{
    "dataset": {
        "repo_id": "BrianZhengJourney/libero_bowl_sarm",
        "root": null,
        "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": "torchcodec",
        "return_uint8": false,
        "streaming": false
    },
    "env": null,
    "policy": null,
    "reward_model": {
        "type": "sarm",
        "input_features": {
            "observation.images.image": {
                "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
                ]
            },
            "dense_stage": {
                "type": "REWARD",
                "shape": [
                    13,
                    1
                ]
            },
            "dense_progress": {
                "type": "REWARD",
                "shape": [
                    13,
                    1
                ]
            }
        },
        "device": "cuda",
        "pretrained_path": null,
        "push_to_hub": true,
        "repo_id": "BrianZhengJourney/sarm_libero_bowl",
        "license": null,
        "tags": null,
        "private": null,
        "annotation_mode": "dense_only",
        "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": 4,
        "dense_subtask_names": [
            "Move arm to drawer handle",
            "Open the top drawer",
            "Grasp the bowl",
            "Place bowl inside the drawer"
        ],
        "dense_temporal_proportions": [
            0.17490874931105407,
            0.19005681145989023,
            0.20898936888831968,
            0.42604507034073597
        ],
        "pretrained_model_path": null,
        "image_key": "observation.images.image",
        "state_key": "observation.state",
        "normalization_mapping": {
            "VISUAL": "IDENTITY",
            "STATE": "MEAN_STD",
            "LANGUAGE": "IDENTITY",
            "REWARD": "IDENTITY"
        }
    },
    "output_dir": "/vol/sarm",
    "job_name": "sarm",
    "resume": false,
    "seed": 1000,
    "cudnn_deterministic": false,
    "num_workers": 4,
    "batch_size": 32,
    "prefetch_factor": 4,
    "persistent_workers": true,
    "steps": 1500,
    "eval_freq": 20000,
    "log_freq": 200,
    "tolerance_s": 0.0001,
    "save_checkpoint": true,
    "save_freq": 750,
    "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": 11,
        "use_async_envs": true
    },
    "wandb": {
        "enable": false,
        "disable_artifact": false,
        "project": "lerobot",
        "entity": null,
        "notes": null,
        "run_id": null,
        "mode": null,
        "add_tags": true
    },
    "peft": null,
    "sample_weighting": null,
    "rename_map": {},
    "checkpoint_path": null
}