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config.json

@@ -5,7 +5,7 @@
   ],
   "attention_implementation": "eager",
   "attn_implementation": null,
-  "chunk_size": 50,
+  "chunk_size": 4,
   "compute_dtype": "bfloat16",
   "device": "cuda",
   "empty_cameras": 0,
@@ -14,7 +14,7 @@
   "max_action_dim": 32,
   "max_state_dim": 32,
   "model_type": "pi0",
-  "n_action_steps": 50,
+  "n_action_steps": 4,
   "n_obs_steps": 1,
   "normalization_mapping": {
     "ACTION": "MEAN_STD",
@@ -38,11 +38,11 @@
   "scheduler_decay_lr": 2.5e-06,
   "scheduler_decay_steps": 30000,
   "scheduler_warmup_steps": 1000,
-  "tokenizer_max_length": 48,
-  "torch_dtype": "bfloat16",
+  "tokenizer_max_length": 64,
+  "torch_dtype": "float32",
   "train_expert_only": false,
   "train_state_proj": true,
-  "transformers_version": "4.51.3",
+  "transformers_version": "4.51.0",
   "type": "pi0",
   "use_amp": false,
   "use_cache": true,

experiment_cfg/metadata.json

@@ -24,14 +24,14 @@
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                         0.5779858231544495
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@@ -142,14 +142,14 @@
                         0.07739030569791794
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@@ -264,4 +264,4 @@
         },
         "embodiment_tag": "new_embodiment"
     }
-}
+}

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