Publish Phoenix-MWA evaluation resources (verified batch)

Explicit evaluation-only release; no training states, raw visual data or credentials.

LICENSES/Apache-2.0.txt

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NOTICE.md

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+# Attribution and license scope
+
+Phoenix-LIBERO is a modified policy derived from Wan2.2-TI2V-5B through Phoenix Robot37 pretraining (step 125000) and LIBERO post-training (step 25000). Its release checkpoint also changes the Joint96 metadata schema to the Phoenix name; the schema migration does not change inference tensors.
+
+The Wan Team's upstream model is distributed under Apache License 2.0. A copy is included in [LICENSES/Apache-2.0.txt](LICENSES/Apache-2.0.txt). Upstream source and model terms: [Wan-AI/Wan2.2-TI2V-5B](https://huggingface.co/Wan-AI/Wan2.2-TI2V-5B). This notice preserves the upstream license and records the modifications; it does not assign an additional license to Phoenix-owned weight contributions.
+
+LIBERO is acknowledged as the post-training and evaluation benchmark: [Lifelong Robot Learning / LIBERO](https://github.com/Lifelong-Robot-Learning/LIBERO). The accompanying configuration, normalization statistics and initialization records document this policy. Historical absolute paths identify source artifacts; they do not grant access to, or redistribute, those datasets or private pretraining checkpoints.
+
+The separately distributed [Phoenix-Encoders](https://huggingface.co/OpenPhoenix/Phoenix-Encoders) repository contains the required DINO/STVAE encoders and their notices. Public Wan VAE, T5 and tokenizer dependencies retain their upstream terms and are obtained separately.
+
+Phoenix-MWA's code license is not a blanket license for model weights, datasets or third-party dependencies. No additional Phoenix weight license is inferred from that code license. Retained third-party notices do not imply endorsement by the upstream authors.

dataset_stats.json

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initialization.json

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normalization_source.json

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+        0.02715468406677246
+      ],
+      "global_std": [
+        0.013871271163225174
+      ],
+      "stepwise_min": [
+        [
+          0.0004984996048733592
+        ]
+      ],
+      "stepwise_max": [
+        [
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+      ],
+      "stepwise_q01": [
+        [
+          0.0019091247813776135
+        ]
+      ],
+      "stepwise_q99": [
+        [
+          0.04000861197710037
+        ]
+      ],
+      "stepwise_mean": [
+        [
+          0.02715468406677246
+        ]
+      ],
+      "stepwise_std": [
+        [
+          0.013871271163225174
+        ]
+      ]
+    }
+  },
+  "num_episodes": 1712,
+  "num_transition": 277713,
+  "frame_contract": {
+    "version": "libero_osc_flu_b_identity_v1",
+    "world_from_source": [
+      [
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "source_ee_from_canonical_ee": [
+      [
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "controller_scale": [
+      0.05,
+      0.05,
+      0.05,
+      0.5,
+      0.5,
+      0.5
+    ],
+    "state": "A_p__A_R_B__column_first_rot6d",
+    "action": "world_delta_xyz_m__canonical_local_rotvec_rad__gripper_open01",
+    "temporal_pairing": "action_t_with_state_t_no_shift"
+  },
+  "stats_scope": "all_source_rows_global_minmax_no_stepwise",
+  "source_roots": [
+    "/mnt/data/lcy/FastWAM-AuxSignals-new/data/libero_mujoco3.3.2/libero_spatial_no_noops_lerobot",
+    "/mnt/data/lcy/FastWAM-AuxSignals-new/data/libero_mujoco3.3.2/libero_object_no_noops_lerobot",
