| datasets: |
| 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 |
|
|
