{
    "dataset": {
        "repo_id": "robot-learning-group47/eval2_all_prompts_fixed_local",
        "root": "/data/lerobot_datasets/eval2_all_prompts_fixed",
        "episodes": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            10,
            11,
            12,
            13,
            14,
            15,
            16,
            17,
            18,
            19,
            20,
            21,
            22,
            23,
            24,
            25,
            26,
            27,
            28,
            29,
            30,
            31,
            32,
            33,
            34,
            35,
            36,
            37,
            38,
            39,
            40,
            41,
            42,
            43,
            44,
            45,
            46,
            47,
            48,
            49,
            50,
            51,
            52,
            53,
            54,
            55,
            56,
            57,
            58,
            59,
            60,
            61,
            62,
            63,
            64,
            65,
            66,
            67,
            68,
            69,
            70,
            71,
            72,
            73,
            74,
            75,
            76,
            77,
            78,
            79,
            80,
            81,
            82,
            83,
            84,
            85,
            86,
            87,
            88,
            89,
            90,
            91,
            92,
            93,
            94,
            95,
            96,
            97,
            98,
            99,
            100,
            101,
            102,
            103,
            104,
            105,
            106,
            107,
            108,
            109,
            110,
            111,
            112,
            113,
            114,
            115,
            116,
            117,
            118,
            119,
            120,
            121,
            122,
            123,
            124,
            125,
            126,
            127,
            128,
            129,
            130,
            131,
            132,
            133,
            134,
            135,
            136,
            137,
            138,
            139,
            140,
            141,
            142,
            143,
            144,
            145,
            146,
            147,
            148,
            149,
            150,
            151,
            152,
            153,
            154,
            155,
            156,
            157,
            158,
            159,
            160,
            161,
            162,
            163,
            164,
            165,
            166,
            167,
            168,
            169,
            170,
            171,
            172,
            173,
            174,
            175,
            176,
            177,
            178,
            179,
            180,
            181,
            182,
            183,
            184,
            185,
            186,
            187,
            188,
            189,
            190,
            191,
            192,
            193,
            194,
            195,
            196,
            197,
            198,
            199,
            200,
            201,
            202,
            203,
            204,
            205,
            206,
            207,
            208,
            209,
            210,
            211,
            212,
            213,
            214,
            215,
            216,
            217,
            218,
            219,
            220,
            221,
            222,
            223,
            224,
            225,
            226,
            227,
            228,
            229,
            230,
            231,
            232,
            233,
            234,
            235,
            236,
            237,
            238,
            239,
            240,
            241,
            242,
            243,
            244,
            245,
            246,
            247,
            248,
            249,
            250,
            251,
            252,
            253,
            254,
            255,
            256,
            257,
            258,
            259,
            260,
            261,
            262,
            263,
            264,
            265
        ],
        "image_transforms": {
            "enable": true,
            "max_num_transforms": 1,
            "random_order": false,
            "tfs": {
                "brightness": {
                    "weight": 1.0,
                    "type": "ColorJitter",
                    "kwargs": {
                        "brightness": [
                            0.85,
                            1.15
                        ]
                    }
                }
            }
        },
