model_name: motoko-1-1b
task: multitask_haptic_pretraining

training:
  seed: 42
  epochs: 20
  global_batch_size: 128
  micro_batch_size: 8
  learning_rate: 2.0e-4
  min_learning_rate: 2.0e-5
  warmup_steps: 2000
  weight_decay: 0.01
  gradient_clip_norm: 1.0
  precision: bf16

data:
  max_sequence_length: 2048
  sampling_rate_hz: 1000
  shuffle: true
  num_workers: 8

objectives:
  next_state_prediction_weight: 1.0
  grasp_stability_weight: 0.5
  material_recognition_weight: 0.5
  masked_signal_modeling_weight: 0.25

checkpointing:
  output_dir: ./checkpoints
  save_steps: 1000
  keep_last_n: 3