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config.json

@@ -83,7 +83,7 @@
     "num_decoder_layers": 16,
     "dim_feedforward": 2048,
     "num_inference_steps": 20,
-    "noise_temporal_correlation": 0.9,
+    "noise_temporal_correlation": 0.0,
     "action_dim_weights": [
         1.0,
         1.0,
@@ -94,8 +94,8 @@
         1.0
     ],
     "pos_decay_lambda": 0.1,
-    "future_steps_weight": 0.0,
-    "optimizer_lr": 3.5e-05,
+    "future_steps_weight": 0.3,
+    "optimizer_lr": 2.3144048437128424e-05,
     "optimizer_betas": [
         0.95,
         0.999
@@ -113,8 +113,8 @@
         "v_proj"
     ],
     "vision_lora_num_layers": 8,
-    "training_step": 71000,
-    "training_epoch": 238,
-    "current_lr": 1.0175366727037472e-05,
+    "training_step": 80000,
+    "training_epoch": 270,
+    "current_lr": 2.3144048437128424e-05,
     "training_steps_total": 200000
 }

model.safetensors

@@ -1,3 +1,3 @@
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-oid sha256:c94fad5502ea7d228aa5c2f66f0d4fabcdb54a8ca521ccb46096bf12f29c103c
+oid sha256:37f339a511b99550847ce6f2a42ddb9692c09cfc793dffc96583e91672570434
 size 891783900

optimizer_state.pth

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4a7aa13349798cd411273205b3e3aa93b86d6dfde048212a7cab22e4e0f4f127
+oid sha256:682578b6b43bc17c118e08b8860ff62551a42e665d703447e285fd50895f29a4
 size 572102374

policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e2e674fcd8da01124cacf2d4734b75460eaac4d225a42bd587de9dc2cf655ba6
+oid sha256:86b18f2142a215fac7b691996ee9c15c953cd3f9ee566217398df3abf0324cee
 size 4400

policy_preprocessor.json

@@ -11,10 +11,6 @@
       "registry_name": "to_batch_processor",
       "config": {}
     },
-    {
-      "registry_name": "grid_overlay_processor",
-      "config": {}
-    },
     {
       "registry_name": "device_processor",
       "config": {
@@ -77,7 +73,7 @@
           "ACTION": "MEAN_STD"
         }
       },
-      "state_file": "policy_preprocessor_step_4_normalizer_processor.safetensors"
+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
     }
   ]
 }

policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86b18f2142a215fac7b691996ee9c15c953cd3f9ee566217398df3abf0324cee
+size 4400