| { |
| "run_id": "1008_qwenLfm_briage", |
| "run_root_dir": "./results/Checkpoints", |
| "seed": 42, |
| "trackers": [ |
| "jsonl", |
| "wandb" |
| ], |
| "wandb_entity": "jinhuiye", |
| "wandb_project": "InternM1", |
| "is_debug": false, |
| "framework": { |
| "name": "QwenGR00T", |
| "qwenvl": { |
| "base_vlm": "./playground/Pretrained_models/Qwen2.5-VL-3B-Instruct", |
| "attn_implementation": "flash_attention_2", |
| "vl_hidden_dim": 2048 |
| }, |
| "dino": { |
| "dino_backbone": "dinov2_vits14" |
| }, |
| "action_model": { |
| "action_model_type": "DiT-L", |
| "hidden_size": 1024, |
| "add_pos_embed": true, |
| "max_seq_len": 1024, |
| "action_dim": 7, |
| "state_dim": 7, |
| "future_action_window_size": 15, |
| "action_horizon": 16, |
| "past_action_window_size": 0, |
| "repeated_diffusion_steps": 8, |
| "noise_beta_alpha": 1.5, |
| "noise_beta_beta": 1.0, |
| "noise_s": 0.999, |
| "num_timestep_buckets": 1000, |
| "num_inference_timesteps": 4, |
| "num_target_vision_tokens": 32, |
| "diffusion_model_cfg": { |
| "cross_attention_dim": 2048, |
| "dropout": 0.2, |
| "final_dropout": true, |
| "interleave_self_attention": true, |
| "norm_type": "ada_norm", |
| "num_layers": 16, |
| "output_dim": 1024, |
| "positional_embeddings": null |
| }, |
| "action_hidden_dim": 2048 |
| } |
| }, |
| "datasets": { |
| "vlm_data": { |
| "dataset_py": "vlm_datasets", |
| "dataformat": "llava_json", |
| "dataset_use": "aokvqa_cauldron_llava_format,sharegpt4v_coco,sharegpt4v_knowledge,sharegpt4v_llava,sharegpt4v_sam,asv2_conversation_en,asv2_detailed_description_en,asv2_region_captioning_en,coco_internvl_longcap_en,coco_karpathy_train_567_en,coco_negative_gpt4o_en,coco_poetry_zh,coco_rem_en_zh,cocorem_exist_yorn_en,cocotextv2_en,cocotextv2_gpt4o_en,okvqa_en,refcoco_grounding_aug_en,refcoco_grounding_en,tallyqa_coco_en,toloka_grounding_aug_en,vqav2_en,vsr_en", |
| "eval_dataset": "aokvqa_cauldron_llava_format", |
| "data_flatten": false, |
| "base_interval": 2, |
| "max_pixels": 50176, |
| "min_pixels": 784, |
| "model_max_length": 2048, |
| "model_type": "qwen2.5vl", |
| "per_device_batch_size": 3 |
| }, |
| "vla_data": { |
| "dataset_py": "lerobot_datasets", |
| "data_root_dir": "playground/Datasets/OXE_LEROBOT", |
| "data_mix": "bridge", |
| "action_type": "delta_ee", |
| "CoT_prompt": "Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.", |
| "CoT_answer": "bbox", |
| "default_image_resolution": [ |
| 3, |
| 224, |
| 224 |
| ], |
| "per_device_batch_size": 16, |
| "load_all_data_for_training": true, |
| "obs": [ |
| "image_0" |
| ], |
| "image_size": [ |
| 224, |
| 224 |
| ] |
| } |
| }, |
| "trainer": { |
| "epochs": 100, |
| "max_train_steps": 100000, |
| "num_warmup_steps": 10000, |
| "save_interval": 5000, |
| "eval_interval": 1000, |
| "learning_rate": { |
| "base": 3e-05, |
| "qwen_vl_interface": 1e-05, |
| "action_model": 0.0001 |
| }, |
| "lr_scheduler_type": "cosine_with_min_lr", |
| "scheduler_specific_kwargs": { |
| "min_lr": 5e-07 |
| }, |
| "freeze_modules": true, |
| "loss_scale": { |
| "vla": 1.0, |
| "vlm": 0.1 |
| }, |
| "repeated_diffusion_steps": 4, |
| "max_grad_norm": 1.0, |
| "warmup_ratio": 0.1, |
| "weight_decay": 0.0, |
| "logging_frequency": 10, |
| "gradient_clipping": 1.0, |
| "gradient_accumulation_steps": 1, |
| "optimizer": { |
| "name": "AdamW", |
| "betas": [ |
| 0.9, |
| 0.95 |
| ], |
| "eps": 1e-08, |
| "weight_decay": 1e-08 |
| }, |
| "is_resume": false, |
| "resume_epoch": null, |
| "resume_step": null, |
| "enable_gradient_checkpointing": true, |
| "enable_mixed_precision_training": true |
| }, |
| "is_resume": false, |
| "output_dir": "./results/Checkpoints/1008_qwenLfm_briage" |
| } |
