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config.json

@@ -1,6 +1,6 @@
 {
     "type": "pi05",
-    "n_obs_steps": 2,
+    "n_obs_steps": 1,
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -38,7 +38,7 @@
     "action_expert_variant": "gemma_300m",
     "dtype": "float32",
     "chunk_size": 50,
-    "n_action_steps": 50,
+    "n_action_steps": 10,
     "max_state_dim": 32,
     "max_action_dim": 32,
     "num_inference_steps": 10,
@@ -60,11 +60,11 @@
         "STATE": "QUANTILES",
         "ACTION": "QUANTILES"
     },
-    "gradient_checkpointing": false,
-    "compile_model": false,
+    "gradient_checkpointing": true,
+    "compile_model": true,
     "compile_mode": "max-autotune",
     "freeze_vision_encoder": false,
-    "train_expert_only": true,
+    "train_expert_only": false,
     "optimizer_lr": 2.5e-05,
     "optimizer_betas": [
         0.9,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0b00da5af49007cc4d0a368877494e6f2aebbf51cddbf89d03f161948ac613fc
+oid sha256:dc31b3adb631d1e77d3a0421db65659554be8aa1b8f9b27e6ffe1d623895a548
 size 14467170760

train_config.json

@@ -82,7 +82,7 @@
     "env": null,
     "policy": {
         "type": "pi05",
-        "n_obs_steps": 2,
+        "n_obs_steps": 1,
         "input_features": {
             "observation.state": {
                 "type": "STATE",
@@ -120,7 +120,7 @@
         "action_expert_variant": "gemma_300m",
         "dtype": "float32",
         "chunk_size": 50,
-        "n_action_steps": 50,
+        "n_action_steps": 10,
         "max_state_dim": 32,
         "max_action_dim": 32,
         "num_inference_steps": 10,
@@ -142,11 +142,11 @@
             "STATE": "QUANTILES",
             "ACTION": "QUANTILES"
         },
-        "gradient_checkpointing": false,
-        "compile_model": false,
+        "gradient_checkpointing": true,
+        "compile_model": true,
         "compile_mode": "max-autotune",
         "freeze_vision_encoder": false,
-        "train_expert_only": true,
+        "train_expert_only": false,
         "optimizer_lr": 2.5e-05,
         "optimizer_betas": [
             0.9,
@@ -159,7 +159,7 @@
         "scheduler_decay_steps": 30000,
         "scheduler_decay_lr": 2.5e-06
     },
-    "output_dir": "outputs/train/2026-02-18/14-10-25_pi05",
+    "output_dir": "outputs/train/2026-02-19/12-14-31_pi05",
     "job_name": "pi05",
     "resume": false,
     "seed": 1000,
@@ -201,7 +201,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "xd7hqt27",
+        "run_id": "vsw3ekuq",
         "mode": "online"
     },
     "peft": null,