| { |
| "feature_type": "latent_student_spatial_kv", |
| "conditioning_variant": "b3", |
| "config": "configs/b2_rdt1b_lora.yaml", |
| "root": "dataset/datasets", |
| "splits": [ |
| "train", |
| "validation", |
| "test" |
| ], |
| "datasets": [ |
| "libero_spatial" |
| ], |
| "seed": 42, |
| "stage": null, |
| "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 normalized independently with shared travel min/max to [0,1]; raw HDF5 action command", |
| "max_samples_per_episode": null, |
| "all_samples_per_episode": true, |
| "gripper_window_before": 3, |
| "gripper_window_after": 3, |
| "gripper_change_scope": "directional", |
| "open_to_close_before": 10, |
| "open_to_close_after": 11, |
| "close_to_open_before": 10, |
| "close_to_open_after": 11, |
| "student_model_id": "/workspace/model/Latent-Student-Spatial-Forcing-fixed/", |
| "processor_id": "/workspace/model/stage1_unsloth", |
| "spatial_parameters_path": null, |
| "latent_count": 6, |
| "spatial_token_count": 5, |
| "layer_index": 7, |
| "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?", |
| "qwen_kv_dim": 2048, |
| "qwen_hidden_state_dim": 2560, |
| "waypoint_dim": 2, |
| "has_qwen_hidden_states": true, |
| "has_latent_waypoints": true, |
| "include_t5": true, |
| "t5_precision": "bf16", |
| "t5_batch_size": 32, |
| "cache_image_slots": true, |
| "image_history_size": 2, |
| "max_images_per_sample": 6, |
| "image_storage_codec": "raw_uint8", |
| "image_storage_lossless": true, |
| "image_storage_compressed": false, |
| "image_jpeg_quality": null, |
| "cache_layout": "sample_shard", |
| "batch_size": 32 |
| } |
|
|
