{
  "camera_order": [
    "observation.images.front",
    "observation.images.base",
    "observation.images.wrist"
  ],
  "cl_v2_fm_loss_weight": null,
  "cl_v2_loss_weight": null,
  "cl_v2_phase": null,
  "cl_v2_trainable_mode": null,
  "dataset_feature_action_shape": [
    9
  ],
  "dataset_feature_observation_state_shape": [
    9
  ],
  "full_train_first_batch": true,
  "language_fallback_detected": false,
  "language_fallback_scan": {
    "all_paths": [],
    "detected": false,
    "processed_paths": [],
    "raw_paths": []
  },
  "language_related_preview": {
    "processed.language": "make the top left drawer midway open",
    "processed.task": [
      "make the top left drawer midway open",
      "close the top drawer 75 percent open",
      "pull out the top left drawer fifty percent"
    ],
    "processed.task_index": {
      "preview": [
        59,
        85,
        164,
        368,
        249
      ],
      "shape": [
        64
      ]
    },
    "raw.task": [
      "make the top left drawer midway open",
      "close the top drawer 75 percent open",
      "pull out the top left drawer fifty percent"
    ],
    "raw.task_index": {
      "preview": [
        59,
        85,
        164,
        368,
        249
      ],
      "shape": [
        64
      ]
    }
  },
  "method": "base",
  "mgd_enabled": null,
  "mgd_fm_loss_weight": null,
  "mgd_loss_weight": null,
  "mgd_trainable_mode": null,
  "phase": "phase2",
  "policy_type": "groot",
  "processed_action_shape": [
    64,
    16,
    32
  ],
  "processed_language_preview": "make the top left drawer midway open",
  "processed_mask_shapes": {
    "action_is_pad": [
      64,
      16
    ],
    "action_mask": [
      64,
      16,
      32
    ],
    "eagle_attention_mask": [
      64,
      1343
    ],
    "state_mask": [
      64,
      1,
      64
    ]
  },
  "processed_state_shape": [
    64,
    1,
    64
  ],
  "raw_action_shape": [
    64,
    16,
    9
  ],
  "raw_keys": [
    "action",
    "action_is_pad",
    "episode_index",
    "frame_index",
    "index",
    "observation.ee_pose",
    "observation.images.base",
    "observation.images.front",
    "observation.images.left",
    "observation.images.wrist",
    "observation.images.wrist_bottom",
    "observation.state",
    "task",
    "task_index",
    "timestamp"
  ],
  "raw_observation_state_shape": [
    64,
    9
  ],
  "raw_task_preview": [
    "make the top left drawer midway open",
    "close the top drawer 75 percent open",
    "pull out the top left drawer fifty percent"
  ],
  "rkd_loss_weight": null,
  "script_name": "train_groot_arnold_yaml.py",
  "train_batch_tensor_report": {
    "action": {
      "device": "cuda:0",
      "dtype": "torch.float32",
      "shape": [
        64,
        16,
        32
      ]
    },
    "action_is_pad": {
      "device": "cuda:0",
      "dtype": "torch.bool",
      "shape": [
        64,
        16
      ]
    },
    "action_mask": {
      "device": "cuda:0",
      "dtype": "torch.bool",
      "shape": [
        64,
        16,
        32
      ]
    },
    "eagle_attention_mask": {
      "device": "cuda:0",
      "dtype": "torch.int64",
      "shape": [
        64,
        1343
      ]
    },
    "eagle_image_sizes": {
      "device": "cuda:0",
      "dtype": "torch.int64",
      "shape": [
        320,
        2
      ]
    },
    "eagle_input_ids": {
      "device": "cuda:0",
      "dtype": "torch.int64",
      "shape": [
        64,
        1343
      ]
    },
    "eagle_pixel_values": {
      "device": "cuda:0",
      "dtype": "torch.float32",
      "shape": [
        320,
        3,
        224,
        224
      ]
    },
    "embodiment_id": {
      "device": "cuda:0",
      "dtype": "torch.int64",
      "shape": [
        64
      ]
    },
    "episode_index": {
      "device": "cuda:0",
      "dtype": "torch.int64",
      "shape": [
        64
      ]
    },
    "index": {
      "device": "cuda:0",
      "dtype": "torch.int64",
      "shape": [
        64
      ]
    },
    "observation.ee_pose": {
      "device": "cuda:0",
      "dtype": "torch.float32",
      "shape": [
        64,
        7
      ]
    },
    "observation.state": {
      "device": "cuda:0",
      "dtype": "torch.float32",
      "shape": [
        64,
        9
      ]
    },
    "state": {
      "device": "cuda:0",
      "dtype": "torch.float32",
      "shape": [
        64,
        1,
        64
      ]
    },
    "state_mask": {
      "device": "cuda:0",
      "dtype": "torch.bool",
      "shape": [
        64,
        1,
        64
      ]
    },
    "task_index": {
      "device": "cuda:0",
      "dtype": "torch.int64",
      "shape": [
        64
      ]
    }
  }
}