_raw_data:
  dataset_type: lerobot
  key_mappings:
    action: action
    camera:
      observation.images.faceImg: face_view
      observation.images.leftImg: left_wrist_view
      observation.images.rightImg: right_wrist_view
    state: observation.state
  lerobot_config:
    repo_id: pick_paper_lerobot_mixed_v21_3cam
    root: /data1/students/huangyanpei/walloss_bag_to_lerobot_v3_3cam/pick_paper_lerobot_v3_3cam_mixed_v21
  max_length: 1024
  norm_stats_path: /data1/students/huangyanpei/walloss_bag_to_lerobot_v3_3cam/pick_paper_lerobot_v3_3cam_mixed_v21/norm_stats.json
  num_workers: 4
  resolution:
    face_view: 448
    left_wrist_view: 448
    right_wrist_view: 448
  train_test_split: 0.95
_raw_yaml:
  _attn_implementation: sdpa
  checkpoint:
    resume_from: /data5/students/huanghuagui/walloss_Tweak/migration/models/wall-oss-0.5/model.safetensors
    save_path: /data1/students/huangyanpei/walloss_bag_to_lerobot_v3_3cam/pick_paper_lerobot_v3_3cam_mixed_v21/output_weights_7d_H10
  data:
    dataset_type: lerobot
    key_mappings:
      action: action
      camera:
        observation.images.faceImg: face_view
        observation.images.leftImg: left_wrist_view
        observation.images.rightImg: right_wrist_view
      state: observation.state
    lerobot_config:
      repo_id: pick_paper_lerobot_mixed_v21_3cam
      root: /data1/students/huangyanpei/walloss_bag_to_lerobot_v3_3cam/pick_paper_lerobot_v3_3cam_mixed_v21
    max_length: 1024
    norm_stats_path: /data1/students/huangyanpei/walloss_bag_to_lerobot_v3_3cam/pick_paper_lerobot_v3_3cam_mixed_v21/norm_stats.json
    num_workers: 4
    resolution:
      face_view: 448
      left_wrist_view: 448
      right_wrist_view: 448
    train_test_split: 0.95
  debug:
    nvtx: false
    profile: false
  distributed:
    bf16: true
    use_fsdp: true
    use_mixed_precision: true
  hyperparams:
    batch_size_per_gpu: 8
    gradient_accumulation_steps: 8
    num_epoch: 6
    optimizer:
      betas:
      - 0.9
      - 0.95
      enable_grad_clip: true
      eps: 1.0e-08
      learning_rate: 5.0e-05
      max_grad_norm: 1.0
      optimizer_type: adamw
      weight_decay: 1.0e-08
    scheduler:
      min_lr: 1.0e-06
      num_training_steps: 3200
      num_warmup_steps: 200
      scheduler_type: cosine
    seed: 10222
  logging:
    epoch_save_interval: 1
    log_entity: null
    log_interval: 1
    log_name: pick_paper_3cam_mixed_lora
    log_project: null
    save_interval: 700
    use_wandb: false
    val_interval: 700
  model:
    ar_loss_weight: 0.01
    attn_deterministic: true
    backbone: qwen2_5
    config_path: /data5/students/huanghuagui/walloss_Tweak/migration/models/wall-oss-0.5/config.json
    flow_loss_weight: 1.0
    lora_config_path: /data5/students/huanghuagui/huangyanpei/wall-x/workspace/example/wall-oss-0.5-lora.json
    pretrained_path: /data5/students/huanghuagui/walloss_Tweak/migration/models/Qwen2.5-VL-3B-Instruct
    processor_path: /data5/students/huanghuagui/walloss_Tweak/migration/models/Qwen2.5-VL-3B-Instruct
    use_ema: false
  model_type: qwen2_5
  task:
    action_horizon: 10
    action_horizon_flow: 10
    agent_pos_config:
      action_padding: 19
      follow_right_ee_cartesian_pos: 3
      follow_right_ee_rotation: 3
      follow_right_gripper: 1
    ar_dof_config:
      action_padding: 19
      follow_right_ee_cartesian_pos_relative: 3
      follow_right_ee_rotation_relative: 3
      follow_right_gripper: 1
    dof_config:
      action_padding: 19
      follow_right_ee_cartesian_pos_relative: 3
      follow_right_ee_rotation_relative: 3
      follow_right_gripper: 1
    use_state_string_representation: false
checkpoint:
  resume_data: null
  resume_ema: null
  resume_from: /data5/students/huanghuagui/walloss_Tweak/migration/models/wall-oss-0.5/model.safetensors
  resume_model: null
  resume_optimizer: null
  resume_rng: null
  resume_scheduler: null
  resume_step: null
  save_path: /data1/students/huangyanpei/walloss_bag_to_lerobot_v3_3cam/pick_paper_lerobot_v3_3cam_mixed_v21/output_weights_7d_H10
