Upload train_args.json

storage/sigma_lora_out/train_args.json

@@ -1,10 +1,10 @@
 {
   "sigma_env": "sigma.env",
-  "output_dir": "/workspace/storage/sigma_lora_out_v2",
+  "output_dir": "/workspace/storage/sigma_lora_out",
   "base_model_id": "lerobot/pi05_base",
   "load_in_4bit": false,
   "torch_dtype": "bf16",
-  "dataset_id": null,
+  "dataset_id": "lerobot/svla_so101_pickplace",
   "split": "train",
   "data_dir": "/workspace/storage/sigma_pickplace",
   "hf_data_repo": "Veltraxor/Sigma",
@@ -14,7 +14,7 @@
   "hf_cache_keep_latest": 1,
   "hf_cache_dir": null,
   "num_workers": 4,
-  "epochs": 3,
+  "epochs": 1,
   "batch_size": 2,
   "grad_accum": 8,
   "lr": 0.0002,
@@ -31,6 +31,8 @@
   "lambda_tau": 0.03,
   "beta_mi": 0.1,
   "eta_var": 0.1,
+  "hard_mining_ratio": 0.3,
+  "hard_mining_lambda": 1.0,
   "loss_warmup_ratio": 0.4,
   "lambda_sem_start": 0.2,
   "lambda_intent_start": 0.2,