{
  "global_step": 10000,
  "effective_global_batch": 32,
  "pretrained_model": "robotics-diffusion-transformer/rdt-1b",
  "model_report": {
    "trainable": 1207875712,
    "total": 1244332160,
    "percentage": 97.07019964829969,
    "finetune_mode": "full",
    "qwen_fusion": "hidden_cross_attention",
    "plan_conditioning_trainable": true,
    "rdt_state_dim": 128,
    "state_adaptor_frozen": true,
    "condition_adaptors_frozen": true,
    "language_adaptor_frozen": true,
    "image_adaptor_frozen": true,
    "native_state_encoder": true,
    "native_action_encoder": true,
    "action_adaptor_trainable": false,
    "lora_target_count": 0,
    "pretrained": null,
    "base_artifact": {
      "format": "upstream_libero_rdt_ema",
      "checkpoint": "output_3/checkpoints/RDT-1B-LIBERO-Base/ema/model.safetensors",
      "loaded_tensors": 618,
      "loaded_runner_interfaces": [
        "lang_adaptor",
        "img_adaptor",
        "state_adaptor"
      ],
      "reinitialized_tensors": [],
      "adapted_tensors": [
        "model.lang_cond_pos_embed"
      ],
      "shape_mismatches": {
        "model.lang_cond_pos_embed": [
          [
            1,
            1024,
            2048
          ],
          [
            1,
            128,
            2048
          ]
        ]
      }
    }
  },
  "horizon_loss_weights": null,
  "mask_noisy_gripper_input": true,
  "training_objective": {
    "horizon_loss_weights": null,
    "mask_noisy_gripper_input": true,
    "xyz_loss_weight": 0.0,
    "gripper_bce_weight": 1.0,
    "gripper_bce_logit_scale": 5.0,
    "rotation_geodesic_weight": 0.0,
    "qwen_fusion_loss_weight": 0.5,
    "qwen_fusion_loss_margin": 0.002
  },
  "config": {
    "seed": 42,
    "rdt_repo": "/home/ubuntu/RoboticsDiffusionTransformer",
    "pretrained_model": "robotics-diffusion-transformer/rdt-1b",
    "output_dir": "/workspace/ThinkFlow-RDT-1B/output_2/libero_spatial_b0_hidden_from_libero_base_10k",
    "model": {
      "action_dim": 128,
      "state_dim": 128,
      "pred_horizon": 64,
      "qwen_hidden_size": 2560,
      "qwen_kv_dim": 2048,
      "lang_token_dim": 4096,
      "img_token_dim": 1152,
      "max_lang_tokens": 128,
      "image_tokens": 4374,
      "hidden_size": 2048,
      "depth": 28,
      "num_heads": 32,
      "dtype": "bfloat16",
      "lang_adaptor": "mlp2x_gelu",
      "img_adaptor": "mlp2x_gelu",
      "state_adaptor": "mlp3x_gelu",
      "copy_pretrained_final_fc1": true,
      "gradient_checkpointing": false,
      "finetune_mode": "full",
      "qwen_fusion": "hidden_cross_attention",
      "conditioning_variant": "b0",
      "spatial_token_count": 1,
      "waypoint_dim": 2,
      "waypoint_embed_dim": 64,
      "rdt_state_dim": 128,
      "freeze_state_adaptor": true,
      "freeze_condition_adaptors": true,
      "freeze_language_adaptor": null,
      "freeze_image_adaptor": null,
      "state_encoder_layout": "rdt_native_128",
      "action_encoder_layout": "rdt_native_128",
      "native_rdt_128_mapping": "libero_joint_eef_delta",
      "convert_cached_gripper_closed_to_open": false,
      "allow_random_frozen_state_adaptor": false,
      "pretrained_copy_mode": "compatible",
      "cache_state_dim": 9,
      "cache_action_dim": 7
    },
    "lora": {
      "rank": 32,
      "alpha": 64,
      "dropout": 0.05,
      "target_self_attention": true,
      "target_cross_attention": true,
      "target_ffn": true,
      "train_final_layer": true
    },
    "noise_scheduler": {
      "num_train_timesteps": 1000,
      "num_inference_timesteps": 5,
      "beta_schedule": "squaredcos_cap_v2",
      "prediction_type": "sample",
      "clip_sample": false
    },
    "data": {
      "train_manifest": "/workspace/ThinkFlow-RDT-1B/output_2/libero_spatial_b0_hidden_from_libero_base_10k/manifests/train_manifest.jsonl",
      "val_manifest": "/workspace/ThinkFlow-RDT-1B/output_2/libero_spatial_b0_hidden_from_libero_base_10k/manifests/val_manifest.jsonl",
      "num_workers": 4,
      "pin_memory": true,
      "persistent_workers": true,
      "excluded_dataset_ids": [],
      "episode_aware_shuffle": true,
      "shuffle_validation": false,
      "stratified_validation": true,
      "action_stats_paths": null
    },
    "training": {
      "max_steps": 10000,
      "micro_batch_size": 8,
      "gradient_accumulation_steps": 4,
      "learning_rate_lora": 0.0001,
      "learning_rate_interfaces": 0.0001,
      "weight_decay_interfaces": 0.01,
      "warmup_steps": 500,
      "max_grad_norm": 1.0,
      "log_every": 10,
      "validate_every": 500,
      "save_every": 1000,
      "validation_batches": 8,
      "sample_validation_batches": 1,
      "mixed_precision": "bf16",
      "report_to": "wandb",
      "global_batch_size": 32,
      "learning_rate": 0.0001,
      "wandb_project": "ThinkLite B0 LIBERO",
      "wandb_run_name": "libero-spatial-b0-hidden-10k",
      "validation_seed": 12345,
      "validation_samples": 256,
      "skip_nonfinite_updates": true,
      "max_consecutive_nonfinite_updates": 10,
      "log_gradient_stats": true,
      "qualitative_validation_examples": 32,
      "validation_batch_size": 32,
      "sampled_validation_horizons": [
        10
      ],
      "qwen_fusion_loss_weight": 0.5,
      "qwen_fusion_loss_margin": 0.002,
      "conditioning_warmup_steps": 0,
      "conditioning_warmup_fusion_loss_weight": null,
      "learning_rate_rdt_backbone": 0.0001,
      "learning_rate_rdt_cross_attention": 0.0001,
      "learning_rate_plan_projector": 0.0001,
      "conditioning_warmup_cross_attention_learning_rate": 0.0001
    }
  },
  "segment_stop_step": 10000,
  "conditioning_interface": {
    "type": "hidden_cross_attention",
    "cached_kv_retained_but_unused": true,
    "spatial_token_count": 1,
    "qwen_hidden_size": 2560,
    "rdt_condition_dim": 2048,
    "qwen_token_selector": "think_end",
    "conditioning_variant": "b0"
  }
}