Upload 3 files

config.json

@@ -11,8 +11,8 @@
             "type": "VISUAL",
             "shape": [
                 3,
-                720,
-                1280
+                360,
+                640
             ]
         },
         "observation.state": {
@@ -54,7 +54,7 @@
     "freeze_vision_encoder": false,
     "train_expert_only": false,
     "train_state_proj": true,
-    "optimizer_lr": 1e-05,
+    "optimizer_lr": 8e-06,
     "optimizer_betas": [
         0.9,
         0.95

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:41f9cc12e3298863908f85a0dbf8696f88a6f9f8ed256ebbfbd594de9351197a
+oid sha256:5d35760fe5e5929331d8374a643102ca50ae054858b699b6657a664e26106ad3
 size 1197790016

train_config.json

@@ -1,12 +1,12 @@
 {
     "dataset": {
-        "repo_id": "Beable/lerobot-SOARM100-sim2",
+        "repo_id": "Beable/lerobot-SOARM100-sim3",
         "root": null,
         "episodes": null,
         "image_transforms": {
             "enable": true,
-            "max_num_transforms": 3,
-            "random_order": false,
+            "max_num_transforms": 4,
+            "random_order": true,
             "tfs": {
                 "brightness": {
                     "weight": 1.0,
@@ -60,10 +60,10 @@
                 }
             }
         },
-        "revision": "v2.1",
+        "revision": null,
         "use_imagenet_stats": true,
         "video_backend": "torchcodec",
-        "tolerance_s": 0.02,
+        "tolerance_s": 0.0001,
         "timestamps_check": "warn"
     },
     "env": null,
@@ -80,8 +80,8 @@
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    720,
-                    1280
+                    360,
+                    640
                 ]
             },
             "observation.state": {
@@ -123,7 +123,7 @@
         "freeze_vision_encoder": false,
         "train_expert_only": false,
         "train_state_proj": true,
-        "optimizer_lr": 1e-05,
+        "optimizer_lr": 8e-06,
         "optimizer_betas": [
             0.9,
             0.95
@@ -147,21 +147,21 @@
         "min_period": 0.004,
         "max_period": 4.0
     },
-    "output_dir": "outputs/train/2025-08-14/02-35-56_smolvla",
+    "output_dir": "outputs/train/2025-08-14/18-38-08_smolvla",
     "job_name": "smolvla",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 4,
-    "steps": 15000,
+    "steps": 50000,
     "eval_freq": 20000,
     "log_freq": 100,
     "save_checkpoint": true,
-    "save_freq": 2000,
+    "save_freq": 30000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
-        "lr": 1e-05,
+        "lr": 8e-06,
         "weight_decay": 0.0001,
         "grad_clip_norm": 10,
         "betas": [
@@ -174,7 +174,7 @@
         "type": "cosine_decay_with_warmup",
         "num_warmup_steps": 1000,
         "num_decay_steps": 30000,
-        "peak_lr": 1e-05,
+        "peak_lr": 8e-06,
         "decay_lr": 2.5e-06
     },
     "eval": {