+    "/mnt/data/lcy/FastWAM-AuxSignals-new/data/libero_mujoco3.3.2/libero_goal_no_noops_lerobot",
+    "/mnt/data/lcy/FastWAM-AuxSignals-new/data/libero_mujoco3.3.2/libero_10_no_noops_lerobot"
+  ]
+}

train_config.yaml

@@ -0,0 +1,631 @@
+output_dir: /mnt/data/lcy/InternW0-Delta/runs/libero_joint96_cached_flu_bi_robot37_init125k/libero_joint96_cached_flu_bi_robot37_init125k_b8_w32_lr5e5_ep50_01
+video_latent_cache: 'off'
+video_latent_cache_fields:
+- current
+- memory_anchor
+- memory_recent
+batch_size: 8
+num_workers: 4
+lr_scheduler_type: cosine
+learning_rate: 5.0e-05
+vlm_learning_rate: 5.0e-05
+num_epochs: 50
+max_steps: null
+log_every: 10
+save_every: 5000
+max_weight_checkpoints: 15
+eval_every: 0
+eval_num_inference_steps: 10
+eval_loss_samples_per_rank: 2
+eval_max_videos: 0
+gradient_accumulation_steps: 1
+mixed_precision: bf16
+seed: 42
+max_grad_norm: 1.0
+weight_decay: 0.01
+resume: null
+wandb:
+  enabled: true
+  workspace: null
+  project: fastwam-auxsignals
+  name: libero_joint96_cached_flu_bi_robot37_init125k_b8_w32_lr5e5_ep50_01
+  group: null
+  mode: online
+paths:
+  data: data
+  cache: .cache/internw0
+  checkpoints: checkpoints
+  output: /mnt/data/lcy/InternW0-Delta/runs
+  robotwin: data/robotwin
+  robodojo: data/robodojo
+  libero: /mnt/data/lcy/FastWAM-AuxSignals-new/data/libero_mujoco3.3.2
+  ebench: data/ebench
+save_on_train_end: true
+save_training_state: true
+data:
+  train:
+    _target_: wam.datasets.libero_joint96_cache.LiberoJoint96CachedDataset
+    dataset_dirs:
+    - /mnt/data/lcy/FastWAM-AuxSignals-new/data/libero_mujoco3.3.2/libero_spatial_no_noops_lerobot
+    - /mnt/data/lcy/FastWAM-AuxSignals-new/data/libero_mujoco3.3.2/libero_object_no_noops_lerobot
+    - /mnt/data/lcy/FastWAM-AuxSignals-new/data/libero_mujoco3.3.2/libero_goal_no_noops_lerobot
+    - /mnt/data/lcy/FastWAM-AuxSignals-new/data/libero_mujoco3.3.2/libero_10_no_noops_lerobot
+    shape_meta:
+      images:
+      - key: image
+        raw_shape:
+        - 3
+        - 512
+        - 512
+        shape:
+        - 3
+        - 256
+        - 256
+      - key: wrist_image
+        raw_shape:
+        - 3
+        - 512
+        - 512
+        shape:
+        - 3
+        - 256
+        - 256
+      action:
+      - key: default
+        lerobot_key: action
+        raw_shape: 7
+        shape: 7
+      state:
+      - key: joint
+        lerobot_key: observation.states.joint_state
+        raw_shape: 7
+        shape: 7
+      - key: ee
+        lerobot_key: observation.states.ee_state
+        raw_shape: 6
+        shape: 9
+      - key: gripper
+        lerobot_key: observation.states.gripper_state
+        raw_shape: 2
+        shape: 1
+    num_frames: 33
+    global_sample_stride: 1
+    memory_video_anchor_size: 0
+    memory_recent_frame_offset: 0
+    action_video_freq_ratio: 4
+    video_size:
+    - 256
+    - 256
+    camera_key: null
+    val_set_proportion: 0.0
+    is_training_set: true
+    skip_padding_as_possible: false
+    concat_multi_camera: latent_horizontal
+    single_canvas: false
+    return_vlm_current_images: false
+    load_episode_stats: true
+    check_local_files: true
+    proprio_noise_std: 0.01
+    pretrained_norm_stats: /mnt/data/lcy/InternW0-Delta/assets/stats/libero_joint96_flu_b_identity_v1.json
+    processor:
+      _target_: wam.datasets.lerobot.processors.wam_processor.WAMProcessor
+      shape_meta:
+        images:
+        - key: image
+          raw_shape:
+          - 3
+          - 512
+          - 512
+          shape:
+          - 3
+          - 256
+          - 256
+        - key: wrist_image
+          raw_shape:
+          - 3
+          - 512
+          - 512
+          shape:
+          - 3
+          - 256
+          - 256
+        action:
+        - key: default
+          lerobot_key: action
