{
  "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"
}