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config.json

@@ -67,6 +67,7 @@
     "vision_input_size": 384,
     "num_cameras": 3,
     "num_vlm_layers": 16,
+    "num_trainable_vlm_layers": 0,
     "detection_classes": [
         "cube",
         "container"
@@ -86,7 +87,7 @@
     "diffusion_step_embed_dim": 128,
     "num_inference_steps": 20,
     "pos_decay_lambda": 0.1,
-    "optimizer_lr": 0.00001,
+    "optimizer_lr": 0.0001,
     "optimizer_betas": [
         0.95,
         0.999
@@ -95,6 +96,7 @@
     "optimizer_weight_decay": 1e-06,
     "scheduler_warmup_steps": 1500,
     "use_peft": false,
-    "training_step": 50000,
-    "training_epoch": 129
+    "training_step": 6000,
+    "training_epoch": 16,
+    "current_lr": 9.987319011864528e-05
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0f8d6debe5b4935053a05e313daa43c8dc7920177d0b3889218f24133b62f48d
+oid sha256:cb682e12ac36f968d57ba93c1746996d0932546b9c4cf3e58f34b9454313179d
 size 745509700