{
    "dataset": {
        "repo_id": "leledeyuan/hanging-tshirt",
        "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": [
                            0.8,
                            1.2
                        ]
                    }
                },
                "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": [
                            0.0,
                            0.0
                        ],
                        "translate": [
                            0.0,
                            0.0
                        ]
                    }
                }
            }
        },
        "revision": null,
        "use_imagenet_stats": true,
        "video_backend": "torchcodec",
        "streaming": false
    },
    "env": null,
    "policy": {
        "type": "factphase",
        "n_obs_steps": 1,
        "input_features": {
            "observation.state": {
                "type": "STATE",
                "shape": [
                    27
                ]
            },
            "observation.images.front": {
                "type": "VISUAL",
                "shape": [
                    3,
                    480,
                    640
                ]
            },
            "observation.images.top": {
                "type": "VISUAL",
                "shape": [
                    3,
                    480,
                    640
                ]
            },
            "observation.images.wrist_l": {
                "type": "VISUAL",
                "shape": [
                    3,
                    480,
                    640
                ]
            },
            "observation.images.wrist_r": {
                "type": "VISUAL",
                "shape": [
                    3,
                    480,
                    640
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    16
                ]
            }
        },
        "device": "cuda",
        "use_amp": false,
        "push_to_hub": true,
        "repo_id": "mixed_fact",
        "private": null,
        "tags": null,
        "license": null,
        "pretrained_path": null,
        "normalization_mapping": {
            "VISUAL": "MEAN_STD",
            "STATE": "MEAN_STD",
            "ACTION": "MEAN_STD"
        },
        "vision_backbone": "resnet18",
        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
        "pretrained_fact_path": "/home/dayuan/nas/models/fact_flatten_exp_mixed/checkpoints/500000/pretrained_model",
        "dim_model": 512,
        "feedforward_activation": "relu",
        "class_nums": [
            16287,
            13287,
            16287,
            16287,
            16287,
            25687,
            25687,
            25687,
            600,
            13000,
            27344
        ],
        "pred_topk": 1,
        "wrench_dim": 12,
        "phase_num": 11,
        "main_task_num": 2,
        "dropout": 0.1,
        "optimizer_lr": 0.0001,
        "optimizer_weight_decay": 1e-06,
        "optimizer_lr_backbone": 1e-05,
        "optimizer_betas": [
            0.95,
            0.999
        ],
        "optimizer_eps": 1e-08,
        "scheduler_name": "cosine",
        "scheduler_warmup_steps": 500
    },
    "output_dir": "/home/dayuan/nas/models/fact_phase_main",
    "job_name": "fact_phase",
    "resume": false,
    "seed": 1000,
    "num_workers": 16,
    "batch_size": 128,
    "steps": 20000,
    "eval_freq": 0,
    "log_freq": 100,
    "save_checkpoint": true,
    "save_freq": 1000,
    "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": true,
        "project": "lerobot",
        "entity": null,
        "notes": null,
        "run_id": "jl3u57gf",
        "mode": null
    },
    "checkpoint_path": null,
    "rename_map": {}
}