Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: HuskyMango/test
+datasets: HuskyMango/act_data
 library_name: lerobot
 license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
 - lerobot
-- robotics
 - diffusion
+- robotics
 ---
 
 # Model Card for diffusion

config.json

@@ -74,8 +74,8 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 16,
-    "n_action_steps": 8,
+    "horizon": 64,
+    "n_action_steps": 32,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MIN_MAX",
@@ -87,10 +87,10 @@
     "crop_ratio": 1.0,
     "crop_shape": null,
     "crop_is_random": true,
-    "pretrained_backbone_weights": null,
-    "use_group_norm": true,
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "use_group_norm": false,
     "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": false,
+    "use_separate_rgb_encoder_per_camera": true,
     "down_dims": [
         512,
         1024,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8143dfbee13e744908b53a7cf4503e9b5f057084e528712e0c58ae8f01af06a9
-size 1127674144
+oid sha256:7e54a970246c1ec54383ee0fd3f9027afee073088186bd7a4aa9369f67cf6ba5
+size 1351931168

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "HuskyMango/test",
+        "repo_id": "HuskyMango/act_data",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -77,6 +77,7 @@
         "revision": null,
         "use_imagenet_stats": true,
         "video_backend": "torchcodec",
+        "return_uint8": false,
         "streaming": false
     },
     "env": null,
@@ -156,8 +157,8 @@
         "tags": null,
         "license": null,
         "pretrained_path": null,
-        "horizon": 16,
-        "n_action_steps": 8,
+        "horizon": 64,
+        "n_action_steps": 32,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
             "STATE": "MIN_MAX",
@@ -169,10 +170,10 @@
         "crop_ratio": 1.0,
         "crop_shape": null,
         "crop_is_random": true,
-        "pretrained_backbone_weights": null,
-        "use_group_norm": true,
+        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+        "use_group_norm": false,
         "spatial_softmax_num_keypoints": 32,
-        "use_separate_rgb_encoder_per_camera": false,
+        "use_separate_rgb_encoder_per_camera": true,
         "down_dims": [
             512,
             1024,
@@ -204,13 +205,16 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "../franka_data/policy/train/diffusion_HuskyMango/test",
-    "job_name": "diffusion_HuskyMango/test",
+    "reward_model": null,
+    "output_dir": "../franka_data/policy/train/diffusion_HuskyMango/act_data",
+    "job_name": "diffusion_HuskyMango/act_data",
     "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
-    "batch_size": 6,
+    "batch_size": 32,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
     "steps": 50000,
     "eval_freq": 20000,
     "log_freq": 200,
@@ -245,16 +249,12 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "788zknta",
+        "run_id": "q5bov0ow",
         "mode": null,
         "add_tags": true
     },
     "peft": null,
-    "use_rabc": false,
-    "rabc_progress_path": null,
-    "rabc_kappa": 0.01,
-    "rabc_epsilon": 1e-06,
-    "rabc_head_mode": "sparse",
+    "sample_weighting": null,
     "rename_map": {},
     "checkpoint_path": null
 }