{
  "sigma_env": "sigma.env",
  "output_dir": "/workspace/storage/sigma_lora_out",
  "base_model_id": "lerobot/pi05_base",
  "load_in_4bit": true,
  "torch_dtype": "bf16",
  "dataset_id": null,
  "split": "train",
  "data_dir": "/workspace/storage/sigma_pickplace",
  "hf_data_repo": "Veltraxor/Sigma",
  "hf_data_subdir": "storage/sigma_pickplace",
  "prefer_hf_shards": false,
  "auto_prune_hf_cache": false,
  "hf_cache_keep_latest": 1,
  "hf_cache_dir": null,
  "num_workers": 4,
  "epochs": 3,
  "batch_size": 2,
  "grad_accum": 8,
  "lr": 0.0002,
  "warmup_ratio": 0.03,
  "weight_decay": 0.0,
  "max_steps": -1,
  "seed": 42,
  "log_every": 10,
  "alpha_a": 1.0,
  "alpha_b": 1.0,
  "alpha_c": 1.0,
  "lambda_sem": 1.0,
  "lambda_intent": 0.8,
  "lambda_tau": 0.03,
  "beta_mi": 0.1,
  "eta_var": 0.2,
  "hard_mining_ratio": 0.3,
  "hard_mining_lambda": 1.0,
  "loss_warmup_ratio": 0.6,
  "lambda_sem_start": 0.1,
  "lambda_intent_start": 0.1,
  "max_grad_norm": 1.0,
  "lora_r": 16,
  "lora_alpha": 32,
  "lora_dropout": 0.05,
  "target_modules": [
    "q_proj",
    "k_proj",
    "v_proj",
    "o_proj"
  ],
  "train_base_lora": false
}