dataloader:
  batch_size: 32
  implementation: robosuite_v1
  num_workers: 4
  pin_memory: true
  shuffle: true
  stats_calculation_samples: 50000
  task_override: Place the round nut on the round peg.
dataset:
  repo_id: robotgeneralist/rs-demos-assembly
  root: null
eval:
  actions_per_chunk: 10
  base_seed: 0
  env_name: NutAssemblyRound
  eval_every: 500
  fps: 20
  max_steps: 400
  num_rollouts: 8
  task: Place the round nut on the round peg.
policy:
  action_derivation_implementation: ext__delta__osc__rotvec
  action_dim: 7
  action_expert_variant: gemma_300m
  chunk_size: 50
  compile_mode: max-autotune
  compile_model: true
  device: cuda
  dtype: bfloat16
  freeze_vision_encoder: false
  gradient_checkpointing: true
  image_keys:
  - robot0_robotview_image
  - robot0_eye_in_hand_image
  image_resolution:
  - 224
  - 224
  input_features: {}
  license: null
  max_action_dim: 32
  max_period: 4.0
  max_state_dim: 32
  min_period: 0.004
  n_obs_steps: 1
  normalization_stats:
    action:
      mean:
      - 0.0014429540247476425
      - 5.855477872899049e-05
      - 0.00010094234202338543
      - -5.514898634610806e-05
      - -1.1709633593695834e-05
      - 0.0023358867284308323
      - 0.08610835467349552
      std:
      - 0.0033159534044946504
      - 0.0020661345832887618
      - 0.003004563348536115
      - 0.012571091883774563
      - 0.012866583562733206
      - 0.026665803880115392
      - 0.9962859772258239
    observation.state:
      mean:
      - 0.011385115435902654
      - -0.11066487852350426
      - 0.9275649457826504
      - 0.7494435731164166
      - 1.069831168567631
      - 0.06506713687963374
      - 0.025805657331220012
      - -0.02590401388618914
      - 0.01803541620692451
      - -0.11212986440453838
      - 0.9280827677356757
      - 0.6500980088799709
      - 0.8341998775202242
      - 0.05805249210678411
      - 0.08762804097311136
      std:
      - 0.1364878357112203
      - 0.06521976306006763
      - 0.05895699006536035
      - 1.6648833415711914
      - 2.2236785714685396
      - 0.13710193958271333
      - 0.011328591949326798
      - 0.011394605880609308
      - 0.13924010834100095
      - 0.06349817660760358
      - 0.06014770884144378
      - 1.694195263111645
      - 2.3261636263757737
      - 0.14145846058575146
      - 0.9961632294015995
  num_inference_steps: 10
  optimizer_betas:
  - 0.9
  - 0.95
  optimizer_eps: 1.0e-08
  optimizer_grad_clip_norm: 1.0
  optimizer_lr: 2.5e-05
  optimizer_weight_decay: 0.01
  output_features: {}
  paligemma_variant: gemma_2b
  pretrained_path: lerobot/pi0_base
  private: null
  push_to_hub: true
  repo_id: null
  rtc_config: null
  scheduler_decay_lr: 2.5e-06
  scheduler_decay_steps: 30000
  scheduler_warmup_steps: 1000
  state_derivation_implementation: rs_default
  tags: null
  time_sampling_beta_alpha: 1.5
  time_sampling_beta_beta: 1.0
  time_sampling_offset: 0.001
  time_sampling_scale: 0.999
  tokenizer_max_length: 48
  train_expert_only: false
  type: custom_pi0
  use_amp: false
  use_peft: false
push_to_hub: true
run_group: null
run_name: entropy_186321
seed: 1000
steps: 10000