File size: 3,394 Bytes
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cameras:
- camera_top
- camera_wrist_left
- camera_wrist_right
chat_template: default
data_name: pot14
data_type: conversation
dataloader_type: native
datasets_type: vla
drop_last: true
img_size: 224
joints:
- '{''arm.position'': 6}'
- '{''effector.position'': 1}'
max_seq_len: 2048
norm_stats_file: assets/norm_stats/pot14_right_arm.json
norm_type: meanstd
num_workers: 4
pin_memory: true
prefetch_factor: 2
robot_config_root: configs/robot_configs
text_keys: messages
train_path: /root/autodl-tmp/data/processed/pot14_right_arm
train_size: 10000000
video_backend: torchcodec
model:
adanorm_time: true
attn_implementation: flash_attention_2
basic_modules: []
config_path: /root/autodl-tmp/models/pretrained/lingbot-vla-4b
decoders: {}
encoders: {}
final_norm_adanorm: false
force_use_huggingface: false
model_path: /root/autodl-tmp/models/pretrained/lingbot-vla-4b
moge_path: null
morgbd_path: null
nosplit_gate_liner: false
post_training: true
separate_time_proj: false
split_gate_liner: false
tokenizer_path: /root/autodl-tmp/models/pretrained/Qwen2.5-VL-3B-Instruct
use_lm_head: false
vlm_repo_id: null
vocab_size: 0
train:
action_dim: null
activation_gpu_limit: 0.0
adapt_to_pi_aloha: false
align_params: {}
bsz_warmup_init_mbtoken: 200
bsz_warmup_ratio: 0
chunk_size: 50
ckpt_manager: dcp
context_parallel_size: 1
data_parallel_mode: fsdp2
data_parallel_replicate_size: 1
data_parallel_shard_size: 1
decayed_max_grad_norm: 1.0
dyn_bsz: true
dyn_bsz_buffer_size: 200
dyn_bsz_margin: 0
empty_cache_steps: 500
enable_activation_offload: false
enable_expert_vision: false
enable_forward_prefetch: true
enable_fp32: true
enable_fsdp_offload: false
enable_full_determinism: false
enable_full_shard: false
enable_gradient_checkpointing: true
enable_mixed_precision: true
enable_profiling: false
enable_reentrant: false
enable_resume: false
expert_parallel_size: 1
expert_vision_path: null
expert_vision_type: null
freeze_vision_encoder: false
freeze_vit: false
global_batch_size: 32
gradient_accumulation_steps: 16
init_device: cuda
load_checkpoint_path: null
loss_type: fm
lr: 5.0e-05
lr_decay_ratio: 1.0
lr_decay_style: constant
lr_min: 1.0e-07
lr_start: 0.0
lr_warmup_ratio: 0
max_action_dim: 75
max_checkpoints_to_keep: 1
max_grad_norm: 1.0
max_state_dim: 75
max_steps: 1024
micro_batch_size: 2
module_fsdp_enable: true
norm_qkv: false
num_steps: 10
num_train_epochs: 999999999
optimizer: adamw
output_dir: output/pot14/
pipeline_parallel_size: 1
profile_end_step: 2
profile_profile_memory: true
profile_record_shapes: true
profile_start_step: 1
profile_trace_dir: ./trace
profile_with_stack: true
resize_imgs_with_padding:
- 224
- 224
resume_dataloader_state: true
rmpad: false
rmpad_with_pos_ids: false
save_epochs: 0
save_hf_weights: true
save_optimizer: false
save_steps: 0
seed: 42
stable_train_steps: 100000
tensor_parallel_size: 1
tokenizer_max_length: 72
train_expert_only: false
train_state_proj: true
ulysses_parallel_size: 1
use_cache: true
use_compile: true
use_delta_joint_actions_aloha: false
use_wandb: false
vit_lr: 1.0e-06
vlm_causal: false
wandb_name: null
wandb_project: LingBotVLA
weight_decay: 0
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