{
  "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
}