File size: 2,398 Bytes
59c593f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 | {
"config": "configs/b0_rdt1b_lora.yaml",
"root": "dataset/datasets",
"splits": [
"train",
"validation",
"test"
],
"datasets": [
"libero_spatial"
],
"seed": 42,
"stage": null,
"stage_unit": "sampled_timestep",
"stage_count": 3,
"droid_stage_count": 2,
"batch_size": 32,
"episode_batch_size": 1,
"episode_prefetch_size": 0,
"async_write_workers": 0,
"max_pending_writes": 32,
"max_samples_per_episode": null,
"require_exact_samples_per_episode": false,
"allow_short_episode_datasets": [],
"all_samples_per_episode": true,
"gripper_change_scope": "directional",
"open_to_close_before": 10,
"open_to_close_after": 11,
"close_to_open_before": 10,
"close_to_open_after": 11,
"normalize_actions": false,
"action_target_mode": "delta",
"state_dim": 9,
"action_dim": 7,
"proprioception_schema": "libero_joint7_gripper2_norm01_action7_v1",
"state_encoder_layout": "libero_ortho6d",
"action_encoder_layout": "libero_ortho6d",
"gripper_processing": "two-finger qpos min/max normalized to [0,1]; raw HDF5 action command",
"feature_set": "qwen_t5",
"cache_layout": "sample_shards",
"episode_shards_per_directory": 0,
"qwen_cache_scope": "per_sample",
"qwen_kv_granularity": "one_kv_per_sample_step",
"qwen_anchors_per_episode": 2,
"qwen_stop_at_think": true,
"qwen_enable_thinking": false,
"qwen_include_hidden_state": true,
"qwen_hidden_state_dim": 2560,
"qwen_think_token_selector": "think_end",
"conditioning_variant": "b0",
"qwen_image_source": "primary_current_frame",
"qwen_trajectory_prompt_template": "You are a robot manipulation assistant. Given an observation image and a task instruction, predict the end-effector's 2D trajectory as 5 waypoints. Output ONLY the coordinate list in this exact format: [[x1,y1],[x2,y2],[x3,y3],[x4,y4],[x5,y5]]\n\nTask: The task is {task}. What is the trajectory that the end effector should take?",
"image_history_size": 2,
"max_images_per_sample": 6,
"image_storage_codec": "png",
"image_storage_lossless": true,
"image_jpeg_quality": null,
"feature_storage": "compact_valid_tokens",
"qwen_model_id": "/workspace/model/stage1_unsloth",
"qwen_processor_id": "/workspace/model/stage1_unsloth",
"qwen_layer_index": 7,
"t5_model_id": "google/t5-v1_1-xxl",
"t5_precision": "bf16",
"siglip_model_id": "google/siglip-so400m-patch14-384"
}
|