Add 0.5B Alpamayo validation

2026-07-11 13:08:42 +08:00
commit fb1bd51046
34 changed files with 6125 additions and 0 deletions
@@ -0,0 +1,56 @@
+seed: 11
+
+paths:
+  model_dir: models/qwen2.5_0.5B_vl
+  pai_raw_dir: data/raw/pai
+  manifest: data/processed/overfit_manifest.jsonl
+  stage1_dir: outputs/stage1_vlm
+  stage2_dir: outputs/stage2_expert
+
+vlm:
+  repo_id: thkim0305/qwen2.5_0.5B_vl
+  dtype: float16
+  attn_implementation: eager
+  max_reasoning_tokens: 48
+  num_additional_image_tokens: 1
+
+data:
+  repo_id: nvidia/PhysicalAI-Autonomous-Vehicles
+  num_clips: 1
+  camera: camera_front_wide_120fov
+  num_frames: 1
+  history_steps: 8
+  source_future_steps: 64
+  expert_waypoints: 16
+  time_step: 0.1
+
+stage1:
+  steps: 80
+  learning_rate: 0.0001
+  weight_decay: 0.0
+  adam_epsilon: 0.0001
+  freeze_vision_tower: true
+  freeze_multimodal_projector: true
+  train_last_n_language_layers: 8
+  train_final_norm: true
+  train_lm_head: false
+  gradient_checkpointing: true
+  log_every: 5
+
+stage2:
+  steps: 1000
+  learning_rate: 0.0001
+  weight_decay: 0.0
+  adam_epsilon: 0.0001
+  expert_hidden_size: 512
+  expert_intermediate_size: 2432
+  expert_num_layers: 24
+  expert_num_attention_heads: 8
+  expert_num_key_value_heads: 2
+  expert_head_dim: 64
+  expert_non_causal_attention: true
+  action_projection_hidden_size: 256
+  action_fourier_features: 20
+  inference_steps: 10
+  log_every: 50
+  checkpoint_every: 50