Re-upload lingbotva 10k checkpoint (weights cast to bf16, was fp32)

config.json

@@ -73,8 +73,8 @@
     ],
     "image_hflip": false,
     "camera_layout": "width_concat",
-    "height": 256,
-    "width": 320,
+    "height": 224,
+    "width": 224,
     "action_per_frame": 16,
     "frame_chunk_size": 2,
     "attn_window": 72,
@@ -140,5 +140,6 @@
     "optimizer_eps": 1e-08,
     "optimizer_weight_decay": 0.0001,
     "optimizer_grad_clip_norm": 1.0,
-    "scheduler_warmup_steps": 1000
+    "scheduler_warmup_steps": 1000,
+    "scheduler_type": "cosine_annealing_with_warmup"
 }

policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f79a51c2af467059f625113f1cb4b88c94a5c8a389e77143be181cf45363a34c
+oid sha256:8bb0090a23736a994c9a4fd87e62fedbf40395fd7b6f895ca68f0eee0f11efbb
 size 9456

policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f79a51c2af467059f625113f1cb4b88c94a5c8a389e77143be181cf45363a34c
+oid sha256:8bb0090a23736a994c9a4fd87e62fedbf40395fd7b6f895ca68f0eee0f11efbb
 size 9456

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
-        "repo_id": "lerobot/high_quality_folding",
-        "root": "/fsx/maxime_ellerbach/datasets/high_quality_folding_rel",
+        "repo_id": "lerobot-data-collection/level2_final_quality3_t_0_hil_data_c",
+        "root": "/fsx/maxime_ellerbach/datasets/level2_final_quality3_t_0_hil_data_c_rel",
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -158,8 +158,8 @@
         ],
         "image_hflip": false,
         "camera_layout": "width_concat",
-        "height": 256,
-        "width": 320,
+        "height": 224,
+        "width": 224,
         "action_per_frame": 16,
         "frame_chunk_size": 2,
         "attn_window": 72,
@@ -225,19 +225,20 @@
         "optimizer_eps": 1e-08,
         "optimizer_weight_decay": 0.0001,
         "optimizer_grad_clip_norm": 1.0,
-        "scheduler_warmup_steps": 1000
+        "scheduler_warmup_steps": 1000,
+        "scheduler_type": "cosine_annealing_with_warmup"
     },
     "reward_model": null,
-    "output_dir": "outputs/train/folding_lingbot_full",
-    "job_name": "folding_lingbot",
+    "output_dir": "outputs/train/lingbot_level2_22360642",
+    "job_name": "lingbot_level2",
     "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
-    "num_workers": 8,
-    "batch_size": 32,
+    "num_workers": 4,
+    "batch_size": 16,
     "prefetch_factor": 4,
     "persistent_workers": true,
-    "steps": 12711,
+    "steps": 13337,
     "env_eval_freq": 20000,
     "log_freq": 50,
     "eval_steps": 0,
@@ -258,7 +259,7 @@
         "eps": 1e-08
     },
     "scheduler": {
-        "type": "constant_with_warmup",
+        "type": "cosine_annealing_with_warmup",
         "num_warmup_steps": 1000
     },
     "eval": {
@@ -275,7 +276,7 @@
         "project": "folding-tshirt",
         "entity": null,
         "notes": null,
-        "run_id": "3nnse2xc",
+        "run_id": "objl3iek",
         "mode": null,
         "add_tags": true
     },
@@ -290,13 +291,10 @@
     "save_checkpoint_to_hub": false,
     "sample_weighting": {
         "type": "rabc",
-        "progress_path": "hf://datasets/lerobot/high_quality_folding/sarm_progress.parquet",
+        "progress_path": "hf://datasets/lerobot-data-collection/level2_final_quality3_t_0_hil_data_c/sarm_progress.parquet",
         "head_mode": "sparse",
         "kappa": 0.05,
         "epsilon": 1e-06,
-        "weighted_losses": [
-            "action"
-        ],
         "extra_params": {}
     },
     "rename_map": {