{
    "dataset": {
        "repo_id": "taewonkoo/stack_cube_v3_lerobot_relative",
        "repo_type": "dataset",
        "root": "/home/bmil/TW/data/stack_cube_v3_lerobot_relative",
        "episodes": null,
        "exclude_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": true,
        "depth_output_unit": "mm",
        "streaming": false,
        "eval_split": 0.0
    },
    "env": null,
    "policy": {
        "type": "pi0",
        "n_obs_steps": 1,
        "input_features": {
            "observation.state": {
                "type": "STATE",
                "shape": [
                    6
                ]
            },
            "observation.images.front": {
                "type": "VISUAL",
                "shape": [
                    3,
                    480,
                    640
                ]
            },
            "observation.images.top": {
                "type": "VISUAL",
                "shape": [
                    3,
                    480,
                    640
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    6
                ]
            }
        },
        "device": "cuda",
        "use_amp": false,
        "use_peft": true,
        "push_to_hub": false,
        "repo_id": null,
        "private": null,
        "tags": null,
        "license": null,
        "pretrained_path": "lerobot/pi0_base",
        "pretrained_revision": null,
        "paligemma_variant": "gemma_2b",
        "action_expert_variant": "gemma_300m",
        "dtype": "bfloat16",
        "chunk_size": 50,
        "n_action_steps": 10,
        "max_state_dim": 32,
        "max_action_dim": 32,
        "num_inference_steps": 10,
        "time_sampling_beta_alpha": 1.5,
        "time_sampling_beta_beta": 1.0,
        "time_sampling_scale": 0.999,
        "time_sampling_offset": 0.001,
        "min_period": 0.004,
        "max_period": 4.0,
        "use_relative_actions": true,
        "relative_exclude_joints": [
            "gripper"
        ],
        "action_feature_names": [
            "shoulder_pan.pos",
            "shoulder_lift.pos",
            "elbow_flex.pos",
            "wrist_flex.pos",
            "wrist_roll.pos",
            "gripper.pos"
        ],
        "rtc_config": null,
        "image_resolution": [
            224,
            224
        ],
        "empty_cameras": 0,
        "normalization_mapping": {
            "VISUAL": "IDENTITY",
            "STATE": "MEAN_STD",
            "ACTION": "MEAN_STD"
        },
        "gradient_checkpointing": true,
        "compile_model": false,
        "compile_mode": "max-autotune",
        "freeze_vision_encoder": false,
        "train_expert_only": false,
        "optimizer_lr": 2.5e-05,
        "optimizer_betas": [
            0.9,
            0.95
        ],
        "optimizer_eps": 1e-08,
        "optimizer_weight_decay": 0.01,
        "optimizer_grad_clip_norm": 1.0,
        "scheduler_warmup_steps": 1000,
        "scheduler_decay_steps": 30000,
        "scheduler_decay_lr": 2.5e-06,
        "tokenizer_max_length": 48
    },
    "reward_model": null,
    "output_dir": "/home/bmil/TW/pi0/outputs/stack_cube_v3_lerobot_relative_20260808_180657",
    "job_name": "stack_cube_v3_lerobot_relative_20260808_180657",
    "resume": false,
    "seed": 1000,
    "cudnn_deterministic": false,
    "num_workers": 2,
    "batch_size": 32,
    "prefetch_factor": 2,
    "persistent_workers": true,
    "dataloader_multiprocessing_context": "spawn",
    "steps": 10000,
    "env_eval_freq": 0,
    "log_freq": 10,
    "eval_steps": 0,
    "max_eval_samples": 0,
    "tolerance_s": 0.0001,
    "save_checkpoint": true,
    "save_freq": 2000,
    "checkpoint_format": "safetensors",
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "adamw",
        "lr": 2.5e-05,
        "weight_decay": 0.01,
        "grad_clip_norm": 1.0,
        "betas": [
            0.9,
            0.95
        ],
        "eps": 1e-08
    },
    "scheduler": {
        "type": "cosine_decay_with_warmup",
        "num_warmup_steps": 1000,
        "num_decay_steps": 30000,
        "peak_lr": 2.5e-05,
        "decay_lr": 2.5e-06
    },
    "parallelism": {
        "dp_replicate": 1,
        "dp_shard": 1,
        "context_parallel": {
            "ring_degree": 1,
            "ulysses_degree": 1
        },
        "cfg_parallel": 1
    },
    "accelerator": {
        "mixed_precision": "bf16",
        "gradient_accumulation": {
            "steps": 1
        },
        "fsdp": {
            "reshard_after_forward": true,
            "wrap_modules": null,
            "min_num_params": null,
            "cpu_offload": false,
            "ignored_modules": null
        },
        "ddp": {
            "find_unused_parameters": true,
            "gradient_as_bucket_view": false,
            "static_graph": false
        },
        "compile": {
            "enabled": false,
            "backend": "inductor",
            "mode": null,
            "regional": true
        },
        "activation_checkpointing": {
            "mode": "none"
        }
    },
    "eval": {
        "n_episodes": 50,
        "batch_size": 22,
        "use_async_envs": true,
        "recording": false,
        "recording_repo_id": null,
        "recording_private": false
    },
    "wandb": {
        "enable": true,
        "disable_artifact": false,
        "project": "so101_troubleshooting",
        "entity": "taewon-koo-sungkyunkwan-university",
        "notes": null,
        "run_id": "v7410h1j",
        "mode": "online",
        "add_tags": true
    },
    "peft": {
        "target_modules": null,
        "full_training_modules": null,
        "method_type": "LORA",
        "init_type": null,
        "r": 16,
        "lora_alpha": 16
    },
    "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
}