94 lines
2.1 KiB
YAML
94 lines
2.1 KiB
YAML
|
# Public Wall-X Qwen2.5 + LeRobot training template.
|
||
|
|
#
|
||
|
|
# Replace all /path/to/... values before launching training.
|
||
|
|
model_type: qwen2_5
|
||
|
|
|
||
|
|
task:
|
||
|
|
dof_config:
|
||
|
|
master_right_ee_cartesian_pos: 3
|
||
|
|
master_right_ee_rotation: 3
|
||
|
|
master_right_gripper: 1
|
||
|
|
agent_pos_config:
|
||
|
|
follow_right_ee_cartesian_pos: 3
|
||
|
|
follow_right_ee_rotation: 3
|
||
|
|
follow_right_gripper: 2
|
||
|
|
action_horizon: 32
|
||
|
|
action_horizon_flow: 32
|
||
|
|
use_state_string_representation: false
|
||
|
|
|
||
|
|
model:
|
||
|
|
backbone: qwen2_5
|
||
|
|
config_path: workspace/models_config/qwen2_5_moe_flash.json
|
||
|
|
processor_path: Qwen/Qwen2.5-VL-3B-Instruct
|
||
|
|
pretrained_path: Qwen/Qwen2.5-VL-3B-Instruct
|
||
|
|
attn_deterministic: true
|
||
|
|
use_ema: false
|
||
|
|
flow_loss_weight: 1.0
|
||
|
|
enable_customized_robot_config: true
|
||
|
|
customized_robot_config:
|
||
|
|
name: your_robot
|
||
|
|
customized_dof_config:
|
||
|
|
action: 7
|
||
|
|
customized_agent_pos_config:
|
||
|
|
observation.state: 8
|
||
|
|
|
||
|
|
hyperparams:
|
||
|
|
num_epoch: 100
|
||
|
|
batch_size_per_gpu: 8
|
||
|
|
gradient_accumulation_steps: 2
|
||
|
|
seed: 10233
|
||
|
|
optimizer:
|
||
|
|
optimizer_type: dmuon
|
||
|
|
learning_rate: 0.0001
|
||
|
|
max_grad_norm: 1.0
|
||
|
|
enable_grad_clip: true
|
||
|
|
betas: [0.9, 0.95]
|
||
|
|
weight_decay: 1.0e-8
|
||
|
|
eps: 1.0e-8
|
||
|
|
scheduler:
|
||
|
|
scheduler_type: cosine
|
||
|
|
num_warmup_steps: 1000
|
||
|
|
num_training_steps: 64000000
|
||
|
|
min_lr: 1.0e-5
|
||
|
|
|
||
|
|
distributed:
|
||
|
|
use_fsdp: true
|
||
|
|
use_mixed_precision: true
|
||
|
|
bf16: true
|
||
|
|
|
||
|
|
data:
|
||
|
|
dataset_type: lerobot
|
||
|
|
lerobot_config:
|
||
|
|
repo_id: /path/to/your/lerobot_dataset
|
||
|
|
root: null
|
||
|
|
key_mappings:
|
||
|
|
camera:
|
||
|
|
observation.images.image: face_view
|
||
|
|
observation.images.image2: right_wrist_view
|
||
|
|
state: observation.state
|
||
|
|
action: action
|
||
|
|
norm_stats_path: /path/to/your/norm_stats.json
|
||
|
|
train_test_split: 0.95
|
||
|
|
num_workers: 4
|
||
|
|
resolution:
|
||
|
|
face_view: 256
|
||
|
|
left_wrist_view: 256
|
||
|
|
right_wrist_view: 256
|
||
|
|
|
||
|
|
logging:
|
||
|
|
log_name: wallx_lerobot_train
|
||
|
|
log_project: wallx_public
|
||
|
|
log_entity: null
|
||
|
|
use_wandb: false
|
||
|
|
log_interval: 10
|
||
|
|
save_interval: 1000000
|
||
|
|
val_interval: 1000000
|
||
|
|
epoch_save_interval: 1
|
||
|
|
|
||
|
|
checkpoint:
|
||
|
|
save_path: /path/to/output/checkpoints
|
||
|
|
|
||
|
|
debug:
|
||
|
|
profile: false
|
||
|
|
nvtx: false
|