| # pot14 自采数据微调配置（单活动臂 7 维 + 三路相机） | |
| # 基于 robotwin 骨架，数据来自 scripts/convert_pot14_to_lerobot.py | |
| model: | |
| model_path: ../models/pretrained/lingbot-vla-4b | |
| tokenizer_path: ../models/pretrained/Qwen2.5-VL-3B-Instruct | |
| data: | |
| datasets_type: vla | |
| data_name: pot14 | |
| train_path: ../data/processed/pot14_right_arm | |
| joints: | |
| - arm.position: 6 | |
| - effector.position: 1 | |
| cameras: | |
| - camera_top | |
| - camera_wrist_left | |
| - camera_wrist_right | |
| num_workers: 4 | |
| pin_memory: true | |
| prefetch_factor: 2 | |
| video_backend: torchcodec | |
| norm_type: meanstd | |
| norm_stats_file: assets/norm_stats/pot14_right_arm.json | |
| train: | |
| output_dir: "output/pot14/" | |
| data_parallel_mode: fsdp2 | |
| enable_full_shard: false | |
| module_fsdp_enable: true | |
| use_compile: true | |
| rmpad: false | |
| rmpad_with_pos_ids: false | |
| ulysses_parallel_size: 1 | |
| freeze_vision_encoder: false | |
| tokenizer_max_length: 72 | |
| max_action_dim: 75 | |
| max_state_dim: 75 | |
| lr: 5.0e-5 | |
| lr_decay_style: constant | |
| micro_batch_size: 2 | |
| gradient_accumulation_steps: 16 | |
| max_steps: 1024 | |
| ckpt_manager: dcp | |
| save_steps: 0 | |
| save_epochs: 0 | |
| max_checkpoints_to_keep: 1 | |
| save_optimizer: false | |
| enable_fp32: true | |
| enable_resume: false | |