| data: |
| cameras: |
| - camera_top |
| - camera_wrist_left |
| - camera_wrist_right |
| chat_template: default |
| data_name: robotwin |
| data_type: conversation |
| dataloader_type: native |
| datasets_type: vla |
| drop_last: true |
| img_size: 224 |
| joints: |
| - '{''arm.position'': 14}' |
| - '{''effector.position'': 2}' |
| max_seq_len: 2048 |
| norm_stats_file: assets/norm_stats/robotwin_50.json |
| norm_type: bounds_99 |
| num_workers: 8 |
| pin_memory: true |
| prefetch_factor: 4 |
| robot_config_root: configs/robot_configs |
| text_keys: messages |
| train_path: ./assets/training_data/robotwin_all_tasks_with_aug.txt |
| train_size: 8000000 |
| model: |
| adanorm_time: true |
| attn_implementation: flash_attention_2 |
| basic_modules: [] |
| decoders: {} |
| encoders: {} |
| final_norm_adanorm: false |
| force_use_huggingface: false |
| moge_path: null |
| morgbd_path: null |
| nosplit_gate_liner: false |
| post_training: true |
| separate_time_proj: false |
| split_gate_liner: false |
| use_lm_head: false |
| vlm_repo_id: null |
| vocab_size: 0 |
| train: |
| action_dim: null |
| activation_gpu_limit: 0.0 |
| adapt_to_pi_aloha: false |
| align_params: {} |
| bsz_warmup_init_mbtoken: 200 |
| bsz_warmup_ratio: 0 |
| chunk_size: 50 |
| ckpt_manager: dcp |
| context_parallel_size: 1 |
| data_parallel_mode: fsdp2 |
| data_parallel_replicate_size: 1 |
| data_parallel_shard_size: 8 |
| decayed_max_grad_norm: 1.0 |
| dyn_bsz: true |
| dyn_bsz_buffer_size: 200 |
| dyn_bsz_margin: 0 |
| empty_cache_steps: 500 |
| enable_activation_offload: false |
| enable_expert_vision: false |
| enable_forward_prefetch: true |
| enable_fp32: true |
| enable_fsdp_offload: false |
| enable_full_determinism: false |
| enable_full_shard: false |
| enable_gradient_checkpointing: true |
| enable_mixed_precision: true |
| enable_profiling: false |
| enable_reentrant: false |
| enable_resume: true |
| expert_parallel_size: 1 |
| expert_vision_path: null |
| expert_vision_type: null |
| freeze_vision_encoder: false |
| freeze_vit: false |
| global_batch_size: 256 |
| init_device: cuda |
| load_checkpoint_path: null |
| loss_type: L1_fm |
| lr: 0.0001 |
| lr_decay_ratio: 1.0 |
| lr_decay_style: constant |
| lr_min: 1.0e-07 |
| lr_start: 0.0 |
| lr_warmup_ratio: 0 |
| max_action_dim: 75 |
| max_grad_norm: 1.0 |
| max_state_dim: 75 |
| max_steps: 220000 |
| micro_batch_size: 32 |
| module_fsdp_enable: true |
| norm_qkv: false |
| num_steps: 10 |
| num_train_epochs: 69 |
| optimizer: adamw |
| pipeline_parallel_size: 1 |
| profile_end_step: 2 |
| profile_profile_memory: true |
| profile_record_shapes: true |
| profile_start_step: 1 |
| profile_trace_dir: ./trace |
| profile_with_stack: true |
| resize_imgs_with_padding: |
| - 224 |
| - 224 |
| resume_dataloader_state: true |
| rmpad: false |
| rmpad_with_pos_ids: false |
| save_epochs: 23 |
| save_hf_weights: true |
| save_steps: 10000 |
| seed: 42 |
| stable_train_steps: 100000 |
| tensor_parallel_size: 1 |
| tokenizer_max_length: 72 |
| train_expert_only: false |
| train_state_proj: true |
| ulysses_parallel_size: 1 |
| use_cache: true |
| use_compile: true |
| use_delta_joint_actions_aloha: false |
| use_wandb: false |
| vit_lr: 1.0e-06 |
| vlm_causal: false |
| wandb_name: null |
| wandb_project: LingBotVLA |
| weight_decay: 0 |
