Add configs/vla_pot14.yaml
Browse files- configs/vla_pot14.yaml +50 -0
configs/vla_pot14.yaml
ADDED
|
@@ -0,0 +1,50 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# pot14 自采数据微调配置（单活动臂 7 维 + 三路相机）
|
| 2 |
+
# 基于 robotwin 骨架，数据来自 scripts/convert_pot14_to_lerobot.py
|
| 3 |
+
|
| 4 |
+
model:
|
| 5 |
+
model_path: ../models/pretrained/lingbot-vla-4b
|
| 6 |
+
tokenizer_path: ../models/pretrained/Qwen2.5-VL-3B-Instruct
|
| 7 |
+
|
| 8 |
+
data:
|
| 9 |
+
datasets_type: vla
|
| 10 |
+
data_name: pot14
|
| 11 |
+
train_path: ../data/processed/pot14_right_arm
|
| 12 |
+
joints:
|
| 13 |
+
- arm.position: 6
|
| 14 |
+
- effector.position: 1
|
| 15 |
+
cameras:
|
| 16 |
+
- camera_top
|
| 17 |
+
- camera_wrist_left
|
| 18 |
+
- camera_wrist_right
|
| 19 |
+
num_workers: 4
|
| 20 |
+
pin_memory: true
|
| 21 |
+
prefetch_factor: 2
|
| 22 |
+
video_backend: torchcodec
|
| 23 |
+
norm_type: meanstd
|
| 24 |
+
norm_stats_file: assets/norm_stats/pot14_right_arm.json
|
| 25 |
+
|
| 26 |
+
train:
|
| 27 |
+
output_dir: "output/pot14/"
|
| 28 |
+
data_parallel_mode: fsdp2
|
| 29 |
+
enable_full_shard: false
|
| 30 |
+
module_fsdp_enable: true
|
| 31 |
+
use_compile: true
|
| 32 |
+
rmpad: false
|
| 33 |
+
rmpad_with_pos_ids: false
|
| 34 |
+
ulysses_parallel_size: 1
|
| 35 |
+
freeze_vision_encoder: false
|
| 36 |
+
tokenizer_max_length: 72
|
| 37 |
+
max_action_dim: 75
|
| 38 |
+
max_state_dim: 75
|
| 39 |
+
lr: 5.0e-5
|
| 40 |
+
lr_decay_style: constant
|
| 41 |
+
micro_batch_size: 2
|
| 42 |
+
gradient_accumulation_steps: 16
|
| 43 |
+
max_steps: 1024
|
| 44 |
+
ckpt_manager: dcp
|
| 45 |
+
save_steps: 0
|
| 46 |
+
save_epochs: 0
|
| 47 |
+
max_checkpoints_to_keep: 1
|
| 48 |
+
save_optimizer: false
|
| 49 |
+
enable_fp32: true
|
| 50 |
+
enable_resume: false
|