| { | |
| "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 | |
| } |