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{
  "step": 80000,
  "args": {
    "base_model": "/data/base_model",
    "config_model": "/data/config_model",
    "dataset": "/data/dataset",
    "vl_model_path": null,
    "canonical_vl_model_name": "nvidia/Cosmos-Reason2-2B",
    "label_dir": "adaptive_speed_labels",
    "output_dir": "/data/output",
    "experiment_name": "task0003_vlmmerged_adaptive_speed_chunk32_a2_m1_80k_gpu0_20260811_092736",
    "max_steps": 80000,
    "global_batch_size": 8,
    "gradient_accumulation_steps": 1,
    "num_workers": 4,
    "actor_lr": 0.0001,
    "weight_decay": 1e-05,
    "warmup_ratio": 0.05,
    "action_horizon": 32,
    "approach_speed_min": 2.0,
    "approach_speed_max": 2.0,
    "transition_speed": 1.0,
    "manipulation_speed": 1.0,
    "approach_token_weight": 1.0,
    "transition_token_weight": 1.15,
    "manipulation_token_weight": 1.4,
    "approach_gripper_weight": 0.6,
    "transition_gripper_weight": 1.5,
    "manipulation_gripper_weight": 3.0,
    "arm_weight": 1.0,
    "gripper_indices": "7,15",
    "approach_phase_id": 0,
    "transition_phase_id": 1,
    "manipulation_phase_id": 2,
    "episode_sampling_rate": 0.1,
    "shard_size": 1024,
    "num_shards_per_epoch": 100000,
    "save_steps": 20000,
    "save_at_steps": "60000,80000",
    "logging_steps": 10,
    "max_grad_norm": 1.0,
    "seed": 42,
    "bf16": true,
    "tf32": true,
    "local_files_only": true,
    "use_percentiles": false,
    "clip_outliers": true,
    "state_dropout_prob": 0.2,
    "rtc_training_prefix_steps": 0,
    "save_optimizer_state": false,
    "save_final_model": false,
    "allow_terminal_padding": true,
    "dry_run_data": false,
    "dry_run_forward": false
  }
}