{
  "schema_version": 1,
  "prepared_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/output/NEW/stacking_cup/cache/prepared/State_LastCommand_Joint/bspline",
  "task_instruction": "Stack the cups.",
  "precision": "bf16",
  "binary_gripper": true,
  "gripper_threshold": 0.3,
  "expected": {
    "architecture": "bsp_unet_fm",
    "action_representation": "bspline",
    "observation_horizon": 1,
    "state_dim": 14,
    "camera_keys": [
      "observation.images.global",
      "observation.images.hand"
    ]
  }
}