# Public Wall-X Qwen2.5 + LeRobot training template.
#
# Replace all /path/to/... values before launching training.
model_type: qwen2_5

task:
  dof_config:
    master_right_ee_cartesian_pos: 3
    master_right_ee_rotation: 3
    master_right_gripper: 1
  agent_pos_config:
    follow_right_ee_cartesian_pos: 3
    follow_right_ee_rotation: 3
    follow_right_gripper: 2
  action_horizon: 32
  action_horizon_flow: 32
  use_state_string_representation: false

model:
  backbone: qwen2_5
  config_path: workspace/models_config/qwen2_5_moe_flash.json
  processor_path: Qwen/Qwen2.5-VL-3B-Instruct
  pretrained_path: Qwen/Qwen2.5-VL-3B-Instruct
  attn_deterministic: true
  use_ema: false
  flow_loss_weight: 1.0
  enable_customized_robot_config: true
  customized_robot_config:
    name: your_robot
    customized_dof_config:
      action: 7
    customized_agent_pos_config:
      observation.state: 8

hyperparams:
  num_epoch: 100
  batch_size_per_gpu: 8
  gradient_accumulation_steps: 2
  seed: 10233
  optimizer:
    optimizer_type: dmuon
    learning_rate: 0.0001
    max_grad_norm: 1.0
    enable_grad_clip: true
    betas: [0.9, 0.95]
    weight_decay: 1.0e-8
    eps: 1.0e-8
  scheduler:
    scheduler_type: cosine
    num_warmup_steps: 1000
    num_training_steps: 64000000
    min_lr: 1.0e-5

distributed:
  use_fsdp: true
  use_mixed_precision: true
  bf16: true

data:
  dataset_type: lerobot
  lerobot_config:
    repo_id: /path/to/your/lerobot_dataset
    root: null
  key_mappings:
    camera:
      observation.images.image: face_view
      observation.images.image2: right_wrist_view
    state: observation.state
    action: action
  norm_stats_path: /path/to/your/norm_stats.json
  train_test_split: 0.95
  num_workers: 4
  resolution:
    face_view: 256
    left_wrist_view: 256
    right_wrist_view: 256

logging:
  log_name: wallx_lerobot_train
  log_project: wallx_public
  log_entity: null
  use_wandb: false
  log_interval: 10
  save_interval: 1000000
  val_interval: 1000000
  epoch_save_interval: 1

checkpoint:
  save_path: /path/to/output/checkpoints

debug:
  profile: false
  nvtx: false