{
    "dataset": {
        "repo_id": "rockyshao22/Intrinsic_AI",
        "root": null,
        "episodes": null,
        "image_transforms": {
            "enable": true,
            "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": "pyav",
        "streaming": false
    },
    "env": null,
    "policy": {
        "type": "mlp_bc",
        "n_obs_steps": 1,
        "input_features": {
            "observation.state": {
                "type": "STATE",
                "shape": [
                    26
                ]
            },
            "observation.images.left_camera": {
                "type": "VISUAL",
                "shape": [
                    3,
                    256,
                    288
                ]
            },
            "observation.images.center_camera": {
                "type": "VISUAL",
                "shape": [
                    3,
                    256,
                    288
                ]
            },
            "observation.images.right_camera": {
                "type": "VISUAL",
                "shape": [
                    3,
                    256,
                    288
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    6
                ]
            }
        },
        "device": "cuda",
        "use_amp": false,
        "use_peft": false,
        "push_to_hub": false,
        "repo_id": null,
        "private": null,
        "tags": null,
        "license": null,
        "pretrained_path": null,
        "chunk_size": 1,
        "n_action_steps": 1,
        "image_resolution": [
            128,
            144
        ],
        "cnn_channels": [
            32,
            64,
            128,
            256
        ],
        "state_proj_dim": 128,
        "head_hidden_dim": 512,
        "head_layers": 2,
        "dropout": 0.1,
        "normalization_mapping": {
            "VISUAL": "MEAN_STD",
            "STATE": "MEAN_STD",
            "ACTION": "MEAN_STD"
        },
        "optimizer_lr": 0.0003,
        "optimizer_weight_decay": 1e-05,
        "optimizer_betas": [
            0.9,
            0.999
        ],
        "optimizer_grad_clip_norm": 1.0
    },
    "output_dir": "outputs/train/mlp_bc_20260504_135850",
    "job_name": "mlp_bc_20260504_135850",
    "resume": false,
    "seed": 42,
    "num_workers": 8,
    "batch_size": 64,
    "steps": 5000,
    "eval_freq": 0,
    "log_freq": 100,
    "tolerance_s": 0.0001,
    "save_checkpoint": true,
    "save_freq": 1000,
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "adamw",
        "lr": 0.0003,
        "weight_decay": 1e-05,
        "grad_clip_norm": 1.0,
        "betas": [
            0.9,
            0.999
        ],
        "eps": 1e-08
    },
    "scheduler": null,
    "eval": {
        "n_episodes": 50,
        "batch_size": 50,
        "use_async_envs": false
    },
    "wandb": {
        "enable": true,
        "disable_artifact": false,
        "project": "intrinsic-aic",
        "entity": "jeffrey-wei-yale",
        "notes": "MLP BC, vanilla single-step, dataset=rockyshao22/Intrinsic_AI",
        "run_id": "xuvq5k67",
        "mode": null
    },
    "peft": null,
    "use_rabc": false,
    "rabc_progress_path": null,
    "rabc_kappa": 0.01,
    "rabc_epsilon": 1e-06,
    "rabc_head_mode": "sparse",
    "rename_map": {},
    "checkpoint_path": null
}