{
    "dataset": {
        "repo_id": "LSY-lab/stack_v3",
        "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
                        ]
                    }
                }
            }
        },
        "revision": null,
        "use_imagenet_stats": true,
        "video_backend": "torchcodec"
    },
    "env": null,
    "policy": {
        "type": "ditflow",
        "n_obs_steps": 2,
        "normalization_mapping": {
            "VISUAL": "MEAN_STD",
            "STATE": "MIN_MAX",
            "ACTION": "MIN_MAX"
        },
        "input_features": {
            "observation.images.primary": {
                "type": "VISUAL",
                "shape": [
                    3,
                    256,
                    256
                ]
            },
            "observation.images.wrist": {
                "type": "VISUAL",
                "shape": [
                    3,
                    256,
                    256
                ]
            },
            "observation.state.cartesian": {
                "type": "STATE",
                "shape": [
                    6
                ]
            },
            "observation.state.gripper": {
                "type": "STATE",
                "shape": [
                    1
                ]
            },
            "observation.state.joints": {
                "type": "STATE",
                "shape": [
                    7
                ]
            },
            "observation.state.sensors_ft_sensor": {
                "type": "STATE",
                "shape": [
                    6
                ]
            },
            "observation.state.sensors_tactile_sensor": {
                "type": "STATE",
                "shape": [
                    15
                ]
            },
            "observation.state.target": {
                "type": "STATE",
                "shape": [
                    6
                ]
            },
            "observation.state": {
                "type": "STATE",
                "shape": [
                    41
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    7
                ]
            }
        },
        "device": "cuda",
        "use_amp": false,
        "push_to_hub": true,
        "repo_id": "danielsanjosepro/ditflow_stack_v3_1",
        "private": null,
        "tags": null,
        "license": null,
        "horizon": 16,
        "n_action_steps": 8,
        "use_proprioceptive": true,
        "drop_n_last_frames": 7,
        "vision_backbone": "resnet18",
        "crop_shape": [
            224,
            224
        ],
        "crop_is_random": true,
        "pretrained_backbone_weights": null,
        "use_group_norm": true,
        "spatial_softmax_num_keypoints": 32,
        "use_separate_rgb_encoder_per_camera": true,
        "frequency_embedding_dim": 256,
        "hidden_dim": 512,
        "num_blocks": 6,
        "num_heads": 16,
        "dropout": 0.1,
        "dim_feedforward": 4096,
        "activation": "gelu",
        "training_noise_sampling": "uniform",
        "clip_sample": true,
        "clip_sample_range": 1.0,
        "num_inference_steps": 100,
        "do_mask_loss_for_padding": false,
        "optimizer_lr": 0.0001,
        "optimizer_betas": [
            0.95,
            0.999
        ],
        "optimizer_eps": 1e-08,
        "optimizer_weight_decay": 1e-06,
        "scheduler_name": "cosine",
        "scheduler_warmup_steps": 500,
        "features_to_exclude": [
            "observation.images.tactile"
        ],
        "features_to_include": null
    },
    "output_dir": "outputs/train/2025-12-13/10-42-35_config/train_stack_v3.json",
    "job_name": "config/train_stack_v3.json",
    "resume": false,
    "seed": 1000,
    "num_workers": 4,
    "batch_size": 128,
    "steps": 10000,
    "eval_freq": 1000,
    "log_freq": 100,
    "save_checkpoint": true,
    "save_freq": 5000,
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "adam",
        "lr": 0.0001,
        "weight_decay": 1e-06,
        "grad_clip_norm": 10.0,
        "betas": [
            0.95,
            0.999
        ],
        "eps": 1e-08
    },
    "scheduler": {
        "type": "diffuser",
        "num_warmup_steps": 500,
        "name": "cosine"
    },
    "eval": {
        "n_episodes": 50,
        "batch_size": 50,
        "use_async_envs": false
    },
    "wandb": {
        "enable": true,
        "disable_artifact": false,
        "project": "policies",
        "entity": null,
        "notes": null,
        "run_id": "0cz4mb6n",
        "mode": null
    }
}