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config.json

@@ -55,6 +55,6 @@
     "dim_feedforward": 2048,
     "dropout": 0.1,
     "use_language": true,
-    "optimizer_lr": 0.0001,
-    "optimizer_weight_decay": 0.0001
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 1e-05
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bc4c4fa9e0c5c56f744f7ab82371026a79b480bdd7c60fa57f02e1a6f3a7a132
+oid sha256:538334c18f055f9145b623ba4319fc2248f69fe2d1a8e0ad7379af7a5e3503b0
 size 173940356

train_config.json

@@ -122,8 +122,8 @@
         "dim_feedforward": 2048,
         "dropout": 0.1,
         "use_language": true,
-        "optimizer_lr": 0.0001,
-        "optimizer_weight_decay": 0.0001
+        "optimizer_lr": 1e-05,
+        "optimizer_weight_decay": 1e-05
     },
     "output_dir": "output_residual_transformer_object",
     "job_name": "residual_transformer_libero_object",
@@ -139,8 +139,8 @@
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
-        "lr": 0.0001,
-        "weight_decay": 0.0001,
+        "lr": 1e-05,
+        "weight_decay": 1e-05,
         "grad_clip_norm": 10.0,
         "betas": [
             0.9,
@@ -160,7 +160,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "yulj1tnp",
+        "run_id": "ffzsrmaf",
         "mode": null
     }
 }