| datasets: |
| vla_data: |
| data_mix: libero_all |
| data_root_dir: /home/jye624/Datasets/LIBERO |
| dataset_py: lerobot_datasets |
| per_device_batch_size: 8 |
| sequential_step_sampling: false |
| video_backend: torchvision_av |
| framework: |
| name: CosmoPredict2GR00T |
| action_model: |
| action_dim: 7 |
| action_horizon: 8 |
| action_model_type: DiT-B |
| add_pos_embed: true |
| 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 |
| future_action_window_size: 7 |
| hidden_size: 1024 |
| max_seq_len: 1024 |
| noise_beta_alpha: 1.5 |
| noise_beta_beta: 1.0 |
| noise_s: 0.999 |
| num_inference_timesteps: 4 |
| num_target_vision_tokens: 32 |
| num_timestep_buckets: 1000 |
| past_action_window_size: 0 |
| repeated_diffusion_steps: 8 |
| state_dim: 7 |
| obs_image_size: null |
| qwenvl: |
| base_vlm: /home/jye624/Models/Pretrained_models/Qwen3-VL-4B-Instruct |
| world_model: |
| base_wm: ./playground/Pretrained_models/nvidia/Cosmos-Predict2-2B-Video2World |
| extract_layers: |
| - -1 |
| output_dir: ./results/Checkpoints/0405_libero4in1_CosmoPredict2GR00T |
| run_id: 0405_libero4in1_CosmoPredict2GR00T |
| run_root_dir: ./results/Checkpoints |
| seed: 42 |
| trainer: |
| eval_interval: 100 |
| freeze_modules: true |
| gradient_accumulation_steps: 1 |
| gradient_clipping: 1.0 |
| is_resume: false |
| learning_rate: |
| action_model: 0.0001 |
| base: 2.5e-05 |
| qwen_vl_interface: 1.0e-05 |
| logging_frequency: 100 |
| lr_scheduler_type: cosine_with_min_lr |
| max_train_steps: 80000 |
| num_warmup_steps: 5000 |
| optimizer: |
| betas: |
| - 0.9 |
| - 0.95 |
| eps: 1.0e-08 |
| weight_decay: 1.0e-08 |
| save_interval: 10000 |
| scheduler_specific_kwargs: |
| min_lr: 1.0e-06 |
| wandb_entity: jinhuiye |
| wandb_project: starVLA_Libero |
|
|
