recap_baseline / train_config.json
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{
"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
}