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config.json

@@ -15,7 +15,7 @@
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             "type": "VISUAL",
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@@ -31,7 +31,7 @@
                 640
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@@ -56,8 +56,8 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 32,
-    "n_action_steps": 32,
+    "horizon": 64,
+    "n_action_steps": 64,
     "normalization_mapping": {
         "VISUAL": "IDENTITY",
         "STATE": "MEAN_STD",
@@ -95,7 +95,7 @@
     ],
     "pos_decay_lambda": 0.0,
     "future_steps_weight": 0.3,
-    "optimizer_lr": 1.0e-04,
+    "optimizer_lr": 2.4885183736806704e-05,
     "optimizer_betas": [
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         0.999
@@ -113,8 +113,8 @@
         "v_proj"
     ],
     "vision_lora_num_layers": 8,
-    "training_step": 129000,
-    "training_epoch": 611,
-    "current_lr": 7.946825579053766e-06,
+    "training_step": 134000,
+    "training_epoch": 639,
+    "current_lr": 2.4885183736806704e-05,
     "training_steps_total": 200000
 }

model.safetensors

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optimizer_state.pth

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 size 605670966

policy_postprocessor_step_0_unnormalizer_processor.safetensors

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 version https://git-lfs.github.com/spec/v1
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 size 4400

policy_preprocessor.json

@@ -36,7 +36,7 @@
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@@ -52,7 +52,7 @@
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policy_preprocessor_step_3_normalizer_processor.safetensors

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