config.json

{
    "metadata": {
        "model_name": "SARM Progress Prediction",
        "description": "Stage-aware progress prediction model for robot manipulation tasks",
        "task": "clearing_food_from_table_into_fridge",
        "task_number": 25,
        "dataset": "IliaLarchenko/behavior_224_rgb",
        "version": "1.0",
        "author": "Your Name",
        "tags": ["robotics", "progress-estimation", "behavior-cloning"]
    },
    "model": {
        "d_model": 768,
        "n_heads": 12,
        "n_layers": 8,
        "d_mlp": 512,
        "num_stages": 100,
        "d_state": 256,
        "num_tasks": 50
    },
    "training": {
        "max_steps": 10000,
        "learning_rate": 1e-4,
        "weight_decay": 1e-4,
        "batch_size": 16,
        "gradient_accumulation_steps": 4,
        "max_grad_norm": 1.0,
        "scheduler": "cosine",
        "stage_loss_weight": 1.0,
        "progress_loss_weight": 1.0,
        "validation_steps": 100,
        "save_steps": 200
    },
    "data": {
        "max_sequence_length": 13,
        "image_size": 224,
        "num_workers": 10,
        "val_workers": 10,
        "val_samples": 500,
        "train_episodes": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20,
                           21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40,
                           41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60,
                           61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80,
                           81, 82, 83, 84, 85, 86, 87, 88, 89, 90],
        "val_episodes": [91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105],
        "seed": 42
    },
    "logging": {
        "project_name": "sarm-training",
        "run_name": null,
        "log_freq": 10,
        "checkpoint_dir": "checkpoints_sarm_25_2"
    }
}