{
  "checkpoint_selection": "original final update 60000",
  "execution": {
    "action_kind": "absolute_joint_targets",
    "aggregation_weight": "exp(-0.01 * age)",
    "chunk_length": 100,
    "evaluation_horizon": 900,
    "gripper_close": 255,
    "gripper_open": 0,
    "gripper_threshold": 127.5,
    "query_every_control_step": true,
    "temporal_aggregation_history": 100
  },
  "global_step": 60000,
  "model_name": "PACT-Finetune",
  "observation": {
    "camera_names": [
      "wrist_camera"
    ],
    "encoder_tap": "readout",
    "history_control_steps": 8,
    "image_channels": "RGB",
    "image_shape": [
      240,
      320,
      3
    ],
    "min_pool_subframes": 4,
    "proximity_units": "metres",
    "qpos_order": [
      "arm_0",
      "arm_1",
      "arm_2",
      "arm_3",
      "arm_4",
      "arm_5",
      "arm_6",
      "gripper_0",
      "gripper_1"
    ],
    "readout_dim": 128,
    "resize": "cv2.INTER_AREA",
    "sensor_order": [
      "link1_sensor_0",
      "link1_sensor_1",
      "link1_sensor_2",
      "link1_sensor_3",
      "link1_sensor_4",
      "link1_sensor_5",
      "link1_sensor_6",
      "link2_sensor_0",
      "link2_sensor_1",
      "link2_sensor_2",
      "link2_sensor_3",
      "link2_sensor_4",
      "link2_sensor_5",
      "link2_sensor_6",
      "link3_sensor_0",
      "link3_sensor_1",
      "link3_sensor_2",
      "link3_sensor_3",
      "link3_sensor_4",
      "link4_sensor_0",
      "link4_sensor_1",
      "link4_sensor_2",
      "link4_sensor_3",
      "link4_sensor_4",
      "link5_front_sensor_0",
      "link5_front_sensor_1",
      "link5_front_sensor_2",
      "link5_front_sensor_3",
      "link5_back_sensor_0",
      "link5_back_sensor_1",
      "link5_back_sensor_2",
      "link5_back_sensor_3",
      "link5_back_sensor_4",
      "link5_back_sensor_5",
      "link6_sensor_0",
      "link6_sensor_1",
      "link6_sensor_2",
      "link6_sensor_3",
      "link6_sensor_4",
      "link6_sensor_5"
    ]
  },
  "policy_config": {
    "action_dim": 8,
    "backbone": "resnet18",
    "camera_names": [
      "wrist_camera"
    ],
    "dec_layers": 7,
    "dim_feedforward": 3200,
    "enc_layers": 7,
    "hidden_dim": 512,
    "kl_weight": 10,
    "lr": 1e-05,
    "lr_backbone": 1e-05,
    "n_proximity_sensors": 40,
    "nheads": 8,
    "num_queries": 100,
    "prox_tokens_per_sensor": 1,
    "proximity_feature_dim": 128,
    "state_dim": 9
  },
  "training_seed": 3103
}