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workspace/README.md

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+# Training Configuration Guide
+
+This document explains the key configuration parameters that can be modified for Wall-X training.
+
+## Quick Start Checklist
+1. **Update run.sh**: Set `code_dir` and `config_path` to your actual paths
+2. **Configure GPUs**: Set `CUDA_VISIBLE_DEVICES` for your available GPUs  
+3. **Update config paths**: Replace all `/path/to/` placeholders in config.yml with actual paths
+4. **Configure robot**: Set `dof_config` and `agent_pos_config` for your robot
+5. **Set dataset**: Choose appropriate `repo_id` for your dataset
+6. **Adjust batch size**: Set `batch_size_per_gpu` based on GPU memory
+7. **Run training**: Execute `bash ./workspace/lerobot_example/run.sh`
+
+## Required Paths (Must Modify)
+```yaml
+processor_path: "/path/to/model/"                    # Path to model processor
+pretrained_qwen_vl_path: "/path/to/qwen_vl_model/"  # Path to pretrained Qwen VL model
+qwen_vl_act_config_path: "/path/to/config.json"     # Path to model config file
+action_tokenizer_path: "/path/to/fast/"             # Path to action tokenizer
+save_path: "/path/to/workspace/"                     # Path to save training outputs
+```
+
+## Training Parameters (Commonly Modified)
+
+### Learning Rate Settings
+- `learning_rate`: Initial learning rate (default: 0.00009)
+- `min_lr`: Minimum learning rate for scheduler (default: 0.00005)
+- `num_warmup_steps`: Number of warmup steps (default: 100)
+
+### Batch Size and Memory
+- `batch_size_per_gpu`: Batch size per GPU - adjust based on GPU memory
+- `gradient_accumulation_steps`: Gradient accumulation steps
+- `num_training_steps`: Total training steps
+- `num_epoch`: Number of training epochs
+
+## Robot Configuration (Modify for Your Robot)
+
+### DOF Configuration
+Modify `dof_config` to match your robot's action space:
+- Add/remove action keys based on your robot's capabilities
+- Ensure DOF numbers match your robot's action dimensions
+
+### Agent Position Configuration
+Keep `agent_pos_config` consistent with `dof_config`.
+
+### Action Keys
+- `obs_action_keys`: Actions used as observation context
+- `predict_action_keys`: Actions to predict/control
+
+## Data Configuration
+
+### Dataset
+- `repo_id`: LeRobot dataset identifier
+- `train_test_split`: Training/validation split ratio (default: 0.95)
+- `action_horizon`: Number of future actions to predict (default: 32)
+
+### Image Settings
+- `resolution`: Image resolution for different camera views
+- `download_videos`: Whether to download video files (true/false)
+
+## Resume Training (Optional)
+- `resume.ckpt`: Path to checkpoint for resuming training
+- `resume.load_ckpt_only`: Only load model weights, not optimizer state
+
+## Performance Settings (Optional)
+- `profile`: Enable PyTorch profiling (true/false)
+- `padding_side`: Token padding side (left/right)