| datasets: |
| vla_data: |
| CoT_prompt: Your task is {instruction}. To identify the key objects for your task. |
| Locate their bounding boxes in [x1,y1,x2,y2] format. |
| data_mix: galbot_sweep_rubbish_all_data |
| data_root_dir: /mnt/project |
| dataset_py: lerobot_datasets |
| delete_pause_frame: false |
| image_size: |
| - 224 |
| - 224 |
| per_device_batch_size: 48 |
| training_task_weights: |
| - 1 |
| - 1 |
| - 1 |
| - 1 |
| use_delta_action: false |
| framework: |
| action_model: |
| action_dim: 138 |
| action_horizon: 16 |
| action_model_type: DiT-L |
| add_pos_embed: true |
| diffusion_model_cfg: |
| cross_attention_dim: 2560 |
| dropout: 0.2 |
| final_dropout: true |
| interleave_self_attention: true |
| norm_type: ada_norm |
| num_layers: 16 |
| output_dim: 2560 |
| positional_embeddings: null |
| future_action_window_size: 15 |
| future_obs_index: 16 |
| hidden_size: 2560 |
| max_num_embodiments: 32 |
| max_seq_len: 1024 |
| noise_beta_alpha: 1.5 |
| noise_beta_beta: 1.0 |
| noise_s: 0.999 |
| num_inference_timesteps: 4 |
| num_target_vision_tokens: 32 |
| num_timestep_buckets: 1000 |
| num_views: 1 |
| obs_horizon: 2 |
| obs_loss_weight: 1.0 |
| only_policy: true |
| only_wo_video_gen: false |
| past_action_window_size: 0 |
| policy_and_video_gen: false |
| state_dim: 16 |
| vision_encoder_path: /mnt/home/liukai/World-Action-Model/pretrained |
| vision_encoder_size: s |
| vision_encoder_type: dinov3 |
| name: QwenMMDiT |
| qwenvl: |
| base_vlm: /mnt/home/liukai/starVLA/playground/pretrained/vlm/Qwen3-VL-4B-Instruct |
| output_dir: /mnt/project/world_model/checkpoints/lda/post-train/galbot/gripper/galbot_sweep_rubbish_all_data |
| run_id: galbot_sweep_rubbish_all_data |
| run_root_dir: /mnt/project/world_model/checkpoints/lda/post-train/galbot/gripper |
| seed: 42 |
| trainer: |
| eval_interval: 1000 |
| freeze_modules: qwen_vl_interface,action_model.vision_encoder |
| gradient_accumulation_steps: 1 |
| gradient_clipping: 1.0 |
| is_resume: false |
| learning_rate: |
| action_model: 0.0001 |
| base: 4.0e-05 |
| qwen_vl_interface: 1.0e-05 |
| logging_frequency: 50 |
| 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 |
| post_train: true |
| pretrained_checkpoint: /mnt/project/world_model/checkpoints/lda/pretrain_48_node_batch_sampler_w_simvla_data/final_model/pytorch_model.pt |
| repeated_diffusion_steps: 1 |
| save_interval: 5000 |
| scheduler_specific_kwargs: |
| min_lr: 5.0e-07 |
| wandb_entity: KaiLiu-Personal |
| wandb_project: lda-unitree-post-train |
|
|
