| { |
| "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" |
| } |
|
|
