{
  "checkpoint": "/mnt/cpfs/licy/InternW0-Delta/checkpoints/policy/robot37_step_110000.pt",
  "pretrain_step": 110000,
  "new_global_step": 0,
  "weights_only": true,
  "new_parameters": [],
  "new_prompt_slot": 18,
  "new_prompt_initialization": "fresh_normal_std0.02_after_empty_parent_check",
  "action_space": {
    "version": "robocasa_gr1_canonical80_native_delta_slot18_v1",
    "world_axes": "source_world_A_identity",
    "ee_axes": "source_wrist_B_identity",
    "translation": "action_xyz[t]-state_xyz[t]",
    "rotation": "Log(state_R[t].T@action_R[t])",
    "rotation6d": "first_two_columns_concatenated",
    "source_action_offset": 0,
    "joint_hand_waist": "absolute_source_action",
    "controller": "absolute_joint29",
    "embodiment_id": 18
  }
}