| { | |
| "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 | |
| } |