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config.json

@@ -27,12 +27,13 @@
     },
     "device": "cuda",
     "use_amp": false,
+    "use_peft": false,
     "push_to_hub": true,
-    "repo_id": "SagriviS/Test",
+    "repo_id": "SagriviS/",
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/Test31/checkpoints/last/pretrained_model",
+    "pretrained_path": null,
     "chunk_size": 100,
     "n_action_steps": 100,
     "normalization_mapping": {
@@ -42,9 +43,9 @@
     },
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "replace_final_stride_with_dilation": 0,
+    "replace_final_stride_with_dilation": false,
     "pre_norm": false,
-    "dim_model": 512,
+    "dim_model": 256,
     "n_heads": 8,
     "dim_feedforward": 3200,
     "feedforward_activation": "relu",
@@ -55,7 +56,7 @@
     "n_vae_encoder_layers": 4,
     "temporal_ensemble_coeff": null,
     "dropout": 0.1,
-    "kl_weight": 5.0,
+    "kl_weight": 15.0,
     "optimizer_lr": 1e-05,
     "optimizer_weight_decay": 0.0001,
     "optimizer_lr_backbone": 1e-05

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:63a60cd6e9c2d1022d53b4cc5bd812ae947f6b1b9c6d66f316bd05a883b3fb9d
-size 206765304
+oid sha256:2969f662cba79ca6bd21a3c69d75432f34f1c3ca19a92497a2a0b13225dfb6db
+size 115339376

train_config.json

@@ -111,11 +111,11 @@
         "use_amp": false,
         "use_peft": false,
         "push_to_hub": true,
-        "repo_id": "SagriviS/Test",
+        "repo_id": "SagriviS/",
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/Test31/checkpoints/last/pretrained_model",
+        "pretrained_path": null,
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -125,9 +125,9 @@
         },
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "replace_final_stride_with_dilation": 0,
+        "replace_final_stride_with_dilation": false,
         "pre_norm": false,
-        "dim_model": 512,
+        "dim_model": 256,
         "n_heads": 8,
         "dim_feedforward": 3200,
         "feedforward_activation": "relu",
@@ -138,14 +138,14 @@
         "n_vae_encoder_layers": 4,
         "temporal_ensemble_coeff": null,
         "dropout": 0.1,
-        "kl_weight": 5.0,
+        "kl_weight": 15.0,
         "optimizer_lr": 1e-05,
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "lerobot/outputs/train/Test31",
+    "output_dir": "outputs/train/Test32",
     "job_name": "act",
-    "resume": true,
+    "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 16,
@@ -179,7 +179,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "ze80svgl",
+        "run_id": "pr45rdcx",
         "mode": null
     },
     "peft": null,
@@ -189,5 +189,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": "outputs/train/Test31/checkpoints/last"
+    "checkpoint_path": null
 }