File size: 2,643 Bytes
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"feature_type": "latent_student_spatial_kv",
"config": "configs/part3_rdt1b.yaml",
"root": "/workspace/ThinkFlow-RDT-1B/dataset/hf_parts/part_1",
"splits": [
"validation",
"train",
"test"
],
"datasets": [
"bc_z",
"bridge",
"droid",
"fractal",
"kuka"
],
"dataset_schedule": "round_robin",
"seed": 42,
"stage": null,
"stage_count": 3,
"droid_stage_count": 2,
"split_ratios": [
0.8,
0.1,
0.1
],
"max_samples_per_split": null,
"max_train_samples": null,
"max_validation_samples": null,
"max_test_samples": null,
"normalize_actions": true,
"action_target_mode": "delta",
"pred_horizon": 64,
"state_dim": 7,
"action_dim": 7,
"cache_state_dim": 7,
"cache_action_dim": 7,
"rdt_state_dim": 128,
"rdt_action_dim": 128,
"state_encoder_layout": "rdt_native_128",
"action_encoder_layout": "rdt_native_128",
"max_samples_per_episode": 32,
"require_exact_samples_per_episode": false,
"gripper_change_scope": "first_directional",
"open_to_close_before": 4,
"open_to_close_after": 4,
"close_to_open_before": 4,
"close_to_open_after": 4,
"student_model_id": "/workspace/model/LatentStudent-ckpt-400-fixed",
"processor_id": "/workspace/model/stage1_unsloth",
"spatial_parameters_path": null,
"latent_student_code_dir": "/workspace/VLA-FYP/train/stage2",
"latent_count": 6,
"spatial_token_count": 5,
"layer_index": 7,
"latent_student_contract": {
"hidden_size": 2560,
"num_hidden_layers": 32,
"num_key_value_heads": 4,
"head_dim": 256,
"layer_index": 7,
"layer_type": "full_attention",
"flattened_kv_dim": 2048,
"latent_count": 6,
"spatial_token_count": 5,
"end_think_token_id": 248069
},
"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_batch_size": 32,
"qwen_cache_scope": "per_sample",
"qwen_kv_granularity": "five_spatial_tokens_per_sample_step",
"include_t5": true,
"t5_model_id": "google/t5-v1_1-xxl",
"t5_precision": "bf16",
"save_padded_features": false,
"image_history_size": 2,
"max_images_per_sample": 6,
"image_storage_codec": "jpeg",
"image_storage_lossless": false,
"image_jpeg_quality": 90,
"cache_layout": "episode_pack",
"episode_shards_per_directory": 500,
"manifest_write_mode": "durable_per_episode"
}
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