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Stream_uf_stack_cups
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{
  "run_id": "uf850_gran10_bs32x2_fixall",
  "run_root_dir": "results/Checkpoints/libero",
  "seed": 2026,
  "trackers": [
    "wandb"
  ],
  "wandb_entity": null,
  "wandb_project": "finetune-LIBERO",
  "is_debug": false,
  "framework": {
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    "qwenvl": {
      "base_vlm": "results/Checkpoints/qwen3_weights"
    },
    "action_model": {
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      "past_action_window_size": 0,
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      "lam_ckpt_path": "latent_action_model/logs/dino_large_vae/lam_release/checkpoints/pytorch_model.pt",
      "spec_condition_align_prob": 0.0,
      "rollout_align_prob": 1.0,
      "lam_yaml_path": "latent_action_model/logs/dino_large_vae/lam_release/dino_large_vae.yaml",
      "num_action_queries": 8,
      "flow_action_num_queries": 8,
      "perceptual_weight": 0.1,
      "latent_action_placeholder_token": "<ACT_PH>",
      "flow_only_mode": false,
      "enable_flow_h_t1_scheduled_sampling": false,
      "flow_h_t1_pred_prob_start": 0.0,
      "flow_h_t1_pred_prob_end": 1.0,
      "flow_h_t1_pred_ramp_steps": 10000,
      "detach_future_feature": true,
      "future_prediction": true,
      "enable_loss_distill": true,
      "lam_encoder_distill_weight": 0.1,
      "repeated_diffusion_steps": 2,
      "flow_cfg": {
        "action_dim": 32,
        "state_dim": 32,
        "use_state": false,
        "vlm_dim": 2048,
        "hidden_dim": 1024,
        "attention_heads": 16,
        "num_layers": 16,
        "num_target_vision_tokens": -1,
        "interleave_self_attention": true,
        "use_alternate_vldit": true,
        "attend_text_every_n_blocks": 2,
        "cfg_drop_prob": 0.0,
        "cfg_guidance_scale": 1.0,
        "num_inference_steps": 10,
        "num_timestep_buckets": 1000,
        "horizon_sec": 2.5,
        "noise_beta_alpha": 1.5,
        "noise_beta_beta": 1.0,
        "noise_s": 0.999,
        "token_independent_noise": false,
        "early_readout_loss_weight": 0.5,
        "log_flow_loss_per_group": 5,
        "use_action_positional_embeddings": true
      },
      "shared_tau_closedloop": true,
      "rollout_strict_executed_loss": true,
      "rollout_steer_grad": true,
      "rollout_one_window_aux": true,
      "rollout_nonexec_loss_weight": 0.25
    }
  },
  "datasets": {
    "vla_data": {
      "data_root_dir": "dataset",
      "data_mix": "uf850_stack_cups_20hz",
      "image_resolution": 256,
      "per_device_batch_size": 32,
      "val_tail_ratio": 0.01,
      "train_split_all": true,
      "video_backend": "pyav",
      "num_frames": 6,
      "enable_primary_video_aug": false,
      "enable_primary_random_resized_crop": false,
      "sec_chunk": 2.5,
      "target_action_hz": null,
      "enable_video_frame_cache": false,
      "state_on_frame_grid": false
    }
  },
  "trainer": {
    "max_train_steps": 25000,
    "num_warmup_steps": 1500,
    "save_interval": 5000,
    "eval_interval": 500,
    "eval_batches": 20,
    "learning_rate": {
      "base": 0.0001,
      "action_model": {
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        "modules": [
          "policy_backend.flow"
        ]
      },
      "world_model": {
        "lr": 0.0001,
        "modules": [
          "policy_backend.lam.decoder"
        ]
      },
      "vlm": {
        "lr": 0.0001,
        "modules": [
          "policy_backend.vlm"
        ]
      }
    },
    "lr_scheduler_type": "cosine_with_min_lr",
    "scheduler_specific_kwargs": {
      "min_lr": 5e-07
    },
    "freeze": {
      "freeze_vision_backbone": false,
      "freeze_llm_backbone": false,
      "keep_llm_first_n_layers": 16,
      "freeze_last_llm_layer": true,
      "freeze_embedding": true,
      "unfreeze_vision_merger": true,
      "unfreeze_llm_last_n_layers": -1,
      "unfreeze_lam_decoder": true
    },
    "logging_frequency": 100,
    "ema_decay": 0.0,
    "ema_warmup_steps": 0,
    "gradient_clipping": 1.0,
    "gradient_accumulation_steps": 1,
    "ddp_find_unused_parameters": false,
    "optimizer": {
      "betas": [
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        0.95
      ],
      "eps": 1e-08,
      "weight_decay": 1e-08
    },
    "pretrained_checkpoint": "results/Checkpoints/pretrain/lawam_pretrain/final_model/pytorch_model.pt",
    "load_pretrained_policy_flow": true,
    "use_pretrained_dataset_statistics": false
  },
  "output_dir": "results/Checkpoints/libero/20260804_041243+uf850_gran10_bs32x2_fixall",
  "log_dir": "results/Checkpoints/libero/20260804_041243+uf850_gran10_bs32x2_fixall/logs"
}