{
    "dataset": {
        "repo_id": "roboeval_ee_delta_20hz_v3_merged",
        "root": "/weka/helenw/data/huggingface/lerobot/roboeval_ee_delta_20hz_v3_merged",
        "episodes": [
            2236,
            2237,
            2238,
            2239,
            2240,
            2241,
            2242,
            2243,
            2244,
            2245,
            2246,
            2247,
            2248,
            2249,
            2250,
            2251,
            2252,
            2253,
            2254,
            2255,
            2256,
            2257,
            2258,
            2259,
            2260,
            2261,
            2262,
            2263,
            2264,
            2265,
            2266,
            2267,
            2268,
            2269,
            2270,
            2271,
            2272,
            2273,
            2274,
            2275,
            2276,
            2277,
            2278,
            2279,
            2280,
            2281,
            2282,
            2283,
            2284,
            2285,
            2286,
            2287,
            2288,
            2289,
            2290,
            2291,
            2292,
            2293,
            2294,
            2295,
            2296,
            2297,
            2298,
            2299,
            2300,
            2301,
            2302,
            2303,
            2304,
            2305,
            2306,
            2307,
            2308,
            2309,
            2310,
            2311,
            2312,
            2313,
            2314,
            2315,
            2316,
            2317,
            2318,
            2319,
            2320,
            2321,
            2322,
            2323,
            2324,
            2325,
            2326,
            2327,
            2328,
            2329,
            2330,
            2331,
            2332,
            2333,
            2334,
            2335,
            2336,
            2337,
            2338,
            2339,
            2340,
            2341,
            2342,
            2343,
            2344,
            2345,
            2346,
            2347,
            2348,
            2349,
            2350,
            2351,
            2352,
            2353,
            2354,
            2355,
            2356,
            2357,
            2358,
            2359,
            2360,
            2361,
            2362,
            2363,
            2364,
            2365,
            2366,
            2367,
            2368,
            2369,
            2370,
            2371,
            2372,
            2373,
            2374,
            2375,
            2376,
            2377,
            2378,
            2379,
            2380,
            2381,
            2382,
            2383,
            2384,
            2385,
            2386,
            2387,
            2388,
            2389,
            2390,
            2391,
            2392,
            2393,
            2394,
            2395,
            2396,
            2397,
            2398,
            2399,
            2400,
            2401,
            2402,
            2403,
            2404,
            2405,
            2406,
            2407,
            2408,
            2409,
            2410,
            2411,
            2412,
            2413,
            2414,
            2415,
            2416,
            2417,
            2418,
            2419,
            2420,
            2421,
            2422,
            2423,
            2424,
            2425,
            2426,
            2427,
            2428,
            2429,
            2430,
            2431,
            2432,
            2433,
            2434,
            2435,
            2436,
            2437
        ],
        "image_transforms": {
            "enable": true,
            "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": "local",
        "use_imagenet_stats": true,
        "video_backend": "torchcodec",
        "streaming": false
    },
    "env": null,
    "policy": {
        "type": "diffusion",
        "n_obs_steps": 2,
        "input_features": {
            "observation.images.cam_head": {
                "type": "VISUAL",
                "shape": [
                    3,
                    256,
                    256
                ]
            },
            "observation.images.cam_left_wrist": {
                "type": "VISUAL",
                "shape": [
                    3,
                    256,
                    256
                ]
            },
            "observation.images.cam_right_wrist": {
                "type": "VISUAL",
                "shape": [
                    3,
                    256,
                    256
                ]
            },
            "observation.state": {
                "type": "STATE",
                "shape": [
                    16
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    14
                ]
            }
        },
        "device": "cuda",
        "use_amp": false,
        "use_peft": false,
        "push_to_hub": false,
        "repo_id": null,
        "private": null,
        "tags": null,
        "license": null,
        "pretrained_path": null,
        "horizon": 16,
        "n_action_steps": 8,
        "normalization_mapping": {
            "VISUAL": "MEAN_STD",
            "STATE": "MIN_MAX",
            "ACTION": "MIN_MAX"
        },
        "drop_n_last_frames": 7,
        "vision_backbone": "resnet18",
        "crop_shape": [
            84,
            84
        ],
        "crop_is_random": true,
        "pretrained_backbone_weights": null,
        "use_group_norm": true,
        "spatial_softmax_num_keypoints": 32,
        "use_separate_rgb_encoder_per_camera": false,
        "down_dims": [
            512,
            1024,
            2048
        ],
        "kernel_size": 5,
        "n_groups": 8,
        "diffusion_step_embed_dim": 128,
        "use_film_scale_modulation": true,
        "noise_scheduler_type": "DDPM",
        "num_train_timesteps": 100,
        "beta_schedule": "squaredcos_cap_v2",
        "beta_start": 0.0001,
        "beta_end": 0.02,
        "prediction_type": "epsilon",
        "clip_sample": true,
        "clip_sample_range": 1.0,
        "num_inference_steps": null,
        "do_mask_loss_for_padding": false,
        "optimizer_lr": 0.0001,
        "optimizer_betas": [
            0.95,
            0.999
        ],
        "optimizer_eps": 1e-08,
        "optimizer_weight_decay": 1e-06,
        "scheduler_name": "cosine",
        "scheduler_warmup_steps": 500
    },
    "output_dir": "/weka/helenw/outputs/diffusion_StackSingleBookShelf",
    "job_name": "diffusion_roboeval_v3_merged",
    "resume": false,
    "seed": 1000,
    "num_workers": 2,
    "batch_size": 256,
    "steps": 5000,
    "eval_freq": 20000,
    "log_freq": 10,
    "tolerance_s": 0.0001,
    "save_checkpoint": true,
    "save_freq": 1000,
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "adam",
        "lr": 0.0001,
        "weight_decay": 1e-06,
        "grad_clip_norm": 10.0,
        "betas": [
            0.95,
            0.999
        ],
        "eps": 1e-08
    },
    "scheduler": {
        "type": "diffuser",
        "num_warmup_steps": 500,
        "name": "cosine"
    },
    "eval": {
        "n_episodes": 50,
        "batch_size": 50,
        "use_async_envs": false
    },
    "wandb": {
        "enable": true,
        "disable_artifact": true,
        "project": "lerobot",
        "entity": null,
        "notes": null,
        "run_id": "o2kvb2re",
        "mode": null
    },
    "peft": null,
    "use_rabc": false,
    "rabc_progress_path": null,
    "rabc_kappa": 0.01,
    "rabc_epsilon": 1e-06,
    "rabc_head_mode": "sparse",
    "rename_map": {},
    "checkpoint_path": null
}