{
    "dataset": {
        "repo_id": "lilkm/stackblocks_recap_all_for_vf",
        "root": null,
        "episodes": null,
        "image_transforms": {
            "enable": false,
            "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",
        "return_uint8": false,
        "depth_output_unit": "mm",
        "streaming": false,
        "eval_split": 0.0
    },
    "env": null,
    "policy": null,
    "reward_model": {
        "type": "distributional_value_function",
        "input_features": {},
        "output_features": {},
        "device": "cuda",
        "pretrained_path": null,
        "pretrained_revision": null,
        "push_to_hub": true,
        "repo_id": "lilkm/vf_stackblocks_iter1_v2",
        "license": null,
        "tags": null,
        "private": null,
        "paligemma_variant": "gemma_2b",
        "num_hidden_layers": 6,
        "num_vision_layers": 13,
        "num_value_bins": 201,
        "value_support_min": -1.0,
        "value_support_max": 0.0,
        "hl_gauss_sigma_ratio": 5.0,
        "target_method": "hl_gauss",
        "use_one_hot_terminal": true,
        "image_resolution": [
            224,
            224
        ],
        "tokenizer_max_length": 64,
        "init_from_actor_path": "lerobot/pi05_base",
        "normalization_mapping": {
            "VISUAL": "IDENTITY",
            "STATE": "IDENTITY"
        }
    },
    "output_dir": "outputs/vf_stackblocks_iter1_v2",
    "job_name": "vf_stackblocks_v2",
    "resume": false,
    "seed": 1000,
    "cudnn_deterministic": false,
    "num_workers": 4,
    "batch_size": 32,
    "prefetch_factor": 4,
    "persistent_workers": true,
    "steps": 20000,
    "env_eval_freq": -1,
    "log_freq": 50,
    "eval_steps": 0,
    "max_eval_samples": 0,
    "tolerance_s": 0.0001,
    "save_checkpoint": true,
    "save_freq": 5000,
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "adamw",
        "lr": 0.0003,
        "weight_decay": 0.0001,
        "grad_clip_norm": 1.0,
        "betas": [
            0.9,
            0.999
        ],
        "eps": 1e-08
    },
    "scheduler": {
        "type": "cosine_decay_with_warmup",
        "num_warmup_steps": 500,
        "num_decay_steps": 50000,
        "peak_lr": 0.0003,
        "decay_lr": 1e-06
    },
    "eval": {
        "n_episodes": 50,
        "batch_size": 50,
        "use_async_envs": true,
        "recording": false,
        "recording_repo_id": null,
        "recording_private": false
    },
    "wandb": {
        "enable": true,
        "disable_artifact": true,
        "project": "recap-vf",
        "entity": null,
        "notes": null,
        "run_id": "jxq72rdw",
        "mode": null,
        "add_tags": true
    },
    "peft": null,
    "job": {
        "target": null,
        "image": "huggingface/lerobot-gpu:latest",
        "timeout": "2d",
        "detach": false,
        "tags": []
    },
    "save_checkpoint_to_hub": false,
    "sample_weighting": null,
    "rename_map": {},
    "checkpoint_path": null
}