| { |
| "step": 20000, |
| "args": { |
| "base_model": "/home/ubuntu/groot_workspace/checkpoints/groot_stage2_natural_woidle_0519_0946/groot_stage2_natural_woidle_0519_0946/checkpoint-40000", |
| "config_model": "/home/ubuntu/groot_workspace/checkpoints/groot_stage2_natural_woidle_0519_0946/groot_stage2_natural_woidle_0519_0946/checkpoint-40000", |
| "dataset": "/home/ubuntu/groot_workspace/datasets/Task_0013_clean_cafe_table_lerobot_woidle_offline_rl_restored_205", |
| "vl_model_path": null, |
| "rl_label_dir": "offline_rl_labels_reward_v2_odom_grasp", |
| "output_dir": "/home/ubuntu/groot_workspace/checkpoints/offline_rl", |
| "experiment_name": "groot_offline_rl_sft40k_reward_v2_odom_grasp_20k", |
| "max_steps": 20000, |
| "global_batch_size": 4, |
| "gradient_accumulation_steps": 1, |
| "num_workers": 4, |
| "actor_lr": 2e-05, |
| "critic_lr": 1e-05, |
| "weight_decay": 1e-05, |
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| "beta": 0.05, |
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| "advantage_clip_min": 0.25, |
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| "critic_coef": 1.0, |
| "critic_hidden_dim": 1024, |
| "critic_warmup_steps": 1000, |
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| "sft_anchor_coef": 0.15, |
| "arm_weight": 1.25, |
| "wrist_weight": 1.75, |
| "gripper_weight": 3.0, |
| "odom_move_weight": 1.25, |
| "odom_manip_weight": 2.5, |
| "episode_sampling_rate": 0.1, |
| "shard_size": 1024, |
| "num_shards_per_epoch": 100000, |
| "save_steps": 10000, |
| "logging_steps": 10, |
| "max_grad_norm": 1.0, |
| "seed": 42, |
| "bf16": true, |
| "tf32": true, |
| "local_files_only": true, |
| "mask_splice_crossing": true, |
| "save_optimizer_state": false, |
| "save_final_model": false, |
| "dry_run_data": false, |
| "dry_run_forward": false |
| } |
| } |
