Upload policy weights, train config and readme

config.json

@@ -70,7 +70,7 @@
     "trust_remote_code": true,
     "chunk_size": 30,
     "n_action_steps": 10,
-    "action_mode": "both",
+    "action_mode": "continuous",
     "inference_action_mode": null,
     "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer",
     "discrete_generation_max_steps": null,
@@ -104,7 +104,7 @@
     "lora_bias": "none",
     "enable_lora_action_expert": false,
     "enable_knowledge_insulation": false,
-    "freeze_embedding": true,
+    "freeze_embedding": false,
     "train_action_expert_only": false,
     "gradient_checkpointing": true,
     "model_dtype": "bfloat16",

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d15a98f3d4062aee48286249d617dec63756cf8b79fc0e58562303c7dab90c09
+oid sha256:1ec99eeffbaeda4415ee9107f285a5babf1e544a4b4c3d7dd1732ebf3df07503
 size 10884573720

train_config.json

@@ -4,7 +4,7 @@
         "root": "./dataset/clr_teleoperation_dataset_3",
         "episodes": null,
         "image_transforms": {
-            "enable": false,
+            "enable": true,
             "max_num_transforms": 3,
             "random_order": false,
             "tfs": {
@@ -76,7 +76,7 @@
         },
         "revision": null,
         "use_imagenet_stats": true,
-        "video_backend": "pyav",
+        "video_backend": "torchcodec",
         "return_uint8": false,
         "streaming": false
     },
@@ -153,7 +153,7 @@
         "trust_remote_code": true,
         "chunk_size": 30,
         "n_action_steps": 10,
-        "action_mode": "both",
+        "action_mode": "continuous",
         "inference_action_mode": null,
         "discrete_action_tokenizer": "allenai/MolmoAct2-FAST-Tokenizer",
         "discrete_generation_max_steps": null,
@@ -187,7 +187,7 @@
         "lora_bias": "none",
         "enable_lora_action_expert": false,
         "enable_knowledge_insulation": false,
-        "freeze_embedding": true,
+        "freeze_embedding": false,
         "train_action_expert_only": false,
         "gradient_checkpointing": true,
         "model_dtype": "bfloat16",
@@ -224,7 +224,7 @@
     },
     "reward_model": null,
     "output_dir": "ckpt/clr-experiment-molmoact2-3",
-    "job_name": "clr-experiment-molmoact2-3_2026-05-19_18-55-34",
+    "job_name": "clr-experiment-molmoact2-3_2026-05-19_21-27-38",
     "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
@@ -268,7 +268,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "dsycnxz4",
+        "run_id": "a57sp0s2",
         "mode": null,
         "add_tags": true
     },