train_config.json

{
  "repo_id": "jackvial/so101_pickplace_recap_merged_v2",
  "output_dir": "/home/jack/code/lerobot/outputs/recap_value_0",
  "labels_csv_path": null,
  "root": "/home/jack/.cache/huggingface/lerobot",
  "revision": null,
  "episodes": null,
  "epochs": 2,
  "batch_size": 4,
  "gradient_accumulation_steps": 4,
  "num_workers": 4,
  "learning_rate": 0.0001,
  "weight_decay": 0.0001,
  "warmup_ratio": 0.05,
  "max_grad_norm": 1.0,
  "use_class_weights": true,
  "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": 100,
  "validate_every_n_train_steps": 50,
  "plot_every_n_train_steps": 200,
  "max_val_steps_per_step_validation": 20,
  "val_plot_num_episodes": 4,
  "val_plot_num_frames": 8,
  "val_plot_every_n_epochs": 1,
  "c_fail": 500.0,
  "num_value_bins": 50,
  "text_tokenizer_name": "google/paligemma-3b-pt-224",
  "tokenizer_max_length": 96,
  "image_size": 224,
  "max_state_dim": 32,
  "paligemma_variant": "gemma_2b",
  "model_precision": "bfloat16",
  "freeze_vision_encoder": true,
  "freeze_backbone": true,
  "num_unfrozen_backbone_layers": 3,
  "num_vlm_layers": 10,
  "dropout": 0.1,
  "pretrained_path": "lerobot/pi05_base",
  "wandb_project": null,
  "wandb_entity": null,
  "wandb_run_name": null
}