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train_config.json

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+{
+  "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
+}