| { | |
| "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 | |
| } |