| lr_schedule=_optimizer.CosineDecaySchedule( | |
| warmup_steps=100, | |
| peak_lr=15e-5, | |
| decay_steps=9_000, | |
| decay_lr=5e-5, | |
| ), | |
| num_train_steps=4000, | |
| batch_size=64, | |
| log_interval=100, | |
| save_interval=100, | |
| keep_period=500, | |
| # LeRobot DataLoader can use workers; pick what your machine can handle | |
| num_workers=16, |