Robot_Arm/ml/configs/base.json

{
  "model": {"d": 192, "heads": 8, "ff": 768, "enc": 4, "dec": 4},
  "train": {
    "batch": 1024, "lr": 1e-3, "warmup": 1000, "steps": 60000, "wd": 0.01, "betas": [0.9, 0.95],
    "amp": "bf16", "grad_clip": 1.0,
    "w_mf": 1.0, "w_fk": 0.5, "w_smooth": 0.05, "w_value": 0.1, "w_sub": 0.1,
    "p_neq": 0.25, "fk_caps": 96,
    "ckpt_min": 10, "eval_every": 2000, "eval_tasks": 512, "log_every": 50, "patience_evals": 5
  }
}