config.json

{
  "base_vlm_variant": "gemma_2b",
  "action_expert_variant": "gemma_2b",
  "value_function_variant": "gemma_670m",
  "repo_id": "lerobot/aloha_sim_transfer_cube_human",
  "action_dim": 14,
  "action_horizon": 50,
  "state_dim": 14,
  "batch_size": 4,
  "learning_rate": 0.0001,
  "gradient_accumulation_steps": 4,
  "value_train_steps": 5000,
  "policy_warmup_steps": 10000,
  "policy_recap_steps": 20000,
  "value_num_bins": 201,
  "value_hidden_dim": 1024,
  "save_interval": 1000,
  "output_dir": "/lambda/nfs/illinois/pi_openpi/checkpoints/recap_pytorch",
  "wandb_project": "openpi",
  "wandb_enabled": true,
  "log_interval": 50,
  "seed": 42,
  "dtype": "bfloat16",
  "max_token_len": 200
}