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config.json

@@ -40,7 +40,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/pi05-grab-nerds-clusters/checkpoints/last/pretrained_model",
+    "pretrained_path": "lerobot/pi05_base",
     "paligemma_variant": "gemma_2b",
     "action_expert_variant": "gemma_300m",
     "dtype": "bfloat16",
@@ -67,7 +67,7 @@
         "ACTION": "QUANTILES"
     },
     "gradient_checkpointing": true,
-    "compile_model": true,
+    "compile_model": false,
     "compile_mode": "max-autotune",
     "optimizer_lr": 2.5e-05,
     "optimizer_betas": [

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1f6de863ee032a29951e1c3f37a1e6d51004099aac074dd82ce6dd473494d0d0
+oid sha256:883f34d1807e187a86d2268765d02322bf52ab4b8ae69300e7a1b45c1d9548c9
 size 7473096344

train_config.json

@@ -108,7 +108,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/pi05-grab-nerds-clusters/checkpoints/last/pretrained_model",
+        "pretrained_path": "lerobot/pi05_base",
         "paligemma_variant": "gemma_2b",
         "action_expert_variant": "gemma_300m",
         "dtype": "bfloat16",
@@ -135,7 +135,7 @@
             "ACTION": "QUANTILES"
         },
         "gradient_checkpointing": true,
-        "compile_model": true,
+        "compile_model": false,
         "compile_mode": "max-autotune",
         "optimizer_lr": 2.5e-05,
         "optimizer_betas": [
@@ -151,11 +151,11 @@
     },
     "output_dir": "outputs/train/pi05-grab-nerds-clusters",
     "job_name": "pi05-grab-clusters-gh200",
-    "resume": true,
+    "resume": false,
     "seed": 1000,
     "num_workers": 32,
     "batch_size": 64,
-    "steps": 20000,
+    "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -190,7 +190,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "0u8k42bu",
+        "run_id": "44lgk1kb",
         "mode": null
     }
 }