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config.json

@@ -79,7 +79,7 @@
     "compile_model": false,
     "compile_mode": "max-autotune",
     "freeze_vision_encoder": false,
-    "train_expert_only": true,
+    "train_expert_only": false,
     "optimizer_lr": 0.0001,
     "optimizer_betas": [
         0.9,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:07cf6cb90735d8c3d1fcb718c47d1e7aa35a8d8a98fcfec979281c9d34361198
+oid sha256:47b2859ca01c166055b67eb137f112561fd5036160d12a747a6a55174b787907
 size 7011548640

train_config.json

@@ -161,7 +161,7 @@
         "compile_model": false,
         "compile_mode": "max-autotune",
         "freeze_vision_encoder": false,
-        "train_expert_only": true,
+        "train_expert_only": false,
         "optimizer_lr": 0.0001,
         "optimizer_betas": [
             0.9,
@@ -175,13 +175,13 @@
         "scheduler_decay_lr": 2.5e-06,
         "tokenizer_max_length": 48
     },
-    "output_dir": "outputs/pi0_training/pi0_c",
-    "job_name": "pi0_c",
+    "output_dir": "outputs/pi0_training/pi0_d",
+    "job_name": "pi0_d",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 32,
-    "steps": 5000,
+    "steps": 20000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -217,7 +217,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "pccmxbh7",
+        "run_id": "c1rn0bx1",
         "mode": null
     },
     "peft": null,
@@ -227,8 +227,8 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "early_stopping": true,
-    "early_stopping_patience": 20,
-    "early_stopping_min_delta": 1e-05,
+    "early_stopping": false,
+    "early_stopping_patience": 10,
+    "early_stopping_min_delta": 0.0001,
     "checkpoint_path": null
 }