{
  "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"
}