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GreenChallengeModel / training_state /composed_hydra_config.json
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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,
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"cognition_mode": "frozen_vlm_context_queries",
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"precision": "bfloat16",
"normalization_mode": "mean_std",
"model_mode": "flow_matching",
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],
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],
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"add_embodiment_name": true,
"num_steps": 10,
"n_action_steps": 50,
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"attention_implementation": "flash_attention_2",
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"is_knowledge_insulation": false,
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},
"policy": {
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"config": {
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"max_action_dim": 50,
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"cognition_mode": "frozen_vlm_context_queries",
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"precision": "bfloat16",
"normalization_mode": "mean_std",
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],
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],
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"mask_padded_actions": true,
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"suffix_attention_mask": "causal",
"attention_implementation": "flash_attention_2",
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"freeze_vision_encoder": false,
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"is_knowledge_insulation": false,
"ce_loss_weight": 0.5,
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"n_obs_steps": 1,
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"inputs_embeds_gradient_checkpointing": false
}
}
},
"image_augmentations": {
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"_target_": "torchvision.transforms.v2.Compose",
"transforms": [
{
"_target_": "torchvision.transforms.v2.Resize",
"size": [
448,
448
],
"antialias": true
},
{
"_target_": "torchvision.transforms.v2.RandomRotation",
"degrees": 1.0
},
{
"_target_": "torchvision.transforms.v2.RandomResizedCrop",
"size": [
448,
448
],
"scale": [
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],
"ratio": [
0.98,
1.02
],
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},
{
"_target_": "torchvision.transforms.v2.ColorJitter",
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"contrast": 0.08,
"saturation": 0.05,
"hue": 0.01
}
]
},
"wrist_camera": {
"_target_": "torchvision.transforms.v2.Compose",
"transforms": [
{
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"size": [
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],
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},
{
"_target_": "torchvision.transforms.v2.RandomRotation",
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{
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],
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1.0
],
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],
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},
{
"_target_": "torchvision.transforms.v2.ColorJitter",
"brightness": 0.06,
"contrast": 0.06,
"saturation": 0.04,
"hue": 0.01
}
]
}
},
"robotics_dataset": {
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"name": "scripted_simxr_20260904_s0s1_step1_state_action_subtasks_shared",
"repo_id": "scripted_simxr_20260904",
"data_configs": [
{
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"name": "scripted_vla_s0s1_step1_state_action_subtasks_shared",
"asset_id": "scripted_simxr_20260904_s0s1_step1_state_action_shared",
"repo_id": "scripted_vla",
"root_dir": "/mnt/datasets/iefremov/scripted/vla",
"assets": {
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"asset_id": "scripted_simxr_20260904_s0s1_step1_state_action_shared"
},
"action_sequence_keys": [
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],
"action_horizon": 50,
"action_offset": 0,
"action_sample_step": 1,
"control_mode": "joint",
"smooth_actions": true,
"has_velocities": true,
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"map_to_unified_space": false,
"map_to_closed_kinematic": true,
"input_kinematic_space": "open",
"model_kinematic_space": "closed",
"map_old_wrists_to_new": false,
"map_inspire_to_leadshipe": false,
"return_subtasks": true,
"return_subtasks_mode": "strict",
"prompt_from_subtask": true,
"exclude_negative_subtasks": false,
"base_config": {
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"local_files_only": true,
"prompt_from_task": false
}
},
{
"_target_": "lerobot.common.datasets.data_config.LeRobotHumanoidS0S1DataConfig",
"name": "simxr_merged_all_20260904_s0s1_step1_state_action_subtasks_shared",
"asset_id": "scripted_simxr_20260904_s0s1_step1_state_action_shared",
"repo_id": "simxr_merged_all_20260904",
"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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}
}
],
"weights": [
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]
},
"optimizer": {
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"lr": 5e-05,
"betas": [
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0.95
],
"eps": 1e-08,
"weight_decay": 1e-08,
"grad_clip_norm": 1.0
},
"scheduler": {
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"stable_phase_steps": 11851,
"num_decay_steps": 1971,
"peak_lr": 5e-05,
"decay_lr": 0.0
},
"training": {
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"num_workers": 16,
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"shuffle": true,
"seed": 42,
"resume": false,
"prefetch_factor": 4,
"output_dir": "/mnt/virtual_ai0001071-01239_SR006-nfs2/nerus/training_runs/postnikov_qwen35_08b_scripted_simxr_20260904_step1_verylight_state_action_subtasks_sharedstats_nogc_1epoch_fastkernels_32gpu_2026-09-05_00-02",
"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,
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"val_split": 0.03,
"val_freq": 14814,
"max_val_steps": 100,
"recompute_norm_stats": false,
"visualization": {
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"subplot_height": 3,
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},
"fsdp_keep_trainable_vlm_unsharded": false,
"validate_at_start": false,
"validation_batch_size": 1,
"kernel_prewarm": true,
"save_checkpoint": true
},
"logging": {
"clearml": {
"task": {
"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"
},
"logging": {
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},
"upload_method": "rclone",
"s3_output_uri": "s3://obs.ru-moscow-1.hc.sbercloud.ru:443/amr-usr-manip/checkpoints",
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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",
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"s0s1",
"step1",
"very-light-aug",
"no-history",
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"fast-kernels"
],
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"model_id": null
}