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    "accumulate_grad_batches": 1,
    "backbone": "clip",
    "base_log_dir": {
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    "batch_size_val": 1,
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    "cache_size_val": 0,
    "cameras": {
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    "checkpoint": {
        "_string": "/work/popo9790/train_log/rep_ctx/rep_ctx-192-B8-accu2-ngpus2-lr3e-4-DI1-20-H3-DT25-backboneclip-S256,256-R1-wd5e-3/last.pth",
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    "dense_interpolation": 1,
    "diffusion_timesteps": 25,
    "embedding_dim": 192,
    "end_lr": 1e-06,
    "eval_only": 0,
    "exp_log_dir": "Planner_Calvin",
    "fps_subsampling_factor": 3,
    "gripper_loc_bounds": {
        "_string": "[[-0.30205889 -0.25688798 -0.21557967]\n [ 0.36127854  0.33770842  0.18373556]]",
        "_type": "python_object (type = ndarray)",
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    "interpolation_length": 20,
    "keypose_only": 0,
    "lang_enhanced": 1,
    "local_rank": 0,
    "log_dir": {
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    "lr": 0.0003,
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    "max_episode_length": 30,
    "max_episodes_per_task": -1,
    "noise_end": 1.0,
    "noise_power": 3.0,
    "noise_start": 1e-08,
    "num_history": 3,
    "num_joints": 7,
    "num_vis_ins_attn_layers": 2,
    "num_workers": 4,
    "quaternion_format": "wxyz",
    "relative_action": 1,
    "reproducibility": {
        "command_line": "python main_trajectory_calvin.py --tasks A B C D --backbone clip --dataset /work/popo9790/dataset/packaged_ABC_D_ours/training --valset /work/popo9790/dataset/packaged_ABC_D_ours/validation --instructions instructions/calvin_task_ABC_D/ --gripper_loc_bounds tasks/calvin_rel_traj_location_bounds_task_ABC_D.json --gripper_loc_bounds_buffer 0.01 --image_size 256,256 --num_workers 4 --max_episode_length 30 --train_iters 44000 --embedding_dim 192 --use_instruction 1 --rotation_parametrization 6D --diffusion_timesteps 25 --val_freq 1000 --val_iters 2 --dense_interpolation 1 --interpolation_length 20 --exp_log_dir Planner_Calvin --batch_size 8 --batch_size_val 1 --cache_size 0 --cache_size_val 0 --keypose_only 0 --lr 3e-4 --end_lr 1e-6 --lr_decay 0.9999 --wd 5e-3 --num_history 3 --cameras front wrist --max_episodes_per_task -1 --relative_action 1 --fps_subsampling_factor 3 --lang_enhanced 1 --quaternion_format wxyz --run_log_dir /work/popo9790/train_log/rep_ctx/rep_ctx-192-B8-accu2-ngpus2-lr3e-4-DI1-20-H3-DT25-backboneclip-S256,256-R1-wd5e-3 --checkpoint /work/popo9790/train_log/rep_ctx/rep_ctx-192-B8-accu2-ngpus2-lr3e-4-DI1-20-H3-DT25-backboneclip-S256,256-R1-wd5e-3/last.pth",
        "git_has_uncommitted_changes": true,
        "git_root": "/home/popo9790/rep_ctx",
        "git_url": "https://github.com/tars3017/CoG/tree/45807b1f6b6382e8e10209c2a7551ba206805439",
        "time": "Sat 29 Nov 2025 09:39:33 PM CST"
    },
    "rotation_parametrization": "6D",
    "run_log_dir": "/work/popo9790/train_log/rep_ctx/rep_ctx-192-B8-accu2-ngpus2-lr3e-4-DI1-20-H3-DT25-backboneclip-S256,256-R1-wd5e-3",
    "seed": 0,
    "tasks": {
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        "_value": [
            "A",
            "B",
            "C",
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        ]
    },
    "train_iters": 44000,
    "use_instruction": 1,
    "val_freq": 1000,
    "val_iters": 2,
    "valset": {
        "_string": "/work/popo9790/dataset/packaged_ABC_D_ours/validation",
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    },
    "variations": {
        "_type": "tuple",
        "_value": [
            0
        ]
    },
    "wd": 0.005,
    "weight_decay": 1e-12
}