# What to inspect. CLI flags override these.

model: lerobot/smolvla_base              # HuggingFace ID or local path
dataset: lerobot/svla_so101_pickplace    # SO101 pick-and-place dataset
episode: 0
num_frames: 8
device: cuda                             # auto | cpu | cuda | mps
task: null                               # override task/language instruction (default: from dataset)
output_dir: ./outputs/mthirumalai/
save_individual: true                   # true to also save each frame separately
image_map: null                        # dataset→policy image key mapping, e.g. "front=camera2,side=camera3"

# Attention analysis options
method: rollout                         # last-layer | rollout | all-layers
cross_attention: true                   # true to capture action-expert → vision cross-attention (slower)
show_heads: true                        # true to save a per-head attention grid for the first frame
raw_attention: true                     # true to skip positional baseline subtraction
attn_threshold: 0.5                    # percentile (0-1) below which attention values are zeroed

# Gradient-based attribution
gradient: both                         # null | saliency | gradcam | both
gradient_device: cuda                  # null (same as device) | cpu | cuda | mps
gradient_seed: 42                      # fixed noise seed for reproducible gradient attribution
smooth_grad: 20                        # SmoothGrad samples (1 = vanilla saliency, >1 = averaged)
smooth_grad_sigma: 0.15                # Gaussian noise std for SmoothGrad

# Extended attribution features
gradcam_connector: true
gradcam_vlm_layers: "4,8,12,16"
per_step_cross_attention: true
vision_vs_state: true
per_action_dim: true
language_diff: true

# Data export (for web viewer)
export_data: true                      # save structured .npz + JSON alongside PNGs
run_name: null                         # run folder name (default: timestamped run_YYYY-MM-DD_HH-MM-SS)

# Model internals report
internals_only: false
with_internals: true
internals_frames: 5
entropy_warn: 0.8
entropy_critical: 0.95
entropy_low: 0.1
redundancy_warn: 0.7
redundancy_critical: 0.9