{
  "checkpoint": "outputs/phase5_train_debug/run/best.pt",
  "dataset": "outputs/phase5_train_debug/cil",
  "group_id": "toy_pick_red_mug-s0000-07d8558fd93e",
  "instruction": "Pick up the red mug.",
  "prediction": {
    "action_chunk": {
      "action_id": "act-f59339b87f55c34c-task-bound",
      "horizon": 4,
      "metadata": {
        "bound_target": "red_mug",
        "source": "devectorized_toy_policy",
        "task_bound": true
      },
      "representation": "semantic",
      "skill_type": null,
      "values": [
        {
          "command": "move_to",
          "object": "red_mug",
          "position": [
            -0.05678968504071236,
            0.007661838084459305,
            0.022968538105487823
          ],
          "target": "red_mug"
        },
        {
          "command": "grasp",
          "object": "red_mug",
          "target": "red_mug"
        },
        {
          "command": "noop"
        },
        {
          "command": "noop"
        }
      ]
    },
    "mode": "model_policy",
    "model_config": {
      "action_dim": 8,
      "action_horizon": 4,
      "dropout": 0.0,
      "effect_dim": 32,
      "hidden_dim": 64,
      "intervention_dim": 128,
      "lang_dim": 64,
      "language_dim": null,
      "obs_dim": 32,
      "observation_dim": null,
      "skill_vocab_size": 32,
      "text_vocab_size": 4096
    }
  },
  "query_record_id": "rec-33249a76c7f96e9c002537e5",
  "task_id": "toy_pick_red_mug"
}