train_config.json

{
  "model_name": "HuggingFaceTB/SmolVLA-base",
  "lora_rank": 64,
  "lora_alpha": 128,
  "lora_target_modules": [
    "q_proj",
    "v_proj"
  ],
  "lora_dropout": 0.05,
  "learning_rate": 0.0002,
  "weight_decay": 0.01,
  "batch_size": 2,
  "num_epochs": 1,
  "max_steps": 20,
  "gradient_accumulation_steps": 8,
  "warmup_ratio": 0.05,
  "max_grad_norm": 1.0,
  "eval_steps": 250,
  "eval_episodes": 20,
  "save_steps": 500,
  "save_total_limit": 3,
  "device": "mps",
  "fp16": false,
  "bf16": false,
  "dataloader_num_workers": 0,
  "gradient_checkpointing": true,
  "output_dir": "checkpoints/v0/",
  "logging_steps": 10,
  "report_to": "none",
  "seed": 42,
  "dataset_path": "data/lerobot/dataset",
  "train_split": 0.9,
  "action_chunk_size": 50,
  "control_frequency_hz": 10.0
}