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config.json

@@ -44,7 +44,7 @@
     "n_action_steps": 100,
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "replace_final_stride_with_dilation": 0,
+    "replace_final_stride_with_dilation": false,
     "pre_norm": false,
     "dim_model": 512,
     "n_heads": 8,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d0c53d74ece78f79c670bc913f13f463412d3c4bbf0206a7b0b7775309ade6fc
+oid sha256:1f50b044b0faa42486c4a65db507535858e3b653104a86c99d8973d6bb86bdd6
 size 206701072

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "yingliu-data/so101_pickpen",
+        "repo_id": "yingliu-data/so101_da_pinchi",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -111,7 +111,7 @@
         "n_action_steps": 100,
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "replace_final_stride_with_dilation": 0,
+        "replace_final_stride_with_dilation": false,
         "pre_norm": false,
         "dim_model": 512,
         "n_heads": 8,
@@ -129,17 +129,17 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/act_so101_pickpen",
-    "job_name": "act_so101_pickpen",
-    "resume": true,
+    "output_dir": "outputs/train/act_so101_da_pinchi",
+    "job_name": "act_so101_da_pinchi",
+    "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 4,
     "steps": 20000,
-    "eval_freq": 1000,
+    "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 1000,
+    "save_freq": 3000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -164,7 +164,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "cvl3dwdb",
+        "run_id": "on4r9qqf",
         "mode": null
     }
 }