{
    "dataset": {
        "repo_id": "wuc1/bi_so101_ffp_0615-14-12_merged",
        "root": null,
        "episodes": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            10,
            11,
            12,
            13,
            14,
            15,
            16,
            17,
            18,
            19,
            20,
            21,
            22,
            23,
            24,
            25,
            26,
            27,
            28,
            29,
            30,
            31,
            32,
            33,
            34,
            35,
            36,
            37,
            38,
            39,
            40,
            41,
            42,
            43,
            44,
            45,
            46,
            47,
            48,
            49,
            50,
            51,
            52,
            53,
            54,
            55,
            56,
            57,
            58,
            59,
            60,
            61,
            62,
            63,
            64,
            65,
            66,
            67,
            68,
            69,
            70,
            71,
            72,
            73,
            74,
            75,
            76,
            77,
            78,
            79,
            80,
            81,
            82,
            83,
            84,
            85,
            86,
            87,
            88,
            89,
            90,
            91,
            92,
            93,
            94,
            95,
            96,
            97,
            98,
            99,
            100,
            101,
            102,
            103,
            104,
            105,
            106,
            107,
            108,
            109,
            110,
            111,
            112,
            113,
            114,
            115,
            116,
            117,
            118,
            119,
            120,
            121,
            122,
            123,
            124,
            125,
            126,
            127,
            128,
            129,
            130,
            131,
            132,
            133,
            134,
            135,
            136,
            137,
            138,
            139,
            140,
            141,
            142,
            143,
            144,
            145,
            146,
            147,
            148,
            149,
            150,
            151,
            152,
            153,
            154,
            155,
            156,
            157
        ],
        "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": "torchcodec",
        "return_uint8": false,
        "streaming": false,
        "intervention_only": false
    },
    "env": null,
    "policy": null,
    "reward_model": {
        "type": "sarm",
        "input_features": {
            "observation.images.left_camera1": {
                "type": "VISUAL",
                "shape": [
                    480,
                    640,
                    3
                ]
            },
            "observation.state": {
                "type": "STATE",
                "shape": [
                    32
                ]
            }
        },
        "output_features": {
            "sparse_stage": {
                "type": "REWARD",
                "shape": [
                    13,
                    1
                ]
            },
            "sparse_progress": {
                "type": "REWARD",
                "shape": [
                    13,
                    1
                ]
            }
        },
        "device": "cuda",
        "pretrained_path": null,
        "push_to_hub": true,
        "repo_id": "wuc1/sarm_0624",
        "license": null,
        "tags": null,
        "private": null,
        "annotation_mode": "single_stage",
        "temporal_window_mode": "bidirectional",
        "n_obs_steps": 8,
        "frame_gap": 30,
        "max_rewind_steps": 4,
        "image_dim": 512,
        "text_dim": 512,
        "hidden_dim": 768,
        "num_heads": 12,
        "num_layers": 8,
        "max_state_dim": 32,
        "drop_n_last_frames": 1,
        "batch_size": 64,
        "clip_batch_size": 64,
        "dropout": 0.1,
        "stage_loss_weight": 1.0,
        "rewind_probability": 0.8,
        "language_perturbation_probability": 0.2,
        "num_sparse_stages": 1,
        "sparse_subtask_names": [
            "task"
        ],
        "sparse_temporal_proportions": [
            1.0
        ],
        "num_dense_stages": null,
        "dense_subtask_names": null,
        "dense_temporal_proportions": null,
        "pretrained_model_path": null,
        "image_key": "observation.images.left_camera1",
        "state_key": "observation.state",
        "precomputed_image_features_path": "/home/wy/.cache/huggingface/lerobot/hub/datasets--wuc1--bi_so101_ffp_0615-14-12_merged/snapshots/59e567d63a56d0adc1b3fc402d17c6ce03cdf8a4/meta/clip_features_left_camera1.npy",
        "normalization_mapping": {
            "VISUAL": "IDENTITY",
            "STATE": "MEAN_STD",
            "LANGUAGE": "IDENTITY",
            "REWARD": "IDENTITY"
        }
    },
    "output_dir": "outputs/train/2026-06-24/10-14-09_sarm",
    "job_name": "sarm",
    "resume": false,
    "seed": 1000,
    "cudnn_deterministic": false,
    "num_workers": 4,
    "batch_size": 32,
    "prefetch_factor": 4,
    "persistent_workers": true,
    "steps": 20000,
    "eval_freq": 20000,
    "log_freq": 200,
    "tolerance_s": 0.0001,
    "save_checkpoint": true,
    "save_freq": 20000,
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "adamw",
        "lr": 5e-05,
        "weight_decay": 0.001,
        "grad_clip_norm": 10.0,
        "betas": [
            0.9,
            0.999
        ],
        "eps": 1e-08
    },
    "scheduler": {
        "type": "cosine_decay_with_warmup",
        "num_warmup_steps": 500,
        "num_decay_steps": 50000,
        "peak_lr": 5e-05,
        "decay_lr": 5e-06
    },
    "eval": {
        "n_episodes": 50,
        "batch_size": 22,
        "use_async_envs": true
    },
    "validation": {
        "enable": true,
        "ratio": 0.2,
        "freq": 1000,
        "max_batches": 64,
        "episodes": null,
        "split": "tail",
        "resolved_train_episodes": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            10,
            11,
            12,
            13,
            14,
            15,
            16,
            17,
            18,
            19,
            20,
            21,
            22,
            23,
            24,
            25,
            26,
            27,
            28,
            29,
            30,
            31,
            32,
            33,
            34,
            35,
            36,
            37,
            38,
            39,
            40,
            41,
            42,
            43,
            44,
            45,
            46,
            47,
            48,
            49,
            50,
            51,
            52,
            53,
            54,
            55,
            56,
            57,
            58,
            59,
            60,
            61,
            62,
            63,
            64,
            65,
            66,
            67,
            68,
            69,
            70,
            71,
            72,
            73,
            74,
            75,
            76,
            77,
            78,
            79,
            80,
            81,
            82,
            83,
            84,
            85,
            86,
            87,
            88,
            89,
            90,
            91,
            92,
            93,
            94,
            95,
            96,
            97,
            98,
            99,
            100,
            101,
            102,
            103,
            104,
            105,
            106,
            107,
            108,
            109,
            110,
            111,
            112,
            113,
            114,
            115,
            116,
            117,
            118,
            119,
            120,
            121,
            122,
            123,
            124,
            125,
            126,
            127,
            128,
            129,
            130,
            131,
            132,
            133,
            134,
            135,
            136,
            137,
            138,
            139,
            140,
            141,
            142,
            143,
            144,
            145,
            146,
            147,
            148,
            149,
            150,
            151,
            152,
            153,
            154,
            155,
            156,
            157
        ],
        "resolved_val_episodes": [
            158,
            159,
            160,
            161,
            162,
            163,
            164,
            165,
            166,
            167,
            168,
            169,
            170,
            171,
            172,
            173,
            174,
            175,
            176,
            177,
            178,
            179,
            180,
            181,
            182,
            183,
            184,
            185,
            186,
            187,
            188,
            189,
            190,
            191,
            192,
            193,
            194,
            195,
            196,
            197
        ]
    },
    "wandb": {
        "enable": true,
        "disable_artifact": false,
        "project": "sarm",
        "entity": null,
        "notes": null,
        "run_id": "w9iqfob4",
        "mode": null,
        "add_tags": true
    },
    "peft": null,
    "use_subtasks": false,
    "sample_weighting": null,
    "rename_map": {},
    "checkpoint_path": null
}