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config.full.yaml

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+run_id: geniesim_g1_eef_delta_qwenvla_h20_bs16_sampfix
+run_root_dir: /root/cache/checkpoints
+seed: 42
+wandb_entity: Robotics-FiT
+wandb_project: starVLA
+is_debug: false
+version_id: '0.21'
+framework:
+  name: QwenVLA
+  qwenvl:
+    base_vlm: /root/cache/hub/models--Qwen--Qwen3.5-4B/snapshots/851bf6e806efd8d0a36b00ddf55e13ccb7b8cd0a
+    attn_implementation: flash_attention_3
+    vl_hidden_dim: 2048
+  action_model:
+    name: JointDiT
+    hidden_size: 2048
+    num_layers: 16
+    num_heads: 16
+    intermediate_size: 4736
+    action_dim: 14
+    action_horizon: 8
+    predict_velocity: true
+    noise_schedule: uniform
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    num_inference_timesteps: 10
+    norm_eps: 1.0e-06
+    vlm_hidden_size: 2560
+    future_action_window_size: 7
+    action_hidden_dim: 2048
+    past_action_window_size: 0
+  embodiment_specs:
+    default:
+      morphology: single arm
+      has_waist: false
+      has_mobile_base: false
+      fps: 30
+    franka:
+      morphology: single arm
+      fps: 20
+    aloha:
+      morphology: dual arms
+      fps: 50
+    gr1:
+      morphology: dual arms
+      has_waist: true
+      fps: 30
+    agibot_genie1:
+      morphology: dual arms
+      has_waist: true
+      has_mobile_base: true
+      fps: 30
+  prompt_template: 'The robot is {robot_tag} with {morphology_desc}. The control frequency
+    is {fps} Hz. Please predict the next {chunk_size} control actions to execute the
+    following task: {instruction}'
+  camera_tags: []
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    lerobot_version: v2.0
+    include_state: false
+    delete_pause_frame: true
+    data_root_dir: /root/datasets/genie_sim
+    data_mix: geniesim_g1_eef_delta_all
+    merged_statistics_override_path: /apdcephfs_zwfy_share/apdcephfs_zwfy/share_302641016/leoyizhang/workspaces/starVLA/agibot_qwenvla_eef_delta_4B_res352/20260616_171935/dataset_statistics.json
+    balance_dataset_weights: true
+    action_mode: rel
+    action_mode_apply_keys:
+    - action.end_pos
+    rot_norm_scale: 2.0
+    rot_clip: 1.0
+    per_device_batch_size: 16
+    num_workers: 16
+    persistent_workers: true
+    prefetch_factor: 6
+    obs_resize_mode: long_side
+    obs_long_side: 352
+    obs_image_size:
+    - 384
+    - 384
+    video_backend: pyav
+trainer:
+  pretrained_checkpoint: /apdcephfs_zwfy_share/apdcephfs_zwfy/share_302641016/leoyizhang/workspaces/starVLA/agibot_qwenvla_eef_delta_4B_res352/20260616_171935/checkpoints/steps_120000_pytorch_model.pt
+  max_train_steps: 50000
+  num_warmup_steps: 10000
+  save_interval: 5000
+  eval_interval: 5000
+  learning_rate:
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-05
+    action_model: 5.0e-05
+  lr_scheduler_type: constant_with_warmup
+  scheduler_specific_kwargs: {}
+  freeze_modules: ''
+  max_grad_norm: 1.0
+  weight_decay: 0.0
+  logging_frequency: 10
+  sample_log_interval: 5000
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 1
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+config_yaml: ./examples/GenieSim/train_files/starvla_geniesim_g1_eef_delta.yaml
+output_dir: /root/cache/checkpoints/geniesim_g1_eef_delta_qwenvla_h20_bs16_sampfix