test_hepha_model_2 / train_config.json
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{
"dataset": {
"repo_id": "tmeynier/test_hepha_record_22",
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"episodes": null,
"image_transforms": {
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"use_imagenet_stats": true,
"video_backend": "pyav"
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"policy": {
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"normalization_mapping": {
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"STATE": "MIN_MAX",
"ENV": "MIN_MAX",
"ACTION": "MIN_MAX"
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"input_features": {
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"tags": null,
"license": null,
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"train_horizon": 20,
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"lookback_obs_steps": 10,
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"lora_rank": 20,
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"dim_model": 384,
"n_heads": 8,
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"n_decoder_layers": 8,
"rescale_shape": [
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"optimizer_lr_cycle_steps": 300000,
"optimizer_weight_decay": 1e-05
},
"output_dir": "outputs/train/hepha_test_train_2",
"job_name": "hepha_test_train_2",
"resume": false,
"seed": 1000,
"num_workers": 4,
"batch_size": 8,
"steps": 100000,
"eval_freq": 20000,
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"save_checkpoint": true,
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"use_policy_training_preset": true,
"optimizer": {
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"betas": [
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"eps": 1e-08
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"scheduler": {
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"eval": {
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"project": "lerobot",
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"notes": null,
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}
}