{
  "dataset": {
    "repo_id": "local/mujoco_pickplace_minimal",
    "root": "outputs/dataset",
    "episodes": 20,
    "fps": 30,
    "width": 256,
    "height": 256,
    "image_key": "top",
    "task": "Pick up the cube and place it on the goal marker.",
    "robot_type": "mujoco_pickplace_minimal",
    "base_height": 0.35,
    "seed": 7,
    "overwrite": true,
    "show_viewer": true
  },
  "viz": {
    "episode_index": 0
  },
  "train": {
    "output_dir": "outputs/train/act_mujoco_pickplace_minimal",
    "job_name": "act_mujoco_pickplace_minimal",
    "device": "mps",
    "batch_size": 4,
    "num_workers": 2,
    "steps": 5000,
    "save_freq": 1000,
    "log_freq": 10,
    "eval_freq": 0,
    "seed": 1000,
    "wandb_enable": false,
    "resume": false
  },
  "eval": {
    "policy_root": "",
    "episodes": 10,
    "max_steps": 120,
    "device": "cpu",
    "base_height": 0.35,
    "seed": 7,
    "show_viewer": true,
    "step_sleep": 0.15,
    "task": "Pick up the cube and place it on the goal marker.",
    "robot_type": "mujoco_pickplace_minimal"
  }
}