{
  "source_dataset": "stack_3_cups",
  "source_subset": "perfect",
  "raw_data_root": "/project/peilab/wam/physical_WM/data/stack_3_cups/perfect",
  "raw_format": "hdf5",
  "dataset_loader": "scripts/train_hdf5_aloha.py",
  "task_prompt_fallback": "stack 3 cups",
  "prompt_policy": {
    "priority": [
      "HDF5 attrs: prompt/task/language_instruction/instruction",
      "HDF5 datasets: prompt/task/language_instruction/instruction",
      "sidecar prompts.json keyed by episode filename or stem",
      "task_prompt_fallback"
    ],
    "current_dataset_prompt_status": "No prompt field was found in episode_0.hdf5 during local inspection; no prompts.json sidecar was found, so training falls back to task_prompt_fallback."
  },
  "input_policy": {
    "arm_setting": "both_arms",
    "state_slice": "state[..., :14]",
    "action_slice": "action[..., :14]",
    "adapt_to_pi": true
  },
  "observation_images": [
    "cam_high",
    "cam_left_wrist",
    "cam_right_wrist"
  ],
  "normalization_stats": "from_pretrain/9999/assets/hdf5_stack_3_cups_perfect_both_arms_pi05/norm_stats.json",
  "notes": [
    "The model was trained by directly reading HDF5 episodes and repacking them into OpenPI training batches.",
    "The data was not pre-converted to LeRobot parquet for this run.",
    "Both left-arm and right-arm state/action dimensions are used."
  ]
}