config.json

{
  "d_model": 1024,
  "n_heads": 16,
  "n_layers": 16,
  "ffn_dim": 4096,
  "dropout": 0.1,
  "n_joints": 6,
  "img_size": 224,
  "action_chunk": 10,
  "dual_camera": true,
  "hardware": "LDX-218",
  "batch_size": 2,
  "grad_accum": 16,
  "amp_dtype": "torch.float16",
  "num_workers": 2,
  "lr": 0.0002,
  "weight_decay": 0.0001,
  "total_steps": 910,
  "warmup_steps": 91,
  "max_grad_norm": 1.0,
  "dataset_split": "train",
  "dataset_name": "lerobot/pusht_image",
  "output_dir": "6net_v2_checkpoints",
  "hf_repo": "ray0rf1re/6Net-2.0",
  "log_every": 10,
  "save_every": 200
}