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| "dataset": {"episodes": null, | |
| "image_transforms": {"enable": false, | |
| "max_num_transforms": 3, | |
| "random_order": false, | |
| "tfs": {"brightness": {"kwargs": {"brightness": [0.8, | |
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| "video_backend": "torchcodec"}, | |
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| "device": "cuda", | |
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| "self_attn_every_n_layers": 2, | |
| "tokenizer_max_length": 48, | |
| "train_expert_only": true, | |
| "train_state_proj": true, | |
| "type": "smolvla", | |
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| "use_delta_joint_actions_aloha": false, | |
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| "scheduler": {"decay_lr": 2.5e-06, | |
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| "notes": null, | |
| "project": "lerobot", | |
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