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model.safetensors

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policy_postprocessor_step_0_unnormalizer_processor.safetensors

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policy_preprocessor_step_3_normalizer_processor.safetensors

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 size 7576

train_config.json

@@ -156,13 +156,13 @@
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
-    "batch_size": 224,
-    "steps": 10000,
+    "batch_size": 128,
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     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
-    "save_freq": 1250,
+    "save_freq": 5000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -182,12 +182,12 @@
         "use_async_envs": false
     },
     "wandb": {
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+        "enable": true,
         "disable_artifact": false,
         "project": "lerobot",
         "entity": null,
         "notes": null,
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