{
    "dataset": {
        "repo_id": "chomeed/robocasa365_pretrain_drydishes",
        "root": null,
        "episodes": null,
        "image_transforms": {
            "enable": false,
            "max_num_transforms": 3,
            "random_order": false,
            "tfs": {
                "brightness": {
                    "weight": 1.0,
                    "type": "ColorJitter",
                    "kwargs": {
                        "brightness": [
                            0.8,
                            1.2
                        ]
                    }
                },
                "contrast": {
                    "weight": 1.0,
                    "type": "ColorJitter",
                    "kwargs": {
                        "contrast": [
                            0.8,
                            1.2
                        ]
                    }
                },
                "saturation": {
                    "weight": 1.0,
                    "type": "ColorJitter",
                    "kwargs": {
                        "saturation": [
                            0.5,
                            1.5
                        ]
                    }
                },
                "hue": {
                    "weight": 1.0,
                    "type": "ColorJitter",
                    "kwargs": {
                        "hue": [
                            -0.05,
                            0.05
                        ]
                    }
                },
                "sharpness": {
                    "weight": 1.0,
                    "type": "SharpnessJitter",
                    "kwargs": {
                        "sharpness": [
                            0.5,
                            1.5
                        ]
                    }
                },
                "affine": {
                    "weight": 1.0,
                    "type": "RandomAffine",
                    "kwargs": {
                        "degrees": [
                            -5.0,
                            5.0
                        ],
                        "translate": [
                            0.05,
                            0.05
                        ]
                    }
                }
            }
        },
        "revision": null,
        "use_imagenet_stats": true,
        "video_backend": "torchcodec",
        "return_uint8": false,
        "depth_output_unit": "mm",
        "streaming": false,
        "eval_split": 0.0
    },
    "env": {
        "type": "robocasa",
        "task": "DryDishes",
        "fps": 20,
        "features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    12
                ]
            },
            "pixels/robot0_agentview_left": {
                "type": "VISUAL",
                "shape": [
                    256,
                    256,
                    3
                ]
            },
            "pixels/robot0_eye_in_hand": {
                "type": "VISUAL",
                "shape": [
                    256,
                    256,
                    3
                ]
            },
            "pixels/robot0_agentview_right": {
                "type": "VISUAL",
                "shape": [
                    256,
                    256,
                    3
                ]
            },
            "agent_pos": {
                "type": "STATE",
                "shape": [
                    16
                ]
            }
        },
        "features_map": {
            "action": "action",
            "agent_pos": "observation.state",
            "pixels/robot0_agentview_left": "observation.images.robot0_agentview_left",
            "pixels/robot0_eye_in_hand": "observation.images.robot0_eye_in_hand",
            "pixels/robot0_agentview_right": "observation.images.robot0_agentview_right"
        },
        "max_parallel_tasks": 1,
        "disable_env_checker": true,
        "episode_length": 1000,
        "obs_type": "pixels_agent_pos",
        "render_mode": "rgb_array",
        "camera_name": "robot0_agentview_left,robot0_eye_in_hand,robot0_agentview_right",
        "observation_height": 256,
        "observation_width": 256,
        "visualization_height": 512,
        "visualization_width": 512,
        "split": null,
        "obj_registries": [
            "objaverse",
            "lightwheel"
        ]
    },
    "policy": {
        "type": "multi_task_dit",
        "n_obs_steps": 2,
        "input_features": {
            "observation.images.robot0_eye_in_hand": {
                "type": "VISUAL",
                "shape": [
                    3,