+          raw_shape: 7
+          shape: 7
+        state:
+        - key: joint
+          lerobot_key: observation.states.joint_state
+          raw_shape: 7
+          shape: 7
+        - key: ee
+          lerobot_key: observation.states.ee_state
+          raw_shape: 6
+          shape: 9
+        - key: gripper
+          lerobot_key: observation.states.gripper_state
+          raw_shape: 2
+          shape: 1
+      num_obs_steps: 33
+      num_output_cameras: 2
+      action_output_dim: 80
+      proprio_output_dim: 80
+      delta_action_dim_mask:
+        default:
+        - true
+        - true
+        - true
+        - true
+        - true
+        - true
+        - false
+      action_state_transforms:
+      - _target_: wam.datasets.lerobot.transforms.libero_flu_bi.LiberoRight80FLUBIdentityTransform
+      use_stepwise_action_norm: false
+      norm_default_mode: min/max
+      norm_exception_mode: null
+      action_state_merger:
+        _target_: wam.datasets.lerobot.transforms.action_state_merger.ConcatLeftAlign
+        action_target_dim: 80
+        state_target_dim: 80
+        action_target_slices:
+        - source_slice:
+          - 0
+          - 6
+          target_slice:
+          - 47
+          - 53
+        - source_slice:
+          - 6
+          - 7
+          target_slice:
+          - 56
+          - 57
+        state_target_slices:
+        - source_slice:
+          - 0
+          - 7
+          target_slice:
+          - 40
+          - 47
+        - source_slice:
+          - 7
+          - 16
+          target_slice:
+          - 47
+          - 56
+        - source_slice:
+          - 16
+          - 17
+          target_slice:
+          - 56
+          - 57
+      train_transforms:
+      - _target_: wam.datasets.lerobot.transforms.image.ToTensor
+      - _target_: wam.datasets.libero_joint96_cache.CacheRGBTransform
+      val_transforms:
+      - _target_: wam.datasets.lerobot.transforms.image.ToTensor
+      - _target_: wam.datasets.libero_joint96_cache.CacheRGBTransform
+      normalization_passthrough_dims:
+        state:
+          ee:
+          - 3
+          - 4
+          - 5
+          - 6
+          - 7
+          - 8
+    text_embedding_cache_dir: /mnt/data/lcy/FastWAM-AuxSignals-new/data/text_embeds_cache/libero
+    context_len: 128
+    image_color_jitter:
+      enabled: false
+      brightness: 0.2
+      contrast: 0.2
+      saturation: 0.25
+      gamma: 0.0
+    sync_vlm_color_jitter: false
+    image_camera_jitter:
+      enabled: false
+      prob: 1.0
+      scale_min: 0.94
+      scale_max: 1.0
+      translate: 0.03
+      rotation_degrees: 5.0
+      camera_keys:
+      - image
+    sync_vlm_camera_jitter: false
+    image_sensor_noise:
+      enabled: false
+      camera_keys:
+      - image
+      gaussian_prob: 0.0
+      gaussian_std: 0.0
+      blur_prob: 0.0
+      blur_kernel_size: 3
+      blur_sigma: 0.0
+      downsample_prob: 0.08
+      downsample_scale_min: 0.75
+    domain: libero
+    camera_slots:
+    - 0
+    - 2
+    visual_cache:
+      vae_root: /mnt/data/lcy/fastwam_auxsignals/feature_cache/libero_wan22vae256_perview_t3_256gpu_b1_20260927_01
+      stvae_root: /mnt/data/lcy/fastwam_auxsignals/feature_cache/libero_dino110k_stvae150k_robot37_mean_t3_32gpu_20261005_01
+      source_root: /mnt/data/lcy/FastWAM-AuxSignals-new
+      source_sha256: 337de222f09fe0340cdd2292bdae77f90cd0a619d2c6b30087fc8e093b3c6dc3
+      initialization_checkpoint: /mnt/data/lcy/InternW0-Delta/runs/local_robot37_multiview_softprompt/robot37_rgbmix_exclude11_interndata6_softprompt_stvae150k_w224_b20_s256013_resume075000_mask75_lang70_save5000_20261007_01/checkpoints/weights/step_125000.pt
+      max_open_shards: 32
