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{
  "policy": {
    "policy_config": {
      "_target_": "lerobot.common.policies.qwen3vl_policy.configuration_qwen3vl_policy.Qwen3VLPolicyConfig",
      "max_state_dim": 50,
      "max_action_dim": 50,
      "base_vlm_model": "Qwen/Qwen3.5-0.8B",
      "cognition_mode": "frozen_vlm_context_queries",
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      ],
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        {
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        {
          "_target_": "torchvision.transforms.v2.RandomRotation",
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        {
          "_target_": "torchvision.transforms.v2.RandomResizedCrop",
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          "scale": [
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          "antialias": true
        },
        {
          "_target_": "torchvision.transforms.v2.ColorJitter",
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        "exclude_negative_subtasks": false,
        "base_config": {
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          "local_files_only": true,
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      },
      {
        "_target_": "lerobot.common.datasets.data_config.LeRobotHumanoidS0S1DataConfig",
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        "root_dir": "/mnt/virtual_ai0001071-01239_SR006-nfs2/iefremov/data/simxr_merged_all_20260904",
        "validation_episodes": "/mnt/virtual_ai0001071-01239_SR006-nfs2/iefremov/data/simxr_merged_all_20260904/meta/validation_episodes.json",
        "assets": {
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          "asset_id": "scripted_simxr_20260904_s0s1_step1_state_action_shared"
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        "model_kinematic_space": "closed",
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        "map_inspire_to_leadshipe": false,
        "return_subtasks": true,
        "return_subtasks_mode": "strict",
        "prompt_from_subtask": true,
        "exclude_negative_subtasks": false,
        "base_config": {
          "_target_": "lerobot.common.datasets.data_config.DataConfig",
          "local_files_only": true,
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        }
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    ],
    "weights": [
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  "optimizer": {
    "_target_": "lerobot.common.optim.optimizers.AdamWConfig",
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    "betas": [
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    "eps": 1e-08,
    "weight_decay": 1e-08,
    "grad_clip_norm": 1.0
  },
  "scheduler": {
    "_target_": "lerobot.common.optim.schedulers.WarmupStableDecaySchedulerConfig",
    "num_warmup_steps": 992,
    "stable_phase_steps": 11851,
    "num_decay_steps": 1971,
    "peak_lr": 5e-05,
    "decay_lr": 0.0
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  "training": {
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    "steps": 14814,
    "num_warmup_steps": 992,
    "num_decay_steps": null,
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    "num_workers": 16,
    "num_workers_validation": 8,
    "shuffle": true,
    "seed": 42,
    "resume": false,
    "prefetch_factor": 4,
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    "grad_accum_steps": 4,
    "find_unused_parameters": true,
    "use_fsdp": false,
    "use_fsdp2": true,
    "fsdp_sharding": "full",
    "gradient_checkpointing_enabled": false,
    "activation_offload_enabled": false,
    "activation_gpu_limit_gb": 0.0,
    "compile": false,
    "enable_validation": true,
    "use_validation_list": true,
    "val_split": 0.03,
    "val_freq": 14814,
    "max_val_steps": 100,
    "recompute_norm_stats": false,
    "visualization": {
      "plots_per_validation": 5,
      "subplot_height": 3,
      "subplot_width": 8
    },
    "fsdp_keep_trainable_vlm_unsharded": false,
    "validate_at_start": false,
    "validation_batch_size": 1,
    "kernel_prewarm": true,
    "save_checkpoint": true
  },
  "logging": {
    "clearml": {
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        "project_name": "Manipulation/2D Manipulation/lerobot",
        "task_name": "postnikov_qwen35_08b_scripted_simxr_20260904_step1_verylight_state_action_subtasks_sharedstats_nogc_1epoch_fastkernels_32gpu_2026-09-05_00-02",
        "task_type": "training"
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      "logging": {
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      "upload_method": "rclone",
      "s3_output_uri": "s3://obs.ru-moscow-1.hc.sbercloud.ru:443/amr-usr-manip/checkpoints",
      "keep_latest_local": 1
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  "research_ledger_mode": "ineligible",
  "run_name": "postnikov_qwen35_08b_scripted_simxr_20260904_step1_verylight_state_action_subtasks_sharedstats_nogc_1epoch_fastkernels_32gpu_2026-09-05_00-02",
  "tags": [
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    "qwen3.5",
    "qwen35-0.8b",
    "scripted-simxr-mix",
    "shared-norm-stats",
    "state-action-target",
    "next-state-target",
    "subtask-prompt",
    "no-gradient-checkpointing",
    "s0s1",
    "step1",
    "very-light-aug",
    "no-history",
    "from-scratch",
    "one-epoch",
    "fast-kernels"
  ],
  "assets_dir": "/mnt/virtual_ai0001071-01239_SR006-nfs2/nerus/assets_rl",
  "pretrained_path": null,
  "model_id": null
}