Align pi0.7 minimal structure with paper

configs/overfit.yaml

@@ -19,11 +19,9 @@ data:
 model:
   patch_size: 16
   d_model: 96
-  mem_d_model: 64
-  goal_d_model: 64
-  high_level_d_model: 64
   n_heads: 4
   n_layers: 3
+  memory_layers: 2
   mlp_ratio: 3
   dropout: 0.0
   max_text_tokens: 96
@@ -34,14 +32,12 @@ model:
 memory:
   enabled: true
   history_frames: 6
+  history_dropout: 0.3
   ambiguous_pair_weight: 0.25
 
 goal:
   enabled: true
-  heatmap_size: 32
-  heatmap_sigma: 1.5
-  xy_extent: [-8.0, 64.0, -16.0, 16.0]
-  endpoint_only_target: true
+  target: future_observation_proxy
 
 high_level:
   enabled: true
@@ -54,10 +50,11 @@ high_level:
     - control
 
 steering:
-  metadata_dropout: 0.25
-  preserve_task_prompt: true
-  cfg_training_dropout: 0.25
-  cfg_beta: 2.0
+  subgoal_probability: 0.25
+  subtask_dropout_with_goal: 0.3
+  metadata_full_dropout: 0.15
+  metadata_component_dropout: 0.05
+  cfg_beta: 1.7
 
 rtc:
   enabled: true
@@ -68,10 +65,10 @@ rtc:
 flow:
   timestep_beta_alpha: 1.5
   timestep_beta_beta: 1.0
-  integration_steps: 10
+  integration_steps: 5
 
 train:
-  goal_steps: 300
+  goal_steps: 800
   high_level_steps: 200
   policy_steps: 900
   batch_size: 5
@@ -86,7 +83,8 @@ train:
 
 evaluation:
   fixed_noise_seed: 1
-  cfg_betas: [0.0, 1.0, 2.0]
+  goal_flow_steps: 10
+  cfg_betas: [0.0, 1.3, 1.7, 2.2]
   ablations:
     - full
     - no_metadata