+      pair_binding_file: /mnt/data/lcy/fastwam_auxsignals/feature_cache/libero_dino110k_stvae150k_robot37_mean_t3_32gpu_20261005_01/JOINT96_PAIR_BINDING.json
+  val:
+    _target_: wam.datasets.libero_joint96_cache.LiberoJoint96CachedDataset
+    dataset_dirs:
+    - /mnt/data/lcy/FastWAM-AuxSignals-new/data/libero_mujoco3.3.2/libero_spatial_no_noops_lerobot
+    - /mnt/data/lcy/FastWAM-AuxSignals-new/data/libero_mujoco3.3.2/libero_object_no_noops_lerobot
+    - /mnt/data/lcy/FastWAM-AuxSignals-new/data/libero_mujoco3.3.2/libero_goal_no_noops_lerobot
+    - /mnt/data/lcy/FastWAM-AuxSignals-new/data/libero_mujoco3.3.2/libero_10_no_noops_lerobot
+    shape_meta:
+      images:
+      - key: image
+        raw_shape:
+        - 3
+        - 512
+        - 512
+        shape:
+        - 3
+        - 256
+        - 256
+      - key: wrist_image
+        raw_shape:
+        - 3
+        - 512
+        - 512
+        shape:
+        - 3
+        - 256
+        - 256
+      action:
+      - key: default
+        lerobot_key: action
+        raw_shape: 7
+        shape: 7
+      state:
+      - key: joint
+        lerobot_key: observation.states.joint_state
+        raw_shape: 7
+        shape: 7
+      - key: ee
+        lerobot_key: observation.states.ee_state
+        raw_shape: 6
+        shape: 9
+      - key: gripper
+        lerobot_key: observation.states.gripper_state
+        raw_shape: 2
+        shape: 1
+    num_frames: 33
+    global_sample_stride: 1
+    memory_video_anchor_size: 0
+    memory_recent_frame_offset: 0
+    action_video_freq_ratio: 4
+    video_size:
+    - 256
+    - 256
+    camera_key: null
+    val_set_proportion: 0.0
+    is_training_set: false
+    skip_padding_as_possible: false
+    concat_multi_camera: latent_horizontal
+    single_canvas: false
+    return_vlm_current_images: false
+    load_episode_stats: true
+    check_local_files: true
+    pretrained_norm_stats: /mnt/data/lcy/InternW0-Delta/assets/stats/libero_joint96_flu_b_identity_v1.json
+    processor:
+      _target_: wam.datasets.lerobot.processors.wam_processor.WAMProcessor
+      shape_meta:
+        images:
+        - key: image
+          raw_shape:
+          - 3
+          - 512
+          - 512
+          shape:
+          - 3
+          - 256
+          - 256
+        - key: wrist_image
+          raw_shape:
+          - 3
+          - 512
+          - 512
+          shape:
+          - 3
+          - 256
+          - 256
+        action:
+        - key: default
+          lerobot_key: action
+          raw_shape: 7
+          shape: 7
+        state:
+        - key: joint
+          lerobot_key: observation.states.joint_state
+          raw_shape: 7
+          shape: 7
+        - key: ee
+          lerobot_key: observation.states.ee_state
+          raw_shape: 6
+          shape: 9
+        - key: gripper
+          lerobot_key: observation.states.gripper_state
+          raw_shape: 2
+          shape: 1
+      num_obs_steps: 33
+      num_output_cameras: 2
+      action_output_dim: 80
+      proprio_output_dim: 80
+      delta_action_dim_mask:
+        default:
+        - true
+        - true
+        - true
+        - true
+        - true
+        - true
+        - false
+      action_state_transforms:
+      - _target_: wam.datasets.lerobot.transforms.libero_flu_bi.LiberoRight80FLUBIdentityTransform
+      use_stepwise_action_norm: false
+      norm_default_mode: min/max
+      norm_exception_mode: null
+      action_state_merger:
+        _target_: wam.datasets.lerobot.transforms.action_state_merger.ConcatLeftAlign
+        action_target_dim: 80
+        state_target_dim: 80
+        action_target_slices:
+        - source_slice:
+          - 0
+          - 6
+          target_slice:
+          - 47
+          - 53
+        - source_slice:
+          - 6
