DATALOADER:
  ROBOVERSE:
    cfg_opts: IMAGE.crop_img:0.875:IMAGE.img_size:224:IMAGE.cam_list:('3p1','3p2')
    cfg_path: configs/roboverse/realworld.yaml
    convert_ori_act_to_delta_act: false
  batch_size: 24
  num_workers: 8
EXP:
  AMP: true
  DATASET: roboverse
  EXP_ID: spa_bench_review
  LOSS: {}
  LR_SCHED: cosine_anneal
  MODEL: qwen
  OPTIMIZER: adamw
  SEED: 0
EXP_EXTRA:
  no_test: true
  no_track: true
  no_val: true
  save_ckp: 1
  save_last_ckpt: true
  test_eval_freq: 1
  val_eval_freq: 1
LR_SCHED:
  lr_clip: 1.0e-08
  lr_decay_factor: 0.5
  lr_patience: 4
MODEL:
  QWEN:
    action_mask_aug_per: 0.4
    action_type: original
    add_vision_id: true
    attention_dropout: 0.0
    grad_checkpoint: true
    history: 1
    horizon: 8
    include_state: true
    lora_config: default
    lora_rank: 8
    num_bins_actions: 1000
    num_cam: 2
    num_demo_frames: 0
    original_action_dim: 6
    qwen_model_id: Qwen/Qwen2.5-VL-3B-Instruct
    rgb_img_size:
    - 224
    - 224
    rgb_input: true
    tiled_rgb_imgs: true
    use_flash_attention_2: false
    use_lora: false
    use_qlora: false
TRAIN:
  clip_grad_norm: 1.0
  demo_cache_refresh_steps: 50
  l2: 0.01
  lr: 5.0e-06
  num_epochs: 16