checkpoints/planner_D/config.json

{
  "latents": "data/latents",
  "density": "data/runs/density/density.pt",
  "out": "data/runs/planner_D",
  "stage": "D",
  "resume": false,
  "seed": 0,
  "width": 256,
  "hidden": 512,
  "inner": 6,
  "cycles": 3,
  "horizon_curriculum": "0:3,0.5:5",
  "curriculum": "0:2,0.25:3,0.5:5",
  "hold_weight": 0.5,
  "alpha": 0.05,
  "lambda_cycle": 0.3,
  "lambda_support": 0.01,
  "lambda_anchor": 0.05,
  "lambda_sat": 0.001,
  "sat_limit": 2.0,
  "steps": 20000,
  "batch_size": 32,
  "lr": 0.0001,
  "weight_decay": 0.0001,
  "grad_clip": 1.0,
  "workers": 0,
  "pretrain_steps": 400,
  "pretrain_lr": 0.001,
  "warm_start": true,
  "lambda_z": 0.0,
  "learn_lambda_z": false,
  "use_feedback": true,
  "detach_schedule": "last-cycle",
  "terminal_only": false,
  "path_weighting": "late",
  "gamma": 0.9,
  "log_every": 100,
  "val_every": 1000,
  "val_batches": 20,
  "in_memory": true
}