+          - 7
+          target_slice:
+          - 56
+          - 57
+        state_target_slices:
+        - source_slice:
+          - 0
+          - 7
+          target_slice:
+          - 40
+          - 47
+        - source_slice:
+          - 7
+          - 16
+          target_slice:
+          - 47
+          - 56
+        - source_slice:
+          - 16
+          - 17
+          target_slice:
+          - 56
+          - 57
+      train_transforms:
+      - _target_: wam.datasets.lerobot.transforms.image.ToTensor
+      - _target_: wam.datasets.libero_joint96_cache.CacheRGBTransform
+      val_transforms:
+      - _target_: wam.datasets.lerobot.transforms.image.ToTensor
+      - _target_: wam.datasets.libero_joint96_cache.CacheRGBTransform
+      normalization_passthrough_dims:
+        state:
+          ee:
+          - 3
+          - 4
+          - 5
+          - 6
+          - 7
+          - 8
+    text_embedding_cache_dir: /mnt/data/lcy/FastWAM-AuxSignals-new/data/text_embeds_cache/libero
+    context_len: 128
+    domain: libero
+    camera_slots:
+    - 0
+    - 2
+    image_color_jitter:
+      enabled: false
+    image_camera_jitter:
+      enabled: false
+    image_sensor_noise:
+      enabled: false
+    visual_cache:
+      vae_root: /mnt/data/lcy/fastwam_auxsignals/feature_cache/libero_wan22vae256_perview_t3_256gpu_b1_20260927_01
+      stvae_root: /mnt/data/lcy/fastwam_auxsignals/feature_cache/libero_dino110k_stvae150k_robot37_mean_t3_32gpu_20261005_01
+      source_root: /mnt/data/lcy/FastWAM-AuxSignals-new
+      source_sha256: 337de222f09fe0340cdd2292bdae77f90cd0a619d2c6b30087fc8e093b3c6dc3
+      initialization_checkpoint: /mnt/data/lcy/InternW0-Delta/runs/local_robot37_multiview_softprompt/robot37_rgbmix_exclude11_interndata6_softprompt_stvae150k_w224_b20_s256013_resume075000_mask75_lang70_save5000_20261007_01/checkpoints/weights/step_125000.pt
+      max_open_shards: 32
+      pair_binding_file: /mnt/data/lcy/fastwam_auxsignals/feature_cache/libero_dino110k_stvae150k_robot37_mean_t3_32gpu_20261005_01/JOINT96_PAIR_BINDING.json
+  video_size:
+  - 256
+  - 256
+  processor:
+    num_output_cameras: 3
+  sampling:
+    num_frames: 33
+    action_size: 32
+    action_video_freq_ratio: 4
+    memory_video_anchor_size: 0
+    memory_recent_frame_offset: 0
+model:
+  _target_: wam.model.factory.create_wam
+  model_id: Wan-AI/Wan2.2-TI2V-5B
+  tokenizer_model_id: Wan-AI/Wan2.1-T2V-1.3B
+  tokenizer_max_len: 128
+  load_text_encoder: false
+  proprio_dim: 80
+  redirect_common_files: true
+  mot_checkpoint_mixed_attn: true
+  mot_attention_backend: flex
+  mot_flex_block_size: 64
+  action_dit_pretrained_path: null
+  action_dit_use_interpolated_init: false
+  skip_dit_load_from_pretrain: false
+  video_dit_config:
+    has_image_input: false
+    patch_size:
+    - 1
+    - 2
+    - 2
+    in_dim: 96
+    hidden_dim: 3072
+    ffn_dim: 14336
+    freq_dim: 256
+    text_dim: 4096
+    out_dim: 96
+    num_heads: 24
+    attn_head_dim: 128
+    num_layers: 30
+    eps: 1.0e-06
+    seperated_timestep: true
+    require_clip_embedding: false
+    require_vae_embedding: false
+    fuse_vae_embedding_in_latents: true
+    use_gradient_checkpointing: true
+    video_attention_mask_mode: first_frame_causal
+    action_conditioned: false
+    action_dim: 80
+    action_group_causal_mask_mode: group_diagonal
+  action_dit_config:
+    training_time_rtc:
+      enabled: false
+      max_delay_steps: 16
+    action_dim: 80
+    hidden_dim: 1024
+    ffn_dim: 4096
+    num_heads: 24
+    attn_head_dim: 128
+    num_layers: 30
+    text_dim: 4096
+    freq_dim: 256
+    eps: 1.0e-06
+    use_gradient_checkpointing: true
+    num_embodiments: 28
+    soft_prompt_tokens: 8
