Upload config.full.yaml with huggingface_hub

config.full.yaml

@@ -0,0 +1,157 @@
+run_id: 0623_hdf5_aloha_clean_eef_action_clean_random_latent_qwenpiv4_la_unit
+run_root_dir: ./results/Checkpoints2
+seed: 42
+wandb_project: starVLA_Robotwin
+is_debug: false
+version_id: '0.21'
+framework:
+  name: QwenPI_v4_LA
+  qwenvl:
+    base_vlm: playground/Pretrained_models/RynnBrain-2B
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    num_vl_layers: 28
+  action_model:
+    action_dim: 16
+    state_dim: 16
+    action_horizon: 32
+    add_pos_embed: true
+    max_seq_len: 1024
+    num_target_vision_tokens: 0
+    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: 20
+    diffusion_model_cfg:
+      input_embedding_dim: 1024
+      attention_head_dim: 32
+      num_attention_heads: 32
+      norm_type: norm
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      positional_embeddings: null
+      cross_attention_dim: 2048
+      num_layers: 28
+      output_dim: 16
+    future_action_window_size: 31
+    past_action_window_size: 0
+  latent_action:
+    enabled: true
+    backend: unit
+    loss_type: ce
+    train_latent: true
+    train_action: true
+    latent_loss_weight: 0.1
+    action_loss_weight: 1.0
+    detach_vl_embs_for_action_head: false
+    action_train_robot_types:
+    - aloha-agilex
+    num_bridge_tokens: 8
+    num_codebooks: 2
+    codebook_size: 128
+    label_smoothing: 0.0
+    ce_loss_weights:
+    - 1.0
+    - 0.5
+    strict_num_bridge_tokens: true
+    groot_tokenizer_path: /inspire/qb-ilm/project/qproject-fundationmodel/public/zzt/starVLA/third_party/UniT/outputs/robotwin_hdf5_endpose_tokenizer
+    dinov2_path_override: /inspire/qb-ilm/project/qproject-fundationmodel/public/zzt/models/dinov2-large
+    image_size:
+    - 224
+    - 224
+    qwenpi_v4_la:
+      token_format: <latent_action_{i}>
+      head_dropout: 0.0
+    univla:
+      ckpt_path: null
+      model_dim: 768
+      latent_dim: 128
+      patch_size: 14
+      enc_blocks: 12
+      dec_blocks: 12
+      num_heads: 12
+      dropout: 0.0
+      image_size:
+      - 224
+      - 224
+      strict_load: true
+    softvq:
+      config_path: starVLA/model/modules/latent_action/softvq_joint/0614_joint_aloha_xrecon_scratch.yaml
+      ckpt_path: /inspire/qb-ilm/project/qproject-fundationmodel/public/jjc/exp/softla/0614_joint_aloha_xrecon_scratch/checkpoints/partial_step_100000.pt
+      image_size:
+      - 224
+      - 224
+      strict_load: true
+      kl_eps: 1.0e-08
+    villax:
+      ckpt_path: null
+      image_size:
+      - 224
+      - 224
+      num_learned_tokens: 4
+datasets:
+  vla_data:
+    dataset_py: hdf5_la_dataset
+    latent_action:
+      enabled: true
+      stride: 16
+      horizon: 32
+      video_key: cam_high
+      include_terminal_frame: true
+      image_size:
+      - 224
+      - 224
+    include_state: true
+    data_root_dir: /inspire/qb-ilm/project/qproject-fundationmodel/public/zzt/data/RoboTwin2.0/dataset
+    data_mix: hdf5_aloha_clean_eef
+    latent_data_mix: hdf5_aloha_clean_random_eef
+    hdf5_action_type: eef
+    action_type: abs_eef
+    action_mode: abs
+    per_device_batch_size: 8
+    latent_per_device_batch_size: 8
+    balance_dataset_weights: true
+    balance_trajectory_weights: true
+    load_all_data_for_training: true
+    obs_image_size:
+    - 256
+    - 256
+trainer:
+  use_dual_vla_dataloaders: true
+  dataloader_active_ranges:
+    latent:
+    - - 0
+      - null
+    action:
+    - - 0
+      - null
+  max_train_steps: 100000
+  num_warmup_steps: 5000
+  save_interval: 10000
+  eval_interval: 1000
+  eval_num_samples: 512
+  eval_batch_size: 8
+  logging_frequency: 50
+  learning_rate:
+    base: 5.0e-05
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-06
+  freeze_modules: null
+  loss_scale:
+    vla: 1.0
+  max_grad_norm: 1.0
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 1
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+config_yaml: ./examples/Robotwin/new_train/starvla_qwenpiv4_hdf5_aloha_clean_random_la_unit.yaml
+output_dir: ./results/Checkpoints2/0623_hdf5_aloha_clean_eef_action_clean_random_latent_qwenpiv4_la_unit