{ "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 }