| run_id: 0804_franka_v5_qwen3OFT_pick_place_weather |
| run_root_dir: /gpfs/wangzixuan/Octopus/workspace/starVLA/results/Checkpoints |
| seed: 42 |
| trackers: |
| - jsonl |
| - wandb |
| wandb_entity: zwanggk |
| wandb_project: roboclaw |
| is_debug: false |
| framework: |
| name: QwenOFT |
| qwenvl: |
| base_vlm: /gpfs/wangzixuan/Octopus/workspace/MODEL/Qwen3-VL-4B-Instruct |
| attn_implementation: flash_attention_2 |
| action_model: |
| action_model_type: DiT-B |
| action_dim: 7 |
| action_hidden_dim: 2560 |
| future_action_window_size: 15 |
| past_action_window_size: 0 |
| state_dim: 28 |
| obs_image_size: null |
| datasets: |
| vla_data: |
| dataset_py: lerobot_datasets |
| data_root_dir: /gpfs/wangzixuan/Octopus/workspace/data/lerobot/v5 |
| data_mix: real_franka_v5 |
| image_size: |
| - 224 |
| - 224 |
| per_device_batch_size: 16 |
| sequential_step_sampling: false |
| video_backend: torchvision_av |
| trainer: |
| pretrained_checkpoint: '' |
| reload_modules: '' |
| enable_gradient_checkpointing: true |
| enable_mixed_precision_training: true |
| eval_interval: 1000 |
| gradient_accumulation_steps: 1 |
| gradient_clipping: 1.0 |
| is_resume: false |
| learning_rate: |
| action_model: 0.0001 |
| base: 1.0e-05 |
| qwen_vl_interface: 1.0e-05 |
| logging_frequency: 100 |
| lr_scheduler_type: cosine_with_min_lr |
| max_train_steps: 100000 |
| num_warmup_steps: 5000 |
| optimizer: |
| name: AdamW |
| 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 |
| config_yaml: /gpfs/wangzixuan/Octopus/workspace/starVLA/examples/Franka/train_files/starvla_cotrain_franka_v5.yaml |
| output_dir: /gpfs/wangzixuan/Octopus/workspace/starVLA/results/Checkpoints/0804_franka_v5_qwen3OFT_pick_place_weather |
|
|
