{
  "run_id": "robotwin_clean_implicit_jepa_b200x8_full_20260708_212013",
  "run_root_dir": "results",
  "seed": 42,
  "wandb_entity": "livion",
  "wandb_project": "m2w-vla",
  "is_debug": false,
  "framework": {
    "name": "QwenSubtaskM2W_robotwin_phs",
    "qwenvl": {
      "base_vlm": "playground/Pretrained_models/Qwen3-VL-4B-Instruct",
      "attn_implementation": "sdpa",
      "vl_hidden_dim": 2048
    },
    "reasoning": {
      "cot_reasoning_mode": "implicit_query",
      "latent_cot_num_queries": 16,
      "qwen_action_context_mode": "exclude_cot_prompt",
      "lambda_cot": 0.1,
      "generate_cot_at_inference": false,
      "inference_cot_max_new_tokens": 96,
      "inference_cot_use_cache": true,
      "inference_empty_cache": false
    },
    "vjepa2": {
      "hub_repo": "facebookresearch/vjepa2:main",
      "hub_model": "vjepa2_1_vit_large_384",
      "hub_source": "github",
      "num_frames": 8,
      "image_size": 224
    },
    "jepa_predictor": {
      "prediction_view": "wrist",
      "num_wrist_views": 2,
      "dropout": 0.0,
      "use_jepa_loss": true,
      "lambda_jepa": 0.2,
      "jepa_predictor_depth": 4,
      "jepa_predictor_num_heads": 8,
      "jepa_predictor_bf16_autocast": true,
      "jepa_predictor_activation_checkpointing": true,
      "view_embed_init_std": 0.02
    },
    "policy_context": {
      "use_state": false,
      "wrist_action_context_tokens": 32,
      "wrist_action_context_heads": 8,
      "wrist_action_context_layers": 1,
      "detach_wrist_action_context": true
    },
    "action_model": {
      "action_model_type": "DiT-B",
      "gradient_checkpointing": true,
      "action_hidden_dim": 1024,
      "hidden_size": 1024,
      "add_pos_embed": true,
      "max_seq_len": 1024,
      "action_dim": 14,
      "state_dim": 14,
      "action_horizon": 16,
      "future_action_window_size": 15,
      "past_action_window_size": 0,
      "noise_beta_alpha": 1.5,
      "noise_beta_beta": 1.0,
      "noise_s": 0.999,
      "num_timestep_buckets": 1000,
      "num_inference_timesteps": 4,
      "num_target_vision_tokens": 32,
      "diffusion_model_cfg": {
        "cross_attention_dim": 2560,
        "dropout": 0.2,
        "final_dropout": true,
        "interleave_self_attention": true,
        "norm_type": "ada_norm",
        "num_layers": 16,
        "output_dim": 1024,
        "positional_embeddings": null
      }
    }
  },
  "datasets": {
    "vla_data": {
      "dataset_py": "subtask_m2w_robotwin_phs_datasets",
      "data_root_dir": "playground/Datasets/RoboTwin",
      "data_mix": "robotwin_clean_h16",
      "action_type": "abs_qpos",
      "action_mode": "abs",
      "per_device_batch_size": 16,
      "load_all_data_for_training": true,
      "video_backend": "torchvision_av",
      "num_workers": 3,
      "prefetch_factor": 2,
      "include_state": false,
      "image_size": [
        224,
        224
      ],
      "obs_image_size": [
        224,
        224
      ],
      "jepa_prediction_view": "wrist",
      "num_wrist_views": 2,
      "vlm_include_wrist_view": true,
      "wrist_history_frames": 8,
      "load_wrist_future_views": true,
      "future_wrist_k": 16,
      "future_wrist_small_gap": 2,
      "subtask_label_dir": "playground/Datasets/subtask_m2w_labels_robotwin_qwen3vl32b_full_2500_repair_candidate_v13_style_unify_20260707",
      "cot_prompt_version": "robotwin_tri_v1",
      "CoT_prompt": "Your task is: {instruction} Observation: using the current high camera, left wrist camera, and right wrist camera images, identify the robot's current manipulation step.\nOutput exactly:\nSubtask: ...\nReasoning: ...\nWrist: left=...; right=...\nDo not add extra text.",
      "qwen_image_augmentation": true,
      "qwen_image_augmentation_prob": 0.25,
      "qwen_image_augmentation_strength": 0.5
    }
  },
  "trainer": {
    "max_train_steps": 150000,
    "num_warmup_steps": 5000,
    "is_resume": false,
    "pretrained_checkpoint": null,
    "reload_modules": null,
    "resume_optimizer_state": true,
    "train_qwen_vl": true,
    "find_unused_parameters": false,
    "save_interval": 10000,
    "eval_interval": 1000,
    "logging_frequency": 100,
    "repeated_diffusion_steps": 8,
    "learning_rate": {
      "base": 2.5e-05,
      "jepa_predictor": 5e-05,
      "wrist_context_adapter": 5e-05,
      "action_model": 0.0001,
      "vlm": 1e-05
    },
    "lr_scheduler_type": "cosine_with_min_lr",
    "scheduler_specific_kwargs": {
      "min_lr": 1e-06
    },
    "gradient_clipping": 1.0,
    "gradient_accumulation_steps": 1,
    "optimizer": {
      "name": "AdamW",
      "betas": [
        0.9,
        0.95
      ],
      "eps": 1e-08,
      "weight_decay": 1e-08
    }
  },
  "output_dir": "results/robotwin_clean_implicit_jepa_b200x8_full_20260708_212013"
}