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Robot_Arm/ml/configs/base.json
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{
"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, "p_neq_warm": 5000, "fk_tmax": 0.3, "fk_caps": 96,
"ckpt_min": 10, "eval_every": 2000, "eval_tasks": 512, "log_every": 50, "patience_evals": 5
}
}