{
  "train_objects": [
    "A01005",
    "A01006",
    "A01010",
    "A01023",
    "A02014",
    "A02018",
    "A02028",
    "A02032",
    "A15027",
    "A16013",
    "A16026",
    "C10001",
    "C13001",
    "C14001",
    "C15001",
    "C25001",
    "C28001",
    "C37001",
    "C42001",
    "C43001",
    "C50001",
    "C51001",
    "C52001",
    "C90001",
    "O03002",
    "O36001",
    "O36002",
    "S10003",
    "S10005",
    "S10009",
    "S10010",
    "S10012",
    "S10014",
    "S10016",
    "S10018",
    "S10020",
    "S10021",
    "S10023",
    "S10024",
    "S15004",
    "S16001",
    "S16002",
    "S16003",
    "S16005",
    "S20022",
    "Y27035",
    "Y29040",
    "Y35037",
    "ycb_dex_01",
    "ycb_dex_03",
    "ycb_dex_04",
    "ycb_dex_05",
    "ycb_dex_14"
  ],
  "val_objects": [
    "A01001",
    "A01026",
    "A02029",
    "A16012",
    "C11001",
    "O24001",
    "S10002",
    "S10017",
    "S10022",
    "Y03006",
    "ycb_dex_09",
    "ycb_dex_13",
    "ycb_dex_15"
  ],
  "train_samples": 53,
  "val_samples": 13,
  "fc_lambda": 10.0,
  "version": "v5_multitask"
}