        "revision": null,
        "use_imagenet_stats": true,
        "video_backend": "torchcodec",
        "return_uint8": true,
        "streaming": false
    },
    "env": null,
    "policy": {
        "type": "smolvla",
        "n_obs_steps": 1,
        "input_features": {
            "observation.state": {
                "type": "STATE",
                "shape": [
                    6
                ]
            },
            "observation.images.camera1": {
                "type": "VISUAL",
                "shape": [
                    3,
                    256,
                    256
                ]
            },
            "observation.images.camera2": {
                "type": "VISUAL",
                "shape": [
                    3,
                    256,
                    256
                ]
            },
            "observation.images.camera3": {
                "type": "VISUAL",
                "shape": [
                    3,
                    256,
                    256
                ]
            },
            "observation.images.empty_camera_0": {
                "type": "VISUAL",
                "shape": [
                    3,
                    480,
                    640
                ]
            },
            "observation.images.empty_camera_1": {
                "type": "VISUAL",
                "shape": [
                    3,
                    480,
                    640
                ]
            }
        },
        "output_features": {
            "action": {
                "type": "ACTION",
                "shape": [
                    6
                ]
            }
        },
        "device": "cuda",
        "use_amp": true,
        "use_peft": false,
        "push_to_hub": true,
        "repo_id": "robot-learning-group47/eval2_fast_smolvla_brightness_40k",
        "private": null,
        "tags": null,
        "license": null,
        "pretrained_path": "lerobot/smolvla_base",
        "chunk_size": 20,
        "n_action_steps": 20,
        "normalization_mapping": {
            "VISUAL": "IDENTITY",
            "STATE": "MEAN_STD",
            "ACTION": "MEAN_STD"
        },
        "max_state_dim": 32,
        "max_action_dim": 32,
        "resize_imgs_with_padding": [
            256,
            256
        ],
        "empty_cameras": 2,
        "adapt_to_pi_aloha": false,
        "use_delta_joint_actions_aloha": false,
        "tokenizer_max_length": 48,
        "num_steps": 10,
        "use_cache": true,
        "freeze_vision_encoder": true,
        "train_expert_only": true,
        "train_state_proj": true,
        "optimizer_lr": 0.0001,
        "optimizer_betas": [
            0.9,
            0.95
        ],
        "optimizer_eps": 1e-08,
        "optimizer_weight_decay": 0.0001,
        "optimizer_grad_clip_norm": 10.0,
        "scheduler_warmup_steps": 500,
        "scheduler_decay_steps": 40000,
        "scheduler_decay_lr": 2.5e-06,
        "vlm_model_name": "HuggingFaceTB/SmolVLM2-500M-Video-Instruct",
        "load_vlm_weights": true,
        "add_image_special_tokens": false,
        "attention_mode": "cross_attn",
        "prefix_length": 0,
        "pad_language_to": "max_length",
        "num_expert_layers": 0,
        "num_vlm_layers": 16,
        "self_attn_every_n_layers": 2,
        "expert_width_multiplier": 0.75,
        "min_period": 0.004,
        "max_period": 4.0,
        "rtc_config": null,
        "compile_model": false,
        "compile_mode": "max-autotune"
    },
    "reward_model": null,
    "output_dir": "/data/lerobot_outputs/train/eval2_fast_smolvla_brightness_40k",
    "job_name": "eval2_fast_smolvla_brightness_40k",
    "resume": false,
    "seed": 1000,
    "cudnn_deterministic": false,
    "num_workers": 8,
    "batch_size": 64,
    "prefetch_factor": 4,
    "persistent_workers": true,
    "steps": 40000,
    "eval_freq": 20000,
    "log_freq": 200,
    "tolerance_s": 0.0001,
    "save_checkpoint": true,
    "save_freq": 2500,
    "use_policy_training_preset": true,
    "optimizer": {
        "type": "adamw",
        "lr": 0.0001,
        "weight_decay": 0.0001,
        "grad_clip_norm": 10.0,
        "betas": [
            0.9,
            0.95
        ],
        "eps": 1e-08
    },
    "scheduler": {
        "type": "cosine_decay_with_warmup",
        "num_warmup_steps": 500,
        "num_decay_steps": 40000,
        "peak_lr": 0.0001,
        "decay_lr": 2.5e-06
    },
    "eval": {
        "n_episodes": 50,
        "batch_size": 8,
        "use_async_envs": true
    },
    "wandb": {
        "enable": true,
        "disable_artifact": false,
        "project": "lerobot",
        "entity": null,
        "notes": null,
        "run_id": "aqi0v4og",
        "mode": null,
        "add_tags": true
    },
    "peft": null,
    "sample_weighting": null,
    "rename_map": {
        "observation.images.front": "observation.images.camera1"
    },
    "checkpoint_path": null
}