| run_id: Wan2.2-5B-PI-SIMPLE |
| run_root_dir: ./playground/Checkpoints |
| seed: 42 |
| wandb_entity: null |
| wandb_project: starVLA_SIMPLE |
| is_debug: false |
| version_id: '0.21' |
| framework: |
| name: StarVLA-WM-Wan-PI |
| world_model: |
| base_wm: Wan-AI/Wan2.2-TI2V-5B-Diffusers |
| extract_layers: |
| - -1 |
| qwenvl: |
| base_vlm: Wan-AI/Wan2.2-TI2V-5B-Diffusers |
| vl_hidden_dim: 1024 |
| num_vl_layers: 30 |
| action_model: |
| action_model_type: LayerwiseFM |
| action_dim: 36 |
| state_dim: 32 |
| future_action_window_size: 29 |
| past_action_window_size: 0 |
| repeated_diffusion_steps: 2 |
| num_inference_timesteps: 4 |
| add_pos_embed: true |
| max_seq_len: 1024 |
| num_target_vision_tokens: 32 |
| noise_beta_alpha: 1.5 |
| noise_beta_beta: 1.0 |
| noise_s: 0.999 |
| num_timestep_buckets: 1000 |
| diffusion_model_cfg: |
| cross_attention_dim: 1024 |
| action_dit_hidden_dim: 1024 |
| dropout: 0.2 |
| final_dropout: true |
| interleave_self_attention: true |
| norm_type: ada_norm |
| positional_embeddings: null |
| attention_head_dim: 64 |
| num_layers: 30 |
| input_embedding_dim: 2048 |
| num_attention_heads: 32 |
| action_horizon: 30 |
| datasets: |
| vlm_data: |
| dataset_py: vlm_datasets |
| dataformat: llava_json |
| dataset_use: sharegpt4v_coco |
| eval_dataset: sharegpt4v_coco |
| data_flatten: false |
| base_interval: 2 |
| max_pixels: 50176 |
| min_pixels: 784 |
| model_max_length: 2048 |
| model_type: qwen2.5vl |
| per_device_batch_size: 1 |
| vla_data: |
| dataset_py: lerobot_datasets |
| include_state: true |
| data_root_dir: ./playground/Datasets |
| data_mix: simple_psi0_all_twelve_tasks |
| action_type: abs_qpos |
| action_mode: abs |
| per_device_batch_size: 4 |
| load_all_data_for_training: true |
| obs_image_size: |
| - 832 |
| - 480 |
| video_backend: torchvision_av |
| trainer: |
| max_train_steps: 120000 |
| num_warmup_steps: 5000 |
| save_interval: 10000 |
| eval_interval: 1000 |
| learning_rate: |
| base: 1.0e-05 |
| wm_projector: 0.0001 |
| action_model: 0.0001 |
| lr_scheduler_type: cosine_with_min_lr |
| scheduler_specific_kwargs: |
| min_lr: 5.0e-07 |
| freeze_modules: backbone.text_encoder,backbone.vae |
| loss_scale: |
| vla: 1.0 |
| vlm: 0.0 |
| max_grad_norm: 1.0 |
| weight_decay: 0.0 |
| logging_frequency: 10 |
| gradient_clipping: 1.0 |
| gradient_accumulation_steps: 1 |
| gradient_checkpointing: true |
| optimizer: |
| name: AdamW |
| betas: |
| - 0.9 |
| - 0.95 |
| eps: 1.0e-08 |
| weight_decay: 1.0e-08 |
| repeated_diffusion_steps: 2 |
| is_resume: true |
| config_yaml: ./examples/simBenchmarks/SIMPLE/train_files/starvla_simple_psi0_wanpi.yaml |
| output_dir: ./playground/Checkpoints/Wan2.2-5B-PI-SIMPLE |
|
|
