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config.json

@@ -29,7 +29,7 @@
     "use_amp": false,
     "use_peft": false,
     "push_to_hub": true,
-    "repo_id": "aros/pi05_hri",
+    "repo_id": "aros/pi05_hri_10",
     "private": null,
     "tags": null,
     "license": null,
@@ -37,7 +37,7 @@
     "paligemma_variant": "gemma_2b",
     "action_expert_variant": "gemma_300m",
     "dtype": "float32",
-    "chunk_size": 50,
+    "chunk_size": 16,
     "n_action_steps": 10,
     "max_state_dim": 32,
     "max_action_dim": 32,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dc31b3adb631d1e77d3a0421db65659554be8aa1b8f9b27e6ffe1d623895a548
+oid sha256:15f3548f1acd068b96881ed9a5e52ac68ba6253353bc13d51c514a1f194373eb
 size 14467170760

train_config.json

@@ -111,7 +111,7 @@
         "use_amp": false,
         "use_peft": false,
         "push_to_hub": true,
-        "repo_id": "aros/pi05_hri",
+        "repo_id": "aros/pi05_hri_10",
         "private": null,
         "tags": null,
         "license": null,
@@ -119,7 +119,7 @@
         "paligemma_variant": "gemma_2b",
         "action_expert_variant": "gemma_300m",
         "dtype": "float32",
-        "chunk_size": 50,
+        "chunk_size": 16,
         "n_action_steps": 10,
         "max_state_dim": 32,
         "max_action_dim": 32,
@@ -159,7 +159,7 @@
         "scheduler_decay_steps": 30000,
         "scheduler_decay_lr": 2.5e-06
     },
-    "output_dir": "outputs/train/2026-02-19/12-14-31_pi05",
+    "output_dir": "outputs/train/2026-02-20/14-15-42_pi05",
     "job_name": "pi05",
     "resume": false,
     "seed": 1000,
@@ -201,7 +201,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "vsw3ekuq",
+        "run_id": "bl6aurrh",
         "mode": "online"
     },
     "peft": null,