+    embodiment_registry_path: /mnt/data/lcy/InternW0-Delta/configs/embodiment_registry/local_robot37_arm18_capacity28_v1.json
+  video_scheduler:
+    train_shift: 6.0
+    infer_shift: 6.0
+    num_train_timesteps: 1000
+  action_scheduler:
+    train_shift: 1.0
+    infer_shift: 1.0
+    num_train_timesteps: 1000
+  loss:
+    lambda_video: 1.0
+    lambda_action: 1.0
+  future_delta:
+    enabled: false
+    num_tokens: null
+    video_size:
+    - 256
+    - 256
+    num_views: 3
+    num_frames: 33
+    action_video_freq_ratio: 4
+    loss_weight: 0.5
+    semantic_alignment:
+      enabled: false
+      student_layer: 8
+      teacher_layer: 20
+      loss_weight: 0.1
+      max_sigma: 0.5
+  understanding:
+    enabled: false
+    vlm_model_path: checkpoints/RynnBrain1.1-2B
+    trust_remote_code: true
+    train_vlm: false
+    vlm_gradient_checkpointing: false
+    vlm_batch_size: 0
+    max_pixels: 65536
+    prompt_cache_size: 256
+    precompute_metadata: true
+    save_vlm_weights: null
+    interval_chunks: 1
+    prompt: null
+    default_view_layout: auto
+    default_view_names: ''
+  memory:
+    enabled: false
+    video:
+      enabled: false
+      num_anchor_frames: 0
+      num_recent_frames: 0
+      deduplicate_identical_anchor_batch: true
+  joint96_three_view: true
+  mot_checkpoint_layer_stride: 1
+  mot_flex_masked_batches: true
+  mot_flex_training_kernel_options:
+    fwd_BLOCK_M: 64
+    fwd_BLOCK_N: 64
+    fwd_num_stages: 2
+    bwd_BLOCK_M1: 64
+    bwd_BLOCK_N1: 64
+    bwd_BLOCK_M2: 64
+    bwd_BLOCK_N2: 64
+    bwd_num_stages: 2
+  distillation:
+    enabled: false
+  joint_visual_codec:
+    source_root: /mnt/data/lcy/FastWAM-AuxSignals-new
+    source_sha256: 337de222f09fe0340cdd2292bdae77f90cd0a619d2c6b30087fc8e093b3c6dc3
+    stvae_checkpoint_path: /mnt/data/lcy/InternW0-Delta/artifacts/robot37_stvae150k_20261003_v1/weights/step_150000_compat.pt
+    expected_stvae_step: 150000
+    dino_kwargs:
+      checkpoint_path: /mnt/data/wlb/starVLA/results/multi_teacher_distillation/ego_video_multi_teacher_distillation_vggt_init_mask_curriculum_legacy_stratified_views_aux256_resume35000/checkpoints/step_00110000.pt
+      checkpoint_state: ema_student
+      output_source: backbone
+      projection_mode: raw
+      projector_out_dim: 1024
+      projector_state_path: null
+      feature_norm_state_path: null
+      require_feature_norm: false
+      starvla_source_path: /mnt/data/lcy/FastWAM-AuxSignals-new/third_party/dino90k_runtime
+      dinov3_source_path: /mnt/data/lcy/FastWAM-AuxSignals-new/third_party/dino90k_runtime/dinov3
+      dinov3_source_commit: 6876159a11b4df116f30f667f8c9888617df0751
+      verify_source_commit: true
+      strict_load: true
+      image_size: 256
+      patch_size: 16
+local_robot_joint96:
+  enabled: false
+  expected_world_size: 192
+  require_deepspeed: true
+  smoke_mode: false
+  allow_audit_package: false
+  allow_smoke_norm: false
+  validation_seed: 20260928
+prefetch_factor: 1
+pin_memory: false
+min_learning_rate: 5.0e-07
+warmup_steps: null
+joint96_posttrain:
+  enabled: true
+  cached_visuals: true
+  expected_pretrain_step: 125000
+  action_video_attention: current_and_noisy_future_v1
+  libero_frame_contract: libero_osc_flu_b_identity_v1
+  libero_softprompt:
+    enabled: true
+    embodiment_id: 0
+init_checkpoint: /mnt/data/lcy/InternW0-Delta/runs/local_robot37_multiview_softprompt/robot37_rgbmix_exclude11_interndata6_softprompt_stvae150k_w224_b20_s256013_resume075000_mask75_lang70_save5000_20261007_01/checkpoints/weights/step_125000.pt
+length_bucketed_sampling: false
+local_robot_softprompt:
+  enabled: true
+  registry_path: /mnt/data/lcy/InternW0-Delta/configs/embodiment_registry/local_robot37_arm18_capacity28_v1.json
+  init_checkpoint: null
+  expected_init_step: null