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config.json

@@ -1,5 +1,4 @@
 {
-    "type": "act",
     "n_obs_steps": 1,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
@@ -56,8 +55,8 @@
     },
     "device": "cuda",
     "use_amp": false,
-    "chunk_size": 100,
-    "n_action_steps": 100,
+    "chunk_size": 300,
+    "n_action_steps": 1,
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "replace_final_stride_with_dilation": false,
@@ -71,7 +70,7 @@
     "use_vae": true,
     "latent_dim": 32,
     "n_vae_encoder_layers": 4,
-    "temporal_ensemble_coeff": null,
+    "temporal_ensemble_coeff": 0.01,
     "dropout": 0.1,
     "kl_weight": 10.0,
     "optimizer_lr": 1e-05,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:109d7aeea94881e2835b4443b411beb0d6cefec45f8668208580183e05a3199b
-size 206767432
+oid sha256:d0e99136c7e35aac27ae1233eb041d3963aa91b394072c03298edcafa4e2f4c2
+size 207586632

train_config.json

@@ -123,8 +123,8 @@
         },
         "device": "cuda",
         "use_amp": false,
-        "chunk_size": 100,
-        "n_action_steps": 100,
+        "chunk_size": 300,
+        "n_action_steps": 1,
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
         "replace_final_stride_with_dilation": false,
@@ -138,7 +138,7 @@
         "use_vae": true,
         "latent_dim": 32,
         "n_vae_encoder_layers": 4,
-        "temporal_ensemble_coeff": null,
+        "temporal_ensemble_coeff": 0.01,
         "dropout": 0.1,
         "kl_weight": 10.0,
         "optimizer_lr": 1e-05,
@@ -180,6 +180,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": null
+        "run_id": null,
+        "mode": null
     }
 }