Download config.json from junbrro/openarm_g_decoder_amortized_ik_cot_20260810: direct link, hf CLI and curl.
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- Download file 1.92 kB
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https://huggingface.co/junbrro/openarm_g_decoder_amortized_ik_cot_20260810/resolve/main/config.json
- Command line
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hf download hf://junbrro/openarm_g_decoder_amortized_ik_cot_20260810/config.json
-
curl -L -o config.json https://huggingface.co/junbrro/openarm_g_decoder_amortized_ik_cot_20260810/resolve/main/config.json
1.92 kB
| { | |
| "cmd": "train", | |
| "data_root": "/rlwrld-unified-checkpoints/junhyeong/datasets/g_distill_20260810", | |
| "output_dir": "/rlwrld-unified-checkpoints/junhyeong/checkpoints/g_decoder_cot_20260810", | |
| "out_json": null, | |
| "mjcf_path": null, | |
| "device": "cuda:0", | |
| "seed": 0, | |
| "val_frac": 0.1, | |
| "human_intents": true, | |
| "human_batch": 128, | |
| "hand_mimic": true, | |
| "d_model": 256, | |
| "hidden": 384, | |
| "n_layers": 2, | |
| "dropout": 0.0, | |
| "horizon": 16, | |
| "steps": 20000, | |
| "batch": 256, | |
| "lr": 0.0003, | |
| "weight_decay": 0.0001, | |
| "warmup": 500, | |
| "grad_clip": 1.0, | |
| "log_every": 200, | |
| "eval_every": 1000, | |
| "w_distill": 1.0, | |
| "w_tip": 20.0, | |
| "w_wpos": 20.0, | |
| "w_wrot": 2.0, | |
| "w_smooth": 1.0, | |
| "w_limit": 10.0, | |
| "n_samples": 50, | |
| "selftest_steps": 4000, | |
| "tip_gate_mm": 1.0, | |
| "seed_q0_from_corpus": false, | |
| "max_rows": 0, | |
| "model": { | |
| "intent_dim": 24, | |
| "joint_dim": 13, | |
| "horizon": 16, | |
| "d_model": 256, | |
| "hidden": 384, | |
| "n_layers": 2, | |
| "q_lo": [ | |
| -1.3962600231170654, | |
| -0.17453299462795258, | |
| -1.5707999467849731, | |
| 0.0, | |
| -1.5707999467849731, | |
| -0.785398006439209, | |
| -1.5707999467849731, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q_hi": [ | |
| 3.4906599521636963, | |
| 3.3161299228668213, | |
| 1.5707999467849731, | |
| 2.443459987640381, | |
| 1.5707999467849731, | |
| 0.785398006439209, | |
| 1.5707999467849731, | |
| 2.094395160675049, | |
| 0.47455501556396484, | |
| 1.5285593271255493, | |
| 1.5285593271255493, | |
| 1.5285593271255493, | |
| 1.5285593271255493 | |
| ] | |
| }, | |
| "loss_weights": { | |
| "distill": 1.0, | |
| "tip": 20.0, | |
| "wpos": 20.0, | |
| "wrot": 2.0, | |
| "smooth": 1.0, | |
| "limit": 10.0 | |
| }, | |
| "corpus": { | |
| "rows": 15211, | |
| "groups": 687, | |
| "horizon": 16, | |
| "shards": 10, | |
| "robot_train": 6326, | |
| "robot_val": 1002, | |
| "human_train": 7110, | |
| "human_val": 773 | |
| }, | |
| "params": 1743117 | |
| } |