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checkpoints/a800/real4_50_vitacdreamer_encoder_policy_sweep32_20260810/configs/train_config_vitacdreamer_real4_50_stage2_depthdelta_wipe_board_kl7p5_plr1e-5_adaplr3e-5_cs35_s16000.yml

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+state_dim: 8
+kl_weight: 7.5
+chunk_size: 35
+hidden_dim: 512
+dim_feedforward: 3200
+temporal_agg: true
+device: cuda:0
+ckpt_dir: null
+policy_class: ACT
+num_steps: 16000
+batch_size: 32
+num_workers: 4
+save_freq: 1000
+position_embedding: sine
+lr_vision_backbone: 1.0e-05
+weight_decay: 0.0001
+lr: 1.0e-05
+vitacdreamer_adapter_lr: 3.0e-05
+masks: false
+dilation: false
+backbone: resnet18
+nheads: 8
+enc_layers: 4
+dec_layers: 7
+pre_norm: false
+dropout: 0.025
+camera_names:
+- cam_high
+tactile_names:
+- tac_left
+- tac_right
+lr_tactile_backbone: 1.0e-05
+tactile_masks: false
+tactile_backbone: resnet18
+tactile_ckpt: null
+tactile_dilation: false
+use_vitacdreamer_feature: true
+vitacdreamer_history_len: 5
+vitacdreamer_sample_stride: 5
+vitacdreamer_feature_dim: 512
+vitacdreamer_fusion_mode: feature_query_policy_kv
+vitacdreamer_cross_attn_layers: none
+finetune_vitacdreamer_encoder: false
+vitacdreamer_checkpoint: /pfs/pfs-oHNwH0/acondaway/ViTacDreamer_policy/checkpoints/real4_50_20260809/stage2_prior512_hlen5_depthdelta_40train10val_b128_from_stage1/stage2_v2_encoder_only.pth
+vitacdreamer_feature_cache_dir: ./data/act_processed/{task_stem}/real-50/vitacdreamer_features_real4_stage2_depthdelta_hlen5_20260809
+vitacdreamer_task_order:
+- insert_tube
+- press_toaster
+- pull_out_drawer
+- wipe_board