{
  "data_root": "${ROBOREEL_DATA}",
  "annotations": null,
  "pretrained": "lerobot/pi05_base",
  "output_dir": "${ROBOREEL_CKPT}/nd/lerobot_pi05_fft_vlm",
  "robot_cameras": [
    "base_camera",
    "hand_camera"
  ],
  "include_video_types": [
    "without_distraction"
  ],
  "paired_sampling": null,
  "max_demo_index": 79,
  "batch_size": 32,
  "num_train_steps": 50000,
  "lr": 2.5e-05,
  "num_workers": 8,
  "num_stats_samples": 5000,
  "save_interval": 10000,
  "log_interval": 50,
  "device": "cuda:0",
  "dtype": "bfloat16",
  "gradient_checkpointing": true,
  "train_expert_only": true,
  "seed": 42,
  "state_dim": 8,
  "action_dim": 8,
  "chunk": 20,
  "variant": "vlm",
  "training_method": "fft"
}