{
  "demonstration_config": "perceptual-keyframe-context.yaml",
  "use_demonstration": true,
  "prompt": "complete the task",
  "batch_size": 64,
  "num_train_steps": 50000,
  "peak_lr": 5e-05,
  "warmup_steps": 1000,
  "ema_decay": 0.999,
  "grad_clip": 1.0,
  "seed": 42,
  "fsdp_devices": 1,
  "log_interval": 50,
  "save_interval": 10000,
  "wandb": false,
  "lfo_max_demo_index": 79,
  "include_video_types": [
    "without_distraction"
  ],
  "paired_sampling": null,
  "keyframe_annotation_dir": "${ROBOREEL_DATA}/bpp_keyframe_annotations",
  "demo_cameras": [
    "front"
  ],
  "robot_cameras": [
    "base_camera",
    "hand_camera"
  ],
  "output_dir": "${ROBOREEL_CKPT}/nd/pi05_video_perceptual_context_bpp",
  "checkpoint_dir": "${OPENPI_DATA_HOME}/openpi-assets/checkpoints/pi05_base",
  "data_dir": "${ROBOREEL_DATA}",
  "tasks": [
    "bowl_in_plate",
    "close_drawer",
    "empty_basket",
    "open_lid",
    "pick_cube",
    "press_toaster",
    "push_cube",
    "stack_cups",
    "toys_in_basket",
    "toys_in_drawer"
  ]
}