| { | |
| "data_root": "${ROBOREEL_DATA}", | |
| "annotations": null, | |
| "pretrained": "lerobot/pi05_base", | |
| "output_dir": "${ROBOREEL_CKPT}/nd/lerobot_pi05_fft_vlm", | |
| "robot_cameras": [ | |
| "base_camera", | |
| "hand_camera" | |
| ], | |
| "include_video_types": [ | |
| "without_distraction" | |
| ], | |
| "paired_sampling": null, | |
| "max_demo_index": 79, | |
| "batch_size": 32, | |
| "num_train_steps": 50000, | |
| "lr": 2.5e-05, | |
| "num_workers": 8, | |
| "num_stats_samples": 5000, | |
| "save_interval": 10000, | |
| "log_interval": 50, | |
| "device": "cuda:0", | |
| "dtype": "bfloat16", | |
| "gradient_checkpointing": true, | |
| "train_expert_only": true, | |
| "seed": 42, | |
| "state_dim": 8, | |
| "action_dim": 8, | |
| "chunk": 20, | |
| "variant": "vlm", | |
| "training_method": "fft" | |
| } |