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config.json

@@ -64,7 +64,7 @@
         "ACTION": "MEAN_STD"
     },
     "freeze_vision_backbone": true,
-    "vision_input_size": 256,
+    "vision_input_size": 384,
     "num_cameras": 3,
     "num_vlm_layers": 16,
     "detection_classes": [
@@ -85,7 +85,8 @@
     "dim_feedforward": 2048,
     "diffusion_step_embed_dim": 128,
     "num_inference_steps": 20,
-    "optimizer_lr": 0.000014,
+    "pos_decay_lambda": 0.1,
+    "optimizer_lr": 0.0001,
     "optimizer_betas": [
         0.95,
         0.999
@@ -94,6 +95,6 @@
     "optimizer_weight_decay": 1e-06,
     "scheduler_warmup_steps": 1500,
     "use_peft": false,
-    "training_step": 26000,
-    "training_epoch": 68
+    "training_step": 50000,
+    "training_epoch": 129
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0a48963883a064068158f9612ea7e195f20585c262dd7e6784719e6950b3aa5b
+oid sha256:0f8d6debe5b4935053a05e313daa43c8dc7920177d0b3889218f24133b62f48d
 size 745509700