config.yaml

DATALOADER:
  ROBOVERSE:
    cfg_opts: IMAGE.crop_img:0.9:IMAGE.img_size:224:IMAGE.cam_list:('3p1','wrist_right1')
    cfg_path: libs/RoboVerse/roboverse/configs/ur5e_cluttered_pick_3obj_120.yaml
  batch_size: 16
  num_workers: 8
EXP:
  AMP: true
  DATASET: roboverse
  EXP_ID: lap_qwen3_5_2b_fft_ur5e_cluttered_pick_3obj_120_lora
  LOSS: {}
  LR_SCHED: none
  MODEL: qwen
  OPTIMIZER: adamw
  SEED: 0
EXP_EXTRA:
  no_test: true
  no_track: true
  no_val: true
  save_at_steps:
  - 2000
  - 4000
  - 6000
  - 8000
  save_ckp: 0
  save_last_ckpt: true
  test_eval_freq: 1
  val_eval_freq: 1
LR_SCHED:
  lr_clip: 1.0e-08
  lr_decay_factor: 0.5
  lr_patience: 4
MODEL:
  QWEN:
    action_mask_aug_per: 0.4
    action_type: original
    add_vision_id: true
    attention_dropout: 0.0
    enable_thinking: true
    grad_checkpoint: false
    history: 1
    horizon: 8
    lap_action_is_absolute: true
    lap_emit_holds: false
    lap_rotation_precision: 1
    lap_sum_decimal: 1f
    lora_config: default
    lora_rank: 8
    num_bins_actions: 1000
    num_cam: 2
    original_action_dim: 7
    qwen_model_id: Qwen/Qwen3.5-2B
    reasoning: true
    rgb_img_size:
    - 224
    - 224
    rgb_input: true
    tiled_rgb_imgs: true
    use_flash_attention_2: true
    use_lora: true
    use_qlora: false
TRAIN:
  clip_grad_norm: 0.0
  l2: 1.0e-10
  lr: 1.0e-05
  num_epochs: 100
  num_iters: 10000
  save_iter_ckp: 2500
WANDB:
  enable: true
  entity: ''
  log_interval: 100
  mode: online
  project: vla0
  resume_id: ''
  run_name: ''
  tags: ''