{
    "dataset": {
        "repo_id": "lerobot/pusht",
        "root": null,
        "episodes": null,
        "image_transforms": {
            "enable": true,
            "max_num_transforms": 3,
            "random_order": false,
            "tfs": {
                "affine": {
                    "weight": 1.0,
                    "type": "RandomAffine",
                    "kwargs": {
                        "degrees": [
                            -10,
                            10
                        ],
                        "translate": [
                            0.1,
                            0.1
                        ]
                    }
                }
            }
        },
        "revision": null,
        "use_imagenet_stats": true,
        "video_backend": "torchcodec",
        "streaming": false
    },
    "env": {
        "type": "pusht",
        "task": "PushT-v0",
        "fps": 10,
        "features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    2
                ]
            },
            "agent_pos": {
                "type": "STATE",
                "shape": [
                    2
                ]
            },
            "pixels": {
                "type": "VISUAL",
                "shape": [
                    384,
                    384,
                    3
                ]
            }
        },
        "features_map": {
            "action": "action",
            "agent_pos": "observation.state",
            "environment_state": "observation.environment_state",
            "pixels": "observation.image"
        },
        "max_parallel_tasks": 1,
        "disable_env_checker": true,
        "episode_length": 300,
        "obs_type": "pixels_agent_pos",
        "render_mode": "rgb_array",
        "visualization_width": 384,
        "visualization_height": 384,
        "observation_height": 384,
        "observation_width": 384
    },
    "policy": {
        "type": "act",
        "n_obs_steps": 1,
        "input_features": {
            "observation.image": {
                "type": "VISUAL",
                "shape": [
                    3,
                    96,
                    96
                ]
            },
            "observation.state": {
                "type": "STATE",
                "shape": [
                    2
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    2
                ]
            }
        },
        "device": "cuda",
        "use_amp": false,
        "use_peft": false,
        "push_to_hub": false,
        "repo_id": "lepao/act_pusht_dec7_lr2e5_chunk8act8_aug-aff_500k_cosine",
        "private": null,
        "tags": null,
        "license": null,
        "pretrained_path": null,
        "chunk_size": 8,
        "n_action_steps": 8,
        "normalization_mapping": {
            "VISUAL": "MEAN_STD",
            "STATE": "MEAN_STD",
            "ACTION": "MEAN_STD"
        },
        "vision_backbone": "resnet18",
        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
        "replace_final_stride_with_dilation": false,
        "pre_norm": false,
        "dim_model": 512,
        "n_heads": 8,
        "dim_feedforward": 3200,
        "feedforward_activation": "relu",
        "n_encoder_layers": 4,
        "n_decoder_layers": 7,
        "use_vae": true,
        "latent_dim": 32,
        "n_vae_encoder_layers": 4,
        "temporal_ensemble_coeff": null,
        "dropout": 0.1,
        "kl_weight": 10.0,
        "optimizer_lr": 1e-05,
        "optimizer_weight_decay": 0.0001,
        "optimizer_lr_backbone": 1e-05
    },
    "output_dir": "outputs/train/act_pusht_dec7_lr2e5_chunk8act8_aug-aff_500k_cosine",
    "job_name": "act_pusht_dec7_lr2e5_chunk8act8_aug-aff_500k_cosine",
    "resume": false,
    "seed": 1000,
    "num_workers": 4,
    "batch_size": 64,
    "steps": 500000,
    "eval_freq": 20000,
    "log_freq": 200,
    "tolerance_s": 0.0001,
    "save_checkpoint": true,
    "save_freq": 20000,
    "use_policy_training_preset": false,
    "optimizer": {
        "type": "adamw",
        "lr": 2e-05,
        "weight_decay": 0.0001,
        "grad_clip_norm": 10.0,
        "betas": [
            0.9,
            0.999
        ],
        "eps": 1e-08
    },
    "scheduler": {
        "type": "cosine_decay_with_warmup",
        "num_warmup_steps": 2000,
        "num_decay_steps": 500000,
        "peak_lr": 2e-05,
        "decay_lr": 2e-06
    },
    "eval": {
        "n_episodes": 50,
        "batch_size": 50,
        "use_async_envs": false
    },
    "wandb": {
        "enable": true,
        "disable_artifact": false,
        "project": "lerobot",
        "entity": null,
        "notes": null,
        "run_id": "vk8txk9k",
        "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
}