{
  "data_root": "${ROBOREEL_DATA}",
  "samples_subdir": "postprocessed_robot_trajectories",
  "tasks": [
    "bowl_in_plate",
    "close_drawer",
    "empty_basket",
    "open_lid",
    "pick_cube",
    "press_toaster",
    "push_cube",
    "stack_cups",
    "toys_in_basket",
    "toys_in_drawer"
  ],
  "include_video_types": [
    "without_distraction"
  ],
  "max_demo_index": 79,
  "robot_camera": "base_camera",
  "image_size": 224,
  "num_prompt_frames": 16,
  "num_state_frames": 8,
  "chunk_size": 4,
  "num_bins": 256,
  "action_dim": 8,
  "batch_size": 32,
  "gradient_checkpointing": true,
  "grad_accum": 1,
  "learning_rate": 0.0003,
  "final_learning_rate": 1e-06,
  "warmup_steps": 2000,
  "weight_decay": 0.05,
  "num_train_steps": 50000,
  "save_interval": 10000,
  "log_interval": 100,
  "num_workers": 4,
  "fake_text": false,
  "output_dir": "${ROBOREEL_CKPT}/nd/vid2robot",
  "seed": 42
}