{
  "step": 500,
  "config": {
    "dataset_root": "./lerobot_data/lerobot/svla_so100_stacking",
    "camera_keys": [
      "observation.images.top",
      "observation.images.wrist"
    ],
    "image_size": 224,
    "action_key": "action",
    "proprio_key": "observation.state",
    "action_names": [
      "main_shoulder_pan",
      "main_shoulder_lift",
      "main_elbow_flex",
      "main_wrist_flex",
      "main_wrist_roll",
      "main_gripper"
    ],
    "action_dim": 6,
    "proprio_dim": 6,
    "action_chunk_size": 8,
    "norm_mode": "bounds",
    "extra_datasets": [
      {
        "dataset_root": "./lerobot_data/robotwin/so101_stack_cube_sim",
        "camera_keys": [
          "observation.images.top",
          "observation.images.wrist"
        ],
        "action_names": null
      }
    ],
    "base_model_id": "openvla/openvla-7b",
    "action_token_len": 6,
    "action_chunks_len": 8,
    "num_images_in_input": 2,
    "use_proprio": true,
    "use_lora": true,
    "lora_rank": 32,
    "lora_alpha": 16,
    "lora_dropout": 0.0,
    "lora_target_modules": "all-linear",
    "batch_size": 1,
    "grad_accum_steps": 16,
    "lr": 2e-05,
    "weight_decay": 0.0001,
    "warmup_steps": 100,
    "num_epochs": 10,
    "max_steps": 500,
    "clip_grad_norm": 1.0,
    "amp": true,
    "amp_dtype": "float16",
    "gradient_checkpointing": true,
    "load_in_8bit": true,
    "fsdp": false,
    "fsdp_param_offload": false,
    "fsdp_optimizer_offload": false,
    "log_every": 10,
    "save_every": 100,
    "eval_every": 100,
    "output_dir": "./outputs/simplevlarl_so101/sft_mixed_stacking_kisti_v100",
    "device": "cuda",
    "seed": 42,
    "num_workers": 0
  },
  "platform": "so101",
  "action_dim": 6,
  "action_chunk_size": 8,
  "n_action_bins": 256,
  "action_token_begin_idx": 31743,
  "sft_method": "discrete_action_tokens_cross_entropy"
}