| datasets: | |
| vla_data: | |
| action_mode: abs | |
| data_mix: robotwin | |
| data_root_dir: /mnt/data/milu/robotwin | |
| dataset_py: lerobot_datasets | |
| image_size: | |
| - 224 | |
| - 224 | |
| interval: 10 | |
| max_step: 5 | |
| memory: true | |
| per_device_batch_size: 4 | |
| sequential_step_sampling: false | |
| video_backend: torchvision_av | |
| framework: | |
| action_model: | |
| action_dim: 14 | |
| action_hidden_dim: 4096 | |
| action_model_type: L1RegressionActionHead | |
| future_action_window_size: 7 | |
| past_action_window_size: 0 | |
| name: RynnBrainOFT | |
| qwenvl: | |
| base_vlm: playground/Pretrained_models/RynnBrain-CoP-8B | |
| max_memory_step: 5 | |
| memory: true | |
| output_dir: ./results/Checkpoints/0605_robotwin_RynnBrainOFT | |
| run_id: 0605_robotwin_RynnBrainOFT | |
| run_root_dir: ./results/Checkpoints | |
| seed: 42 | |
| trainer: | |
| eval_interval: 1000 | |
| freeze_modules: true | |
| gradient_accumulation_steps: 1 | |
| gradient_clipping: 1.0 | |
| is_resume: false | |
| learning_rate: | |
| action_model: 0.0001 | |
| base: 1.0e-05 | |
| qwen_vl_interface: 1.0e-05 | |
| logging_frequency: 100 | |
| lr_scheduler_type: cosine_with_min_lr | |
| max_train_steps: 100000 | |
| num_warmup_steps: 5000 | |
| optimizer: | |
| betas: | |
| - 0.9 | |
| - 0.95 | |
| eps: 1.0e-08 | |
| weight_decay: 1.0e-08 | |
| save_interval: 5000 | |
| scheduler_specific_kwargs: | |
| min_lr: 5.0e-07 | |
| wandb_entity: seramasumi-south-china-university-of-technology | |
| wandb_project: starVLA_Robotwin | |