{
    "dataset": {
        "repo_id": "Dicomsky/human_inloop_grasp",
        "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
    },
    "value": {
        "type": "pistar06",
        "n_obs_steps": 1,
        "input_features": {
            "observation.state": {
                "type": "STATE",
                "shape": [
                    6
                ]
            },
            "observation.images.top": {
                "type": "VISUAL",
                "shape": [
                    3,
                    480,
                    640
                ]
            },
            "observation.images.wrist": {
                "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": "Dicomsky/value_human_inloop_grasp",
        "private": null,
        "tags": null,
        "license": null,
        "pretrained_path": null,
        "vision_repo_id": "google/siglip-so400m-patch14-384",
        "language_repo_id": "google/gemma-3-270m",
        "vision_revision": null,
        "language_revision": null,
        "task_field": "task",
        "camera_features": [],
        "state_feature": "observation.state",
        "include_state_in_prompt": true,
        "max_state_dim": 32,
        "state_discretization_bins": 256,
        "target_key": "observation.value_target",
        "loss_weight_key": "observation.value_loss_weight",
        "task_index_feature": "task_index",
        "tokenizer_max_length": 200,
        "state_proj_dim": 512,
        "fusion_hidden_dim": 512,
        "fusion_num_layers": 2,
        "fusion_num_heads": 8,
        "num_bins": 201,
        "bin_min": -1.0,
        "bin_max": 0.0,
        "dropout": 0.1,
        "dtype": "bfloat16",
        "freeze_vision_encoder": true,
        "freeze_language_model": true,
        "use_gradient_checkpointing": false,
        "optimizer_lr": 5e-05,
        "optimizer_weight_decay": 1e-05,
        "optimizer_grad_clip_norm": 10.0,
        "scheduler_warmup_steps": 500,
        "scheduler_decay_steps": 8000,
        "scheduler_decay_lr": 1e-06,
        "normalization_mapping": {
            "VISUAL": "IDENTITY",
            "STATE": "QUANTILES",
            "ACTION": "IDENTITY"
        }
    },
    "env": null,
    "output_dir": "outputs/value_train/human_inloop_grasp",
    "job_name": "human_inloop_grasp",
    "resume": false,
    "seed": 1000,
    "num_workers": 4,
    "batch_size": 16,
    "steps": 8000,
    "log_freq": 200,
    "tolerance_s": 0.0001,
    "save_checkpoint": true,
    "save_freq": 4000,
    "use_value_training_preset": true,
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "adamw",
        "lr": 5e-05,
        "weight_decay": 1e-05,
        "grad_clip_norm": 10.0,
        "betas": [
            0.9,
            0.999
        ],
        "eps": 1e-08
    },
    "scheduler": {
        "type": "cosine_decay_with_warmup",
        "num_warmup_steps": 500,
        "num_decay_steps": 8000,
        "peak_lr": 5e-05,
        "decay_lr": 1e-06
    },
    "targets": {
        "success_field": "episode_success",
        "default_success": "failure",
        "c_fail_coef": 1.0,
        "target_field": "observation.value_target"
    },
    "wandb": {
        "enable": true,
        "disable_artifact": false,
        "project": "lerobot",
        "entity": null,
        "notes": null,
        "run_id": "yf2b7ime",
        "mode": null
    },
    "peft": null,
    "rename_map": {},
    "checkpoint_path": null
}