{ "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 }