| { |
| "run_id": "uf850_gran10_bs32x2_fixall", |
| "run_root_dir": "results/Checkpoints/libero", |
| "seed": 2026, |
| "trackers": [ |
| "wandb" |
| ], |
| "wandb_entity": null, |
| "wandb_project": "finetune-LIBERO", |
| "is_debug": false, |
| "framework": { |
| "name": "LaWAM", |
| "qwenvl": { |
| "base_vlm": "results/Checkpoints/qwen3_weights" |
| }, |
| "action_model": { |
| "future_action_window_size": 49, |
| "past_action_window_size": 0, |
| "action_horizon": 50, |
| "lam_ckpt_path": "latent_action_model/logs/dino_large_vae/lam_release/checkpoints/pytorch_model.pt", |
| "spec_condition_align_prob": 0.0, |
| "rollout_align_prob": 1.0, |
| "lam_yaml_path": "latent_action_model/logs/dino_large_vae/lam_release/dino_large_vae.yaml", |
| "num_action_queries": 8, |
| "flow_action_num_queries": 8, |
| "perceptual_weight": 0.1, |
| "latent_action_placeholder_token": "<ACT_PH>", |
| "flow_only_mode": false, |
| "enable_flow_h_t1_scheduled_sampling": false, |
| "flow_h_t1_pred_prob_start": 0.0, |
| "flow_h_t1_pred_prob_end": 1.0, |
| "flow_h_t1_pred_ramp_steps": 10000, |
| "detach_future_feature": true, |
| "future_prediction": true, |
| "enable_loss_distill": true, |
| "lam_encoder_distill_weight": 0.1, |
| "repeated_diffusion_steps": 2, |
| "flow_cfg": { |
| "action_dim": 32, |
| "state_dim": 32, |
| "use_state": false, |
| "vlm_dim": 2048, |
| "hidden_dim": 1024, |
| "attention_heads": 16, |
| "num_layers": 16, |
| "num_target_vision_tokens": -1, |
| "interleave_self_attention": true, |
| "use_alternate_vldit": true, |
| "attend_text_every_n_blocks": 2, |
| "cfg_drop_prob": 0.0, |
| "cfg_guidance_scale": 1.0, |
| "num_inference_steps": 10, |
| "num_timestep_buckets": 1000, |
| "horizon_sec": 2.5, |
| "noise_beta_alpha": 1.5, |
| "noise_beta_beta": 1.0, |
| "noise_s": 0.999, |
| "token_independent_noise": false, |
| "early_readout_loss_weight": 0.5, |
| "log_flow_loss_per_group": 5, |
| "use_action_positional_embeddings": true |
| }, |
| "shared_tau_closedloop": true, |
| "rollout_strict_executed_loss": true, |
| "rollout_steer_grad": true, |
| "rollout_one_window_aux": true, |
| "rollout_nonexec_loss_weight": 0.25 |
| } |
| }, |
| "datasets": { |
| "vla_data": { |
| "data_root_dir": "dataset", |
| "data_mix": "uf850_stack_cups_20hz", |
| "image_resolution": 256, |
| "per_device_batch_size": 32, |
| "val_tail_ratio": 0.01, |
| "train_split_all": true, |
| "video_backend": "pyav", |
| "num_frames": 6, |
| "enable_primary_video_aug": false, |
| "enable_primary_random_resized_crop": false, |
| "sec_chunk": 2.5, |
| "target_action_hz": null, |
| "enable_video_frame_cache": false, |
| "state_on_frame_grid": false |
| } |
| }, |
| "trainer": { |
| "max_train_steps": 25000, |
| "num_warmup_steps": 1500, |
| "save_interval": 5000, |
| "eval_interval": 500, |
| "eval_batches": 20, |
| "learning_rate": { |
| "base": 0.0001, |
| "action_model": { |
| "lr": 0.0001, |
| "modules": [ |
| "policy_backend.flow" |
| ] |
| }, |
| "world_model": { |
| "lr": 0.0001, |
| "modules": [ |
| "policy_backend.lam.decoder" |
| ] |
| }, |
| "vlm": { |
| "lr": 0.0001, |
| "modules": [ |
| "policy_backend.vlm" |
| ] |
| } |
| }, |
| "lr_scheduler_type": "cosine_with_min_lr", |
| "scheduler_specific_kwargs": { |
| "min_lr": 5e-07 |
| }, |
| "freeze": { |
| "freeze_vision_backbone": false, |
| "freeze_llm_backbone": false, |
| "keep_llm_first_n_layers": 16, |
| "freeze_last_llm_layer": true, |
| "freeze_embedding": true, |
| "unfreeze_vision_merger": true, |
| "unfreeze_llm_last_n_layers": -1, |
| "unfreeze_lam_decoder": true |
| }, |
| "logging_frequency": 100, |
| "ema_decay": 0.0, |
| "ema_warmup_steps": 0, |
| "gradient_clipping": 1.0, |
| "gradient_accumulation_steps": 1, |
| "ddp_find_unused_parameters": false, |
| "optimizer": { |
| "betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "eps": 1e-08, |
| "weight_decay": 1e-08 |
| }, |
| "pretrained_checkpoint": "results/Checkpoints/pretrain/lawam_pretrain/final_model/pytorch_model.pt", |
| "load_pretrained_policy_flow": true, |
| "use_pretrained_dataset_statistics": false |
| }, |
| "output_dir": "results/Checkpoints/libero/20260804_041243+uf850_gran10_bs32x2_fixall", |
| "log_dir": "results/Checkpoints/libero/20260804_041243+uf850_gran10_bs32x2_fixall/logs" |
| } |
