recap_value_0 / train_config.json
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{
"repo_id": "jackvial/so101_pickplace_recap_merged_v2",
"output_dir": "/home/jack/code/lerobot/outputs/recap_value_0",
"labels_csv_path": null,
"root": "/home/jack/.cache/huggingface/lerobot",
"revision": null,
"episodes": null,
"epochs": 2,
"batch_size": 4,
"gradient_accumulation_steps": 4,
"num_workers": 4,
"learning_rate": 0.0001,
"weight_decay": 0.0001,
"warmup_ratio": 0.05,
"max_grad_norm": 1.0,
"use_class_weights": true,
"val_split_ratio": 0.1,
"seed": 42,
"device": "auto",
"max_train_steps_per_epoch": null,
"max_val_steps_per_epoch": null,
"log_every_n_steps": 100,
"validate_every_n_train_steps": 50,
"plot_every_n_train_steps": 200,
"max_val_steps_per_step_validation": 20,
"val_plot_num_episodes": 4,
"val_plot_num_frames": 8,
"val_plot_every_n_epochs": 1,
"c_fail": 500.0,
"num_value_bins": 50,
"text_tokenizer_name": "google/paligemma-3b-pt-224",
"tokenizer_max_length": 96,
"image_size": 224,
"max_state_dim": 32,
"paligemma_variant": "gemma_2b",
"model_precision": "bfloat16",
"freeze_vision_encoder": true,
"freeze_backbone": true,
"num_unfrozen_backbone_layers": 3,
"num_vlm_layers": 10,
"dropout": 0.1,
"pretrained_path": "lerobot/pi05_base",
"wandb_project": null,
"wandb_entity": null,
"wandb_run_name": null
}