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{
  "action_space": {
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    "public_axis_order": "manifest_native_[x,y]",
    "public_representation": "cumulative_meter_points",
    "roundtrip_tolerance_m": 1e-05,
    "route_decoder": "denormalize_delta_then_cumsum",
    "route_in_joint_flow": false,
    "route_internal_axis_order": "manifest_native_[dx,dy]",
    "route_internal_representation": "normalized_per_step_delta",
    "route_normalization": "train_delta_mean_std",
    "route_points": 20,
    "route_prediction": "deterministic_direct",
    "scene_decoder": "vae_logits_plus_p3_intent_time_joint_latent_residual",
    "stage3_legacy_action_io_loaded": false,
    "stats_artifact": "/mnt/nvme0n1/hqh_projects/unidrivevla-b2d-occwam-fullmot/Bench2Drive/projects/configs/occwam_fullmot_action_stats.json",
    "stats_artifact_sha256": "3ab2097ae6a0a67bcbdc83f73b0f30cf2670db5b9a6f89e97a3ebf909491edd3",
    "tfpp_condition": "fused_8x8_only",
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    "tfpp_p3_mot_condition_enabled": false,
    "tp3_trajectory_route_io_shared": false,
    "trajectory_decoder": "cumsum",
    "trajectory_in_joint_flow": true,
    "trajectory_internal_axis_order": "manifest_native_[dx,dy]",
    "trajectory_internal_representation": "normalized_per_step_delta",
    "trajectory_normalization": "train_delta_mean_std",
    "trajectory_points": 6,
    "trajectory_route_io_shared": false
  },
  "data": {
    "allow_batch_size_per_gpu_resume_change": true,
    "allow_route_keyframe_warm_start_lineage_upgrade": true,
    "allow_static_hazard_occ_warm_start_lineage_upgrade": true,
    "allow_yield_conditioner_warm_start_lineage_upgrade": false,
    "allow_yield_route_resume_lineage_upgrade": true,
    "batch_size_per_gpu": 4,
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    "formal_data_config": "/mnt/nvme0n1/hqh_projects/v42g_325_configs/formal_data_ds30_rebound.json",
    "num_workers": 4,
    "parking_exit_supplement_config": "/mnt/nvme0n1/hqh_projects/parking_exit_ds30/training_config.json",
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    "route_keyframe_repeat_factor": 2,
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      "MergerIntoSlowTrafficV2",
      "InterurbanActorFlow",
      "InterurbanAdvancedActorFlow",
      "EnterActorFlow",
      "SignalizedJunctionLeftTurn",
      "NonSignalizedJunctionLeftTurn"
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    "stop_sign_full_rows_sha256": "7fc89cd81267715dbfec40a2c305877b3f7840a3af0fc4e635a37191b5532117",
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    "validate_all_train_prefix_rows_on_rank0": false,
    "validation_batch_size": 8,
    "validation_batch_size_benchmark_candidates": [
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    "yield_route_recovery_repeat_factor": 1
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    "source": "standard_gaussian",
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      "tfpp_emergency_yield_classifier_perception_only": true,
      "tfpp_emergency_yield_context_dim": 128,
      "tfpp_emergency_yield_freeze_conditioner": false,
      "tfpp_emergency_yield_gate_route_residual": true,
      "tfpp_emergency_yield_gate_source": "learned_classifier",
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      "use_endpoint_planning_refiner": true,
      "use_endpoint_planning_route_refiner": false,
      "use_tfpp_direct_scene_prior": false,
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      "use_tfpp_p3_condition": true,
      "use_tfpp_p3_endpoint_planning_condition": true,
      "use_tfpp_p3_mot_condition": false,
      "use_tfpp_route_decoder_shortcut": true,
      "zero_initialize_flow_outputs": false
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    "minimum_component_coverage": 0.99,
    "precision": "bfloat16",
    "pretrained_path": "/mnt/nvme0n1/hqh_projects/qwen3vl_2b_new",
    "pretrained_weight_file": "model.safetensors",
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    "reset_flow_predictors_after_warm_start": false,
    "stage3_checkpoint": "/mnt/nvme0n1/hqh_projects/stage3_qwen3vlnew_merged.pt",
    "stage3_checkpoint_sha256": "42e2374619e03625006b0d3332ff8980107a7fb266ac47aa28a58673527a23b5",
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    "tfpp_emergency_head_checkpoint_sha256": "0ff5062a234f5919385957c4b46df8a10adcf09a88a427198e0e2e655b5935cb",
    "tfpp_route_decoder_checkpoint": "/mnt/nvme0n1/hqh_projects/carla-garage-b2d-occwam/work_dirs/occwam_b2d/profile_b_parking_mix/selected/checkpoint/model.pt",
    "tfpp_route_decoder_checkpoint_sha256": "6a60ac32b18ba33739997f2bc314d9dd550dc03aed40c1e6eec950389c7120e5",
    "tfpp_route_native_checkpoint": "/mnt/nvme0n1/hqh_projects/tfpp_pretrained/pretrained_models/all_towns/model_0030_1.pth",
    "tfpp_route_native_checkpoint_sha256": "0ff5062a234f5919385957c4b46df8a10adcf09a88a427198e0e2e655b5935cb",
    "vae_checkpoint": "/mnt/nvme1n1/occwam_training/scene_vae_static_hazard_deterministic_v4_20260720/selected_epoch02_class5bias_m1p4.pt",
    "vae_checkpoint_sha256": "007271376f93ca4e65f03c58995c9250d4ee91adfdc7333f3682d70966840346"
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  "optimizer": {
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    "betas": [
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    ],
    "endpoint_planning_lr": 3e-05,
    "eps": 1e-08,
    "expert_lr": 5e-06,
    "fused": true,
    "grad_clip_branch_norms": {
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      "occwam_action": 1,
      "occwam_perception": 5,
      "occwam_shared": 1,
      "p3_scene": 5,
      "perception_expert": 1,
      "route_shortcut": 5,
      "yield_route_residual": 5
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    "grad_clip_mode": "per_branch",
    "grad_clip_norm": 1,
    "gradient_accumulation_steps": 1,
    "new_layers_lr": 5e-05,
    "occwam_action_lr": 1e-05,
    "occwam_trajectory_lr": 1e-05,
    "p3_mot_lr": 3e-05,
    "p3_scene_lr": 0.0001,
    "route_output_lr": 5e-05,
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    "weight_decay": 0.01,
    "yield_conditioner_lr": 0.0001,
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  "runtime": {
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    "allow_endpoint_blend_weight_optimizer_resume_migration": true,
    "allow_endpoint_cross_attention_optimizer_resume_migration": false,
    "allow_flow_time_sampler_optimizer_resume_migration": true,
    "allow_parking_exit_supplement_removal_optimizer_resume_migration": false,
    "allow_stop_sign_repeat_optimizer_resume_migration": true,
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    "allow_trajectory_loss_optimizer_resume_migration": true,
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    "allow_yield_route_override_optimizer_resume_migration": false,
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    "checkpoint_keep_best": 3,
    "checkpoint_keep_interval": 2,
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    "early_stopping": {
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      "composite_weights": {
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    "gradient_checkpointing": true,
    "log_interval_steps": 20,
    "output_dir": "/mnt/nvme1n1/occwam_training/occrestore_v42g_exitmain_b2_7gpu_20260723",
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    "sampler_seed": 4396,
    "seed": 4396,
    "shadow_validation_samples": 2044,
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    "validation_subset_method": "sample_id_sha256_lowest_v1",
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  "schedule": {
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    "minimum_lr_ratio": 0.1,
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}