                    256,
                    256
                ]
            },
            "observation.images.robot0_agentview_left": {
                "type": "VISUAL",
                "shape": [
                    3,
                    256,
                    256
                ]
            },
            "observation.images.robot0_agentview_right": {
                "type": "VISUAL",
                "shape": [
                    3,
                    256,
                    256
                ]
            },
            "observation.state": {
                "type": "STATE",
                "shape": [
                    16
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    12
                ]
            }
        },
        "device": "cuda",
        "use_amp": false,
        "use_peft": false,
        "push_to_hub": true,
        "repo_id": "chomeed/multitask-dit-dry-dishes",
        "private": null,
        "tags": null,
        "license": null,
        "pretrained_path": null,
        "pretrained_revision": null,
        "horizon": 32,
        "n_action_steps": 24,
        "objective": "diffusion",
        "noise_scheduler_type": "DDPM",
        "num_train_timesteps": 100,
        "beta_schedule": "squaredcos_cap_v2",
        "beta_start": 0.0001,
        "beta_end": 0.02,
        "prediction_type": "epsilon",
        "clip_sample": true,
        "clip_sample_range": 1.0,
        "num_inference_steps": null,
        "sigma_min": 0.0,
        "num_integration_steps": 100,
        "integration_method": "euler",
        "timestep_sampling_strategy": "beta",
        "timestep_sampling_s": 0.999,
        "timestep_sampling_alpha": 1.5,
        "timestep_sampling_beta": 1.0,
        "hidden_dim": 512,
        "num_layers": 6,
        "num_heads": 8,
        "dropout": 0.1,
        "use_positional_encoding": false,
        "timestep_embed_dim": 256,
        "use_rope": true,
        "rope_base": 10000.0,
        "vision_encoder_name": "openai/clip-vit-base-patch16",
        "use_separate_rgb_encoder_per_camera": false,
        "vision_encoder_lr_multiplier": 0.1,
        "image_resize_shape": null,
        "image_crop_shape": [
            224,
            224
        ],
        "image_crop_is_random": true,
        "text_encoder_name": "openai/clip-vit-base-patch16",
        "tokenizer_max_length": 77,
        "tokenizer_padding": "max_length",
        "tokenizer_padding_side": "right",
        "tokenizer_truncation": true,
        "normalization_mapping": {
            "VISUAL": "MEAN_STD",
            "STATE": "MIN_MAX",
            "ACTION": "MIN_MAX"
        },
        "optimizer_lr": 2e-05,
        "optimizer_betas": [
            0.95,
            0.999
        ],
        "optimizer_eps": 1e-08,
        "optimizer_weight_decay": 0.0,
        "scheduler_name": "cosine",
        "scheduler_warmup_steps": 0,
        "do_mask_loss_for_padding": false,
        "drop_n_last_frames": 7
    },
    "reward_model": null,
    "output_dir": "/home/chomeed/workspace/hdr_robot/train_ckpts/policy_learning/multi_task_dit/dry_dishes_smoke",
    "job_name": "robocasa_multi_task_dit",
    "resume": false,
    "seed": 1000,
    "cudnn_deterministic": false,
    "num_workers": 4,
    "batch_size": 32,
    "prefetch_factor": 4,
    "persistent_workers": true,
    "dataloader_multiprocessing_context": "spawn",
    "steps": 100,
    "env_eval_freq": 50,
    "log_freq": 10,
    "eval_steps": 0,
    "max_eval_samples": 0,
    "tolerance_s": 0.0001,
    "save_checkpoint": true,
    "save_freq": 100,
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "adam",
        "lr": 2e-05,
        "weight_decay": 0.0,
        "grad_clip_norm": 10.0,
        "betas": [
            0.95,
            0.999
        ],
        "eps": 1e-08
    },
    "scheduler": {
        "type": "diffuser",
        "num_warmup_steps": 0,
        "name": "cosine"
    },
    "eval": {
        "n_episodes": 1,
        "batch_size": 1,
        "use_async_envs": false,
        "recording": false,
        "recording_repo_id": null,
        "recording_private": false
    },
    "wandb": {
        "enable": false,
        "disable_artifact": false,
        "project": "lerobot",
        "entity": null,
        "notes": null,
        "run_id": null,
        "mode": null,
        "add_tags": true
    },
    "peft": null,
    "job": {
        "target": null,
        "image": "huggingface/lerobot-gpu:latest",
        "timeout": "2d",
        "detach": false,
        "tags": []
    },
    "save_checkpoint_to_hub": false,
    "sample_weighting": null,
    "rename_map": {},
    "checkpoint_path": null
}