{
  "run_id": "0119_QwenLatent_libero_bs64_addnorm_chunk15",
  "run_root_dir": "./runs",
  "seed": 42,
  "trackers": [
    "jsonl",
    "wandb"
  ],
  "wandb_entity": "timsty",
  "wandb_project": "vla_jepa",
  "is_debug": false,
  "framework": {
    "name": "QwenLatent",
    "qwenvl": {
      "base_vlm": "/data2/timsty/checkpoint/Qwen/Qwen3-VL-2B-Instruct",
      "attn_implementation": "flash_attention_2",
      "vl_hidden_dim": 2048,
      "num_data_tokens": 32
    },
    "action_model": {
      "ckpt_path": "/data2/timsty/code/LearnLatent/runs/0119_ActionModel_droid_furniture_libero_rt1_bridge_addnorm/final_model/pytorch_model.pt",
      "action_size": 32,
      "state_size": 32,
      "hidden_size": 1024,
      "intermediate_size": 3072,
      "dataset_vocab_size": 256,
      "num_data_tokens": 8,
      "mask_ratio": 0.25,
      "state_drop_prob": 0.5,
      "min_action_len": 5,
      "num_encoder_layers": 28,
      "num_decoder_layers": 28,
      "num_attention_heads": 16,
      "num_key_value_heads": 8,
      "head_dim": 128,
      "max_position_embeddings": 2048,
      "max_action_chunk_size": 50,
      "rms_norm_eps": 1e-06,
      "attention_dropout": 0.0,
      "use_vae_reparameterization": false
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  },
  "datasets": {
    "vla_data": {
      "dataset_py": "lerobot_datasets",
      "data_root_dir": "/data2/timsty/dataset/IPEC-COMMUNITY",
      "data_mix": "libero_all",
      "action_type": "delta_ee",
      "CoT_prompt": "Task: {instruction}. Robot State: {state_str}. What are the next {chunk_size} actions to take?",
      "default_image_resolution": [
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        224,
        224
      ],
      "per_device_batch_size": 64,
      "load_all_data_for_training": true,
      "obs": [
        "image_0"
      ],
      "image_size": [
        224,
        224
      ],
      "video_backend": "torchvision_av",
      "load_past": false,
      "load_future": false,
      "chunk_size": 15
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  },
  "trainer": {
    "epochs": 100,
    "max_train_steps": 10000,
    "num_warmup_steps": 500,
    "save_interval": 1000,
    "eval_interval": 50,
    "learning_rate": {
      "base": 5e-05,
      "qwen_vl_interface": 5e-05,
      "action_model": 5e-05
    },
    "lr_scheduler_type": "cosine_with_min_lr",
    "scheduler_specific_kwargs": {
      "min_lr": 5e-07
    },
    "freeze_modules": "",
    "loss_scale": {
      "align_loss": 1.0,
      "recon_loss": 0.1
    },
    "warmup_ratio": 0.1,
    "weight_decay": 0.0,
    "logging_frequency": 10,
    "gradient_clipping": 5.0,
    "gradient_accumulation_steps": 1,
    "optimizer": {
      "name": "AdamW",
      "betas": [
        0.9,
        0.95
      ],
      "eps": 1e-08,
      "weight_decay": 1e-08
    },
    "is_resume": false,
    "resume_epoch": null,
    "resume_step": null,
    "enable_gradient_checkpointing": true,
    "enable_mixed_precision_training": true
  },
  "output_dir": "./runs/0119_QwenLatent_libero_bs64_addnorm_chunk15"
}