  validate_first: false
data:
  action_tokenizer_path: null
  camera_name_mapping: null
  dataset_type: lerobot
  key_mappings:
    action: action
    camera:
      observation.images.faceImg: face_view
      observation.images.leftImg: left_wrist_view
      observation.images.rightImg: right_wrist_view
    state: observation.state
  lerobot_config:
    repo_id: pick_paper_lerobot_mixed_v21_3cam
    root: /data1/students/huangyanpei/walloss_bag_to_lerobot_v3_3cam/pick_paper_lerobot_v3_3cam_mixed_v21
  noise_scheduler: null
  norm_stats_path: /data1/students/huangyanpei/walloss_bag_to_lerobot_v3_3cam/pick_paper_lerobot_v3_3cam_mixed_v21/norm_stats.json
  normalizer_config: null
  num_workers: 4
  padding_side: left
  priority_order: null
  resolution:
    face_view: 448
    left_wrist_view: 448
    right_wrist_view: 448
  train_test_split: 0.95
  use_fast_tokenizer: false
dataset_path: null
debug:
  enable_mfu: false
  enable_mfu_profile: false
  nvtx: false
  profile: false
  profile_active_iters: 3
  profile_save_path: ./profile
  profile_wait_iters: 1
  profile_warmup_iters: 1
  save_debug_batch_path: null
  show_time_details: false
  visualize_sample: false
distributed:
  bf16: true
  broadcast_buffers: true
  bucket_cap_mb: 25
  find_unused_parameters: false
  fsdp_backward_prefetch: backward_pre
  fsdp_cpu_offload: false
  fsdp_forward_prefetch: false
  fsdp_hsdp_replicate_size: null
  fsdp_limit_all_gathers: true
  fsdp_reduce_dtype: bf16
  fsdp_save_policy: full
  fsdp_sharding_strategy: full_shard
  fsdp_sync_module_states: true
  fsdp_use_orig_params: true
  use_amp: false
  use_fsdp: true
  use_gradient_checkpointing: false
  use_gradient_checkpointing_offload: false
  use_mixed_precision: true
  use_selective_recompute: false
hyperparams:
  batch_size_per_gpu: 8
  gradient_accumulation_steps: 8
  num_epoch: 6
  optimizer:
    action_expert_learning_rate: null
    action_lr_keywords: null
    betas: !!python/tuple
    - 0.9
    - 0.95
    enable_grad_clip: true
    eps: 1.0e-08
    foreach: null
    fused: true
    learning_rate: 5.0e-05
    lr_groups: null
    max_grad_norm: 1.0
    optimizer_type: adamw
    train_action_expert_only: false
    weight_decay: 1.0e-08
  scheduler:
    min_lr: 1.0e-06
    num_training_steps: 3200
    num_warmup_steps: 200
    scheduler_type: cosine
  seed: 10222
logging:
  epoch_save_interval: 1
  gc_interval_steps: 1000
  ignore_until_interval: 0
  log_entity: null
  log_interval: 1
  log_name: pick_paper_3cam_mixed_lora
  log_project: null
  loss_log_smooth_window: 1
  save_interval: 700
  use_wandb: false
  val_interval: 700
  wandb_offline: false
model:
  action_tokenizer_checkpoint_path: null
  action_tokenizer_config_dir: null
  action_tokenizer_path: null
  action_tokenizer_type: null
  ar_loss_weight: 0.01
  attn_deterministic: true
  attn_implementation: null
  backbone: qwen2_5
  config_path: /data5/students/huanghuagui/walloss_Tweak/migration/models/wall-oss-0.5/config.json
  customized_robot_config: null
  enable_customized_robot_config: false
  flow_loss_weight: 1.0
  lora_config_path: /data5/students/huanghuagui/huangyanpei/wall-x/workspace/example/wall-oss-0.5-lora.json
  new_special_tokens: null
  pretrained_path: /data5/students/huanghuagui/walloss_Tweak/migration/models/Qwen2.5-VL-3B-Instruct
  processor_path: /data5/students/huanghuagui/walloss_Tweak/migration/models/Qwen2.5-VL-3B-Instruct
  use_ema: false
model_type: qwen2_5
task:
  action_horizon: 10
  action_horizon_flow: 10
  agent_pos_config:
    action_padding: 19
    follow_right_ee_cartesian_pos: 3
    follow_right_ee_rotation: 3
    follow_right_gripper: 1
  ar_dof_config:
    action_padding: 19
    follow_right_ee_cartesian_pos_relative: 3
    follow_right_ee_rotation_relative: 3
    follow_right_gripper: 1
  dof_config:
    action_padding: 19
    follow_right_ee_cartesian_pos_relative: 3
    follow_right_ee_rotation_relative: 3
    follow_right_gripper: 1
  noise_scheduler: null
  use_state_string_representation: false