/logs/dino_large_vae/lam_release/checkpoints/pytorch_model.pt
lam_encoder_distill_weight: 0.1
lam_yaml_path: latent_action_model/logs/dino_large_vae/lam_release/dino_large_vae.yaml
latent_action_placeholder_token: <ACT_PH>
num_action_queries: 8
past_action_window_size: 0
perceptual_weight: 0.1
repeated_diffusion_steps: 2
rollout_align_prob: 1.0
rollout_nonexec_loss_weight: 0.25
rollout_one_window_aux: true
rollout_steer_grad: true
rollout_strict_executed_loss: true
shared_tau_closedloop: true
spec_condition_align_prob: 0.0
name: LaWAM
qwenvl:
base_vlm: results/Checkpoints/qwen3_weights
log_dir: results/Checkpoints/libero/20260804_041243+uf850_gran10_bs32x2_fixall/logs
output_dir: results/Checkpoints/libero/20260804_041243+uf850_gran10_bs32x2_fixall
run_id: uf850_gran10_bs32x2_fixall
run_root_dir: results/Checkpoints/libero
seed: 2026
trackers:
- wandb
trainer:
ema_decay: 0.0
ema_warmup_steps: 0
eval_batches: 20
eval_interval: 500
freeze:
freeze_embedding: true
freeze_last_llm_layer: true
freeze_llm_backbone: false
freeze_vision_backbone: false
keep_llm_first_n_layers: 16
unfreeze_lam_decoder: true
unfreeze_llm_last_n_layers: -1
unfreeze_vision_merger: true
gradient_clipping: 1.0
learning_rate:
action_model:
lr: 0.0001
modules:
- policy_backend.flow
base: 0.0001
vlm:
lr: 0.0001
modules:
- policy_backend.vlm
world_model:
lr: 0.0001
modules:
- policy_backend.lam.decoder
load_pretrained_policy_flow: true
logging_frequency: 100
lr_scheduler_type: cosine_with_min_lr
max_train_steps: 25000
num_warmup_steps: 1500
optimizer:
betas:
- 0.9
- 0.95
eps: 1.0e-08
weight_decay: 1.0e-08
pretrained_checkpoint: results/Checkpoints/pretrain/lawam_pretrain/final_model/pytorch_model.pt
save_interval: 5000
scheduler_specific_kwargs:
min_lr: 5.0e-07
use_pretrained_dataset_statistics: false
wandb_entity: null
wandb_project: finetune-LIBERO
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