{
    "type": "groot",
    "n_obs_steps": 1,
    "input_features": {
        "observation.images.wrist_image": {
            "type": "VISUAL",
            "shape": [
                256,
                256,
                3
            ]
        },
        "observation.images.image": {
            "type": "VISUAL",
            "shape": [
                256,
                256,
                3
            ]
        },
        "observation.state": {
            "type": "STATE",
            "shape": [
                8
            ]
        }
    },
    "output_features": {
        "action": {
            "type": "ACTION",
            "shape": [
                7
            ]
        }
    },
    "device": "cuda",
    "use_amp": false,
    "use_peft": false,
    "push_to_hub": false,
    "repo_id": null,
    "private": null,
    "tags": null,
    "license": null,
    "pretrained_path": null,
    "pretrained_revision": null,
    "chunk_size": 16,
    "n_action_steps": 16,
    "max_state_dim": 132,
    "max_action_dim": 132,
    "normalization_mapping": {
        "VISUAL": "IDENTITY",
        "STATE": "IDENTITY",
        "ACTION": "IDENTITY"
    },
    "base_model_path": "/cache/huggingface/models--nvidia--GR00T-N1.7-3B/snapshots/2fc962b973bccdd5d8ce4f67cc63b264d6886495",
    "action_decode_transform": "libero",
    "embodiment_tag": "libero_sim",
    "tune_llm": false,
    "tune_visual": false,
    "tune_projector": true,
    "tune_diffusion_model": true,
    "tune_vlln": true,
    "tune_top_llm_layers": 0,
    "num_inference_timesteps": 4,
    "rtc_ramp_rate": 6.0,
    "use_flash_attention": false,
    "use_relative_actions": false,
    "relative_exclude_joints": [],
    "optimizer_lr": 0.0001,
    "optimizer_betas": [
        0.9,
        0.999
    ],
    "optimizer_eps": 1e-08,
    "optimizer_weight_decay": 1e-05,
    "warmup_ratio": 0.05,
    "use_bf16": true,
    "model_params_fp32": true,
    "image_size": [
        256,
        256
    ],
    "tokenizer_assets_repo": null,
    "lora_rank": 0,
    "lora_alpha": 16,
    "lora_dropout": 0.1,
    "lora_full_model": false,
    "video_backend": "decord",
    "balance_dataset_weights": true,
    "balance_trajectory_weights": true,
    "dataset_paths": null,
    "output_dir": "./tmp/gr00t",
    "save_steps": 1000,
    "max_steps": 20000,
    "batch_size": 32,
    "dataloader_num_workers": 8,
    "report_to": "wandb",
    "resume": false
}