| datasets: |
| vla_data: |
| action_mode: abs |
| data_mix: dynamic-329-v4 |
| data_root_dir: playground/Datasets/FastUMI |
| dataset_py: lerobot_datasets |
| image_size: |
| - 224 |
| - 224 |
| per_device_batch_size: 8 |
| video_backend: torchvision_av |
| framework: |
| action_model: |
| action_dim: 10 |
| add_pos_embed: true |
| decode_schedule: cosine |
| diffusion_model_cfg: |
| attention_head_dim: 64 |
| cross_attention_dim: 2048 |
| dropout: 0.2 |
| final_dropout: true |
| input_embedding_dim: 2048 |
| interleave_self_attention: true |
| norm_type: ada_norm |
| num_attention_heads: 32 |
| num_layers: 36 |
| output_dim: 256 |
| positional_embeddings: sinusoidal |
| future_action_window_size: 15 |
| l1_loss_weight: 0.1 |
| max_seq_len: 1024 |
| no_mask_token_prob: 0.0 |
| num_bins: 256 |
| num_inference_steps: 8 |
| num_target_vision_tokens: 32 |
| past_action_window_size: 0 |
| representation: bin |
| state_dim: 10 |
| train_mask_schedule: cosine |
| use_simple_max: false |
| name: QwenDiscreteDiffusion |
| qwenvl: |
| attn_implementation: flash_attention_2 |
| base_vlm: playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action |
| num_vl_layers: 36 |
| vl_hidden_dim: 2048 |
| output_dir: ./results/Checkpoints/fastumi_pickandplace_qwenDiscreteDiffusion_329v4 |
| run_id: fastumi_pickandplace_qwenDiscreteDiffusion_329v4 |
| run_root_dir: ./results/Checkpoints |
| seed: 42 |
| trainer: |
| eval_interval: 100 |
| freeze_modules: null |
| gradient_accumulation_steps: 1 |
| gradient_clipping: 1.0 |
| is_resume: true |
| learning_rate: |
| action_model: 0.0001 |
| base: 1.0e-05 |
| qwen_vl_interface: 1.0e-05 |
| logging_frequency: 50 |
| lr_scheduler_type: cosine_with_min_lr |
| max_train_steps: 20000 |
| num_warmup_steps: 5000 |
| optimizer: |
| betas: |
| - 0.9 |
| - 0.95 |
| eps: 1.0e-08 |
| weight_decay: 1.0e-08 |
| repeated_diffusion_steps: 4 |
| save_format: pt |
| save_interval: 10000 |
| scheduler_specific_kwargs: |
| min_lr: 5.0e-07 |
| wandb_entity: 2200011093-peking-university |
| wandb_project: starVLA_FastUMI_dynamic_1 |
|
|
