{
    "dataset": {
        "repo_id": "Alkatt/so_101_PickStackSort_RedBlueCube",
        "root": null,
        "episodes": null,
        "image_transforms": {
            "enable": false,
            "max_num_transforms": 3,
            "random_order": false,
            "tfs": {
                "brightness": {
                    "weight": 1.0,
                    "type": "ColorJitter",
                    "kwargs": {
                        "brightness": [
                            0.8,
                            1.2
                        ]
                    }
                },
                "contrast": {
                    "weight": 1.0,
                    "type": "ColorJitter",
                    "kwargs": {
                        "contrast": [
                            0.8,
                            1.2
                        ]
                    }
                },
                "saturation": {
                    "weight": 1.0,
                    "type": "ColorJitter",
                    "kwargs": {
                        "saturation": [
                            0.5,
                            1.5
                        ]
                    }
                },
                "hue": {
                    "weight": 1.0,
                    "type": "ColorJitter",
                    "kwargs": {
                        "hue": [
                            -0.05,
                            0.05
                        ]
                    }
                },
                "sharpness": {
                    "weight": 1.0,
                    "type": "SharpnessJitter",
                    "kwargs": {
                        "sharpness": [
                            0.5,
                            1.5
                        ]
                    }
                },
                "affine": {
                    "weight": 1.0,
                    "type": "RandomAffine",
                    "kwargs": {
                        "degrees": [
                            -5.0,
                            5.0
                        ],
                        "translate": [
                            0.05,
                            0.05
                        ]
                    }
                }
            }
        },
        "revision": null,
        "use_imagenet_stats": true,
        "video_backend": "torchcodec",
        "streaming": false
    },
    "env": null,
    "policy": {
        "type": "lavla",
        "n_obs_steps": 1,
        "input_features": {
            "observation.state": {
                "type": "STATE",
                "shape": [
                    6
                ]
            },
            "observation.images.camera1": {
                "type": "VISUAL",
                "shape": [
                    3,
                    480,
                    640
                ]
            },
            "observation.images.camera2": {
                "type": "VISUAL",
                "shape": [
                    3,
                    480,
                    640
                ]
            },
            "observation.images.camera3": {
                "type": "VISUAL",
                "shape": [
                    3,
                    480,
                    640
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    6
                ]
            }
        },
        "device": "cuda",
        "use_amp": false,
        "use_peft": false,
        "push_to_hub": true,
        "repo_id": "Alkatt/LAVLA_PickStackSort_RedBlueCube_test",
        "private": null,
        "tags": null,
        "license": null,
        "pretrained_path": null,
        "s1_only": false,
        "s2_backend_type": "local",
        "s2_remote_server_ip": "0.0.0.0",
        "s2_remote_server_port": "0000",
        "s2_blocking_mode": false,
        "normalization_mapping": {
            "VISUAL": "MEAN_STD",
            "STATE": "MEAN_STD",
            "ACTION": "MEAN_STD"
        },
        "n_action_steps": 50,
        "chunk_size": 50,
        "max_action_dim": 6,
        "s1_freeze_vision_encoder": true,
        "s1_image_resolution": [
            256,
            256
        ],
        "s1_mlp_dim": 2048,
        "s1_embedding_dim": 1024,
        "s1_num_attention_heads": 8,
        "s1_num_layers": 8,
        "s1_flow_integration_steps": 10,
        "s1_efficient_net": "google/efficientnet-b0",
        "s1_add_action_pos_embeddings": true,
        "s2_vlm_model": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
        "s2_freeze_vlm": true,
        "optimizer_type": "linearwarmup_cosinedecay",
        "optimizer_lr": 0.0001,
        "optimizer_weight_decay": 1e-10,
        "optimzer_grad_clip_norm": 10,
        "optimizer_decay_lr": 2.5e-06,
        "optimizer_betas": [
            0.9,
            0.95
        ],
        "optimizer_eps": 1e-10
    },
    "output_dir": "drive/MyDrive/LAVLA_Training/LAVLA_PickStackSort_RedBlueCube_test",
    "job_name": "LAVLA_PickStackSort_RedBlueCube_test",
    "resume": false,
    "seed": 1000,
    "cudnn_deterministic": false,
    "num_workers": 4,
    "batch_size": 64,
    "steps": 10,
    "eval_freq": 20000,
    "log_freq": 200,
    "tolerance_s": 0.0001,
    "save_checkpoint": true,
    "save_freq": 25000,
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "adamw",
        "lr": 0.0001,
        "weight_decay": 1e-10,
        "grad_clip_norm": 10,
        "betas": [
            0.9,
            0.95
        ],
        "eps": 1e-10
    },
    "scheduler": {
        "type": "cosine_decay_with_warmup",
        "num_warmup_steps": 6000,
        "num_decay_steps": 200000,
        "peak_lr": 0.0001,
        "decay_lr": 2.5e-06
    },
    "eval": {
        "n_episodes": 50,
        "batch_size": 50,
        "use_async_envs": false
    },
    "wandb": {
        "enable": true,
        "disable_artifact": false,
        "project": "lerobot",
        "entity": null,
        "notes": null,
        "run_id": "x6wyp5w4",
        "mode": null,
        "add_tags": true
    },
    "peft": null,
    "use_rabc": false,
    "rabc_progress_path": null,
    "rabc_kappa": 0.01,
    "rabc_epsilon": 1e-06,
    "rabc_head_mode": "sparse",
    "rename_map": {},
    "checkpoint_path": null
}