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train_config.json

@@ -1,6 +1,7 @@
 {
     "dataset": {
         "repo_id": null,
+        "repo_ids": null,
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -135,26 +136,27 @@
         "freeze_vision_encoder": true,
         "train_expert_only": false,
         "train_state_proj": true,
-        "optimizer_lr": 3e-05,
+        "optimizer_lr": 1e-05,
         "optimizer_betas": [
             0.9,
             0.95
         ],
         "optimizer_eps": 1e-08,
         "optimizer_weight_decay": 1e-10,
-        "scheduler_warmup_steps": 50,
-        "scheduler_decay_steps": 1500,
+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 30000,
         "scheduler_decay_lr": 1e-05
     },
     "compile": true,
-    "output_dir": "outputs/train/2025-05-28/17-00-58_pi0_so100_pretrain_accum_100_lr3e-5_warmup50",
-    "job_name": "pi0_so100_pretrain_accum_100_lr3e-5_warmup50",
-    "resume": true,
+    "output_dir": "outputs/train/2025-06-01/11-37-32_pi0",
+    "job_name": "pi0",
+    "resume": false,
+    "resume_scheduler": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 6,
-    "gradient_accumulation_steps": 20,
-    "steps": 200000,
+    "gradient_accumulation_steps": 4,
+    "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -162,7 +164,7 @@
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
-        "lr": 3e-05,
+        "lr": 1e-05,
         "weight_decay": 1e-10,
         "grad_clip_norm": 10.0,
         "betas": [
@@ -173,9 +175,9 @@
     },
     "scheduler": {
         "type": "cosine_decay_with_warmup",
-        "num_warmup_steps": 50,
-        "num_decay_steps": 1500,
-        "peak_lr": 3e-05,
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 1e-05,
         "decay_lr": 1e-05
     },
     "eval": {
@@ -184,10 +186,10 @@
         "use_async_envs": false
     },
     "wandb": {
-        "enable": true,
+        "enable": false,
         "disable_artifact": true,
         "project": "lerobot",
-        "entity": "carl_uw",
+        "entity": null,
         "notes": null,
         "run_id": null,
         "mode": null