seed: 11

paths:
  model_dir: models/qwen2.5_0.5B_vl
  pai_raw_dir: data/raw/pai
  manifest: data/processed/overfit_manifest.jsonl
  stage1_dir: outputs/stage1_vlm
  stage2_dir: outputs/stage2_expert

vlm:
  repo_id: thkim0305/qwen2.5_0.5B_vl
  dtype: float16
  attn_implementation: eager
  max_reasoning_tokens: 48
  num_additional_image_tokens: 1

data:
  repo_id: nvidia/PhysicalAI-Autonomous-Vehicles
  num_clips: 1
  camera: camera_front_wide_120fov
  num_frames: 1
  history_steps: 8
  source_future_steps: 64
  expert_waypoints: 16
  time_step: 0.1

stage1:
  steps: 80
  learning_rate: 0.0001
  weight_decay: 0.0
  adam_epsilon: 0.0001
  freeze_vision_tower: true
  freeze_multimodal_projector: true
  train_last_n_language_layers: 8
  train_final_norm: true
  train_lm_head: false
  gradient_checkpointing: true
  log_every: 5

stage2:
  steps: 1000
  learning_rate: 0.0001
  weight_decay: 0.0
  adam_epsilon: 0.0001
  expert_hidden_size: 512
  expert_intermediate_size: 2432
  expert_num_layers: 24
  expert_num_attention_heads: 8
  expert_num_key_value_heads: 2
  expert_head_dim: 64
  expert_non_causal_attention: true
  action_projection_hidden_size: 256
  action_fourier_features: 20
  inference_steps: 10
  log_every: 50
  checkpoint_every: 50