first_batch_report.json

{
  "action_dim_effective": 8,
  "batch_spec": {
    "action_effective_dim": 8,
    "action_horizon": 16,
    "action_order": [
      "action"
    ],
    "action_storage_dim": 32,
    "camera_order_effective": [
      "observation.images.guide",
      "observation.images.right_shoulder",
      "observation.images.wrist"
    ],
    "chunk_size": 16,
    "padded_action_dim": 32,
    "padded_state_dim": 64,
    "state_effective_dim": 16,
    "state_order": [
      "observation.state"
    ],
    "state_storage_dim": 32
  },
  "camera_order_effective": [
    "observation.images.guide",
    "observation.images.right_shoulder",
    "observation.images.wrist"
  ],
  "camera_set": "rgb",
  "dataset_len": 246793,
  "language_fallback_detected": false,
  "language_fallback_scan": {
    "all_paths": [],
    "detected": false,
    "processed_paths": [],
    "raw_paths": []
  },
  "method": "base",
  "phase": "phase2",
  "policy_type": "groot",
  "processed_action_shape": [
    64,
    16,
    32
  ],
  "processed_state_shape": [
    64,
    1,
    64
  ],
  "raw_action_shape": [
    64,
    16,
    8
  ],
  "raw_keys": [
    "action",
    "action.skill_id",
    "action_is_pad",
    "episode_index",
    "frame_index",
    "index",
    "next.reward",
    "observation.images.guide",
    "observation.images.right_shoulder",
    "observation.images.wrist",
    "observation.state",
    "task",
    "task_index",
    "timestamp"
  ],
  "raw_observation_state_shape": [
    64,
    16
  ],
  "raw_task_preview": [
    "Open the bottle following the guide.",
    "Open the bottle following the guide.",
    "Open the door following the guide."
  ],
  "script_name": "train_groot_insight_yaml.py",
  "state_dim_effective": 16,
  "task_prompt_mode": "non_guide",
  "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,
        816
      ]
    },
    "eagle_image_sizes": {
      "device": "cuda:0",
      "dtype": "torch.int64",
      "shape": [
        192,
        2
      ]
    },
    "eagle_input_ids": {
      "device": "cuda:0",
      "dtype": "torch.int64",
      "shape": [
        64,
        816
      ]
    },
    "eagle_pixel_values": {
      "device": "cuda:0",
      "dtype": "torch.float32",
      "shape": [
        192,
        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
      ]
    },
    "next.reward": {
      "device": "cuda:0",
      "dtype": "torch.float32",
      "shape": [
        64
      ]
    },
    "observation.state": {
      "device": "cuda:0",
      "dtype": "torch.float32",
      "shape": [
        64,
        16
      ]
    },
    "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
      ]
    }
  }
}