{
    "dataset": {
        "repo_id": "Grigorij/franka_WAMs_end_effector",
        "repo_type": "dataset",
        "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,
        "depth_output_unit": "mm",
        "streaming": false,
        "eval_split": 0.0
    },
    "env": null,
    "policy": {
        "type": "lingbot_va",
        "n_obs_steps": 1,
        "input_features": {
            "observation.images.image": {
                "type": "VISUAL",
                "shape": [
                    3,
                    256,
                    256
                ]
            },
            "observation.images.image2": {
                "type": "VISUAL",
                "shape": [
                    3,
                    256,
                    256
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    7
                ]
            }
        },
        "device": "cuda",
        "use_amp": false,
        "use_peft": true,
        "push_to_hub": true,
        "repo_id": "Grigorij/franka_WAMs_end_effector_lingbot",
        "private": null,
        "tags": null,
        "license": null,
        "pretrained_path": "lerobot/lingbot_va_libero_long",
        "pretrained_revision": null,
        "patch_size": [
            1,
            2,
            2
        ],
        "num_attention_heads": 24,
        "attention_head_dim": 128,
        "in_channels": 48,
        "out_channels": 48,
        "action_dim": 30,
        "text_dim": 4096,
        "freq_dim": 256,
        "ffn_dim": 14336,
        "num_layers": 30,
        "cross_attn_norm": true,
        "eps": 1e-06,
        "rope_max_seq_len": 1024,
        "attn_mode": "flex",
        "wan_pretrained_path": "robbyant/lingbot-va-posttrain-libero-long",
        "dtype": "bfloat16",
        "text_encoder_device": "cpu",
        "obs_cam_keys": [
            "observation.images.image",
            "observation.images.image2"
        ],
        "image_hflip": true,
        "camera_layout": "width_concat",
        "height": 480,
        "width": 640,
        "action_per_frame": 4,
        "frame_chunk_size": 4,
        "attn_window": 30,
        "num_inference_steps": 20,
        "video_exec_step": -1,
        "action_num_inference_steps": 50,
        "guidance_scale": 5.0,
        "action_guidance_scale": 1.0,
        "snr_shift": 5.0,
        "action_snr_shift": 0.05,
        "max_sequence_length": 512,
        "used_action_channel_ids": [
            0,
            1,
            2,
            3,
            4,
            5,
            6
        ],
        "save_predicted_video": false,
        "normalization_mapping": {
            "VISUAL": "IDENTITY",
            "STATE": "IDENTITY",
            "ACTION": "IDENTITY"
        },
        "optimizer_lr": 1e-05,
        "optimizer_betas": [
            0.9,
            0.95
        ],
        "optimizer_eps": 1e-08,
        "optimizer_weight_decay": 0.0001,
        "optimizer_grad_clip_norm": 1.0,
        "scheduler_warmup_steps": 1000
    },
    "reward_model": null,
    "output_dir": "outputs/train/lingbot_va",
    "job_name": "lingbot_va",
    "resume": false,
    "seed": 1000,
    "cudnn_deterministic": false,
    "num_workers": 4,
    "batch_size": 1,
    "prefetch_factor": 4,
    "persistent_workers": true,
    "dataloader_multiprocessing_context": "spawn",
    "steps": 5000,
    "env_eval_freq": 20000,
    "log_freq": 200,
    "eval_steps": 0,
    "max_eval_samples": 0,
    "tolerance_s": 0.0001,
    "save_checkpoint": true,
    "save_freq": 20000,
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "adamw",
        "lr": 1e-05,
        "weight_decay": 0.0001,
        "grad_clip_norm": 1.0,
        "betas": [
            0.9,
            0.95
        ],
        "eps": 1e-08
    },
    "scheduler": {
        "type": "constant_with_warmup",
        "num_warmup_steps": 1000
    },
    "eval": {
        "n_episodes": 50,
        "batch_size": 16,
        "use_async_envs": true,
        "recording": false,
        "recording_repo_id": null,
        "recording_private": false
    },
    "wandb": {
        "enable": false,
        "disable_artifact": false,
        "project": "lerobot",
        "entity": null,
        "notes": null,
        "run_id": null,
        "mode": null,
        "add_tags": true
    },
    "peft": {
        "target_modules": [
            "to_q",
            "to_v"
        ],
        "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
}