train_config.json

{
  "repo_id": "jackvial/so101_pickplace_recap_merged_v2",
  "output_dir": "/home/jack/code/lerobot/outputs/recap_baseline",
  "value_network_checkpoint": "",
  "value_network_checkpoint_filename": "checkpoints/epoch_0001.pt",
  "value_network_pretrained_path": null,
  "episode_labels_path": null,
  "root": null,
  "revision": null,
  "episodes": null,
  "epochs": 5,
  "batch_size": 8,
  "num_workers": 4,
  "learning_rate": 0.0001,
  "weight_decay": 0.0001,
  "max_grad_norm": 1.0,
  "val_split_ratio": 0.1,
  "seed": 42,
  "device": "auto",
  "max_train_steps_per_epoch": null,
  "max_val_steps_per_epoch": null,
  "log_every_n_steps": 10,
  "validate_every_n_train_steps": 1000,
  "max_val_steps_per_step_validation": 50,
  "enable_advantage_conditioning": false,
  "c_fail": 500.0,
  "num_value_bins": 56,
  "advantage_threshold": 0.0,
  "advantage_threshold_percentile": 70.0,
  "advantage_dropout": 0.3,
  "cfg_beta": 1.0,
  "paligemma_variant": "gemma_2b",
  "action_expert_variant": "gemma_300m",
  "num_expert_layers": 0,
  "pretrained_path": "lerobot/pi05_base",
  "model_precision": "bfloat16",
  "freeze_vision_encoder": true,
  "freeze_backbone": true,
  "num_unfrozen_backbone_layers": 3,
  "train_expert_only": false,
  "gradient_checkpointing": true,
  "gradient_accumulation_steps": 1,
  "torch_compile": false,
  "torch_compile_mode": "default",
  "vn_batch_size": 4,
  "advantage_cache_path": null,
  "resume_from_checkpoint": "/home/jack/code/lerobot/outputs/recap_baseline/checkpoints/epoch_1.pt",
  "profile_steps": 20,
  "wandb_project": null,
  "wandb_entity": null,
  "wandb_run_name": null
}