Upload policy weights, train config and readme

README.md

@@ -5,8 +5,8 @@ license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
-- diffusion
 - lerobot
+- diffusion
 - robotics
 ---
 

config.json

@@ -37,8 +37,8 @@
     "n_action_steps": 40,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
-        "STATE": "MEAN_STD",
-        "ACTION": "MEAN_STD"
+        "STATE": "MIN_MAX",
+        "ACTION": "MIN_MAX"
     },
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
@@ -52,9 +52,9 @@
     "spatial_softmax_num_keypoints": 32,
     "use_separate_rgb_encoder_per_camera": false,
     "down_dims": [
+        256,
         512,
-        1024,
-        2048
+        1024
     ],
     "kernel_size": 5,
     "n_groups": 8,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1242264780feec1c8008f10c227d43499590983984145652b3c76594f64438ce
-size 1053786048
+oid sha256:90ee2efa84ed2a614a1c81e4efc0cc80d3d07d6c1e9dca257e063b4a2be3286a
+size 305769248

train_config.json

@@ -158,8 +158,8 @@
         "n_action_steps": 40,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
-            "STATE": "MEAN_STD",
-            "ACTION": "MEAN_STD"
+            "STATE": "MIN_MAX",
+            "ACTION": "MIN_MAX"
         },
         "drop_n_last_frames": 7,
         "vision_backbone": "resnet18",
@@ -173,9 +173,9 @@
         "spatial_softmax_num_keypoints": 32,
         "use_separate_rgb_encoder_per_camera": false,
         "down_dims": [
+            256,
             512,
-            1024,
-            2048
+            1024
         ],
         "kernel_size": 5,
         "n_groups": 8,
@@ -201,7 +201,7 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/diffusion_policy_aloha_transfer_1",
+    "output_dir": "outputs/train/diffusion_policy_aloha_transfer_6",
     "job_name": "aloha_diffusion",
     "resume": false,
     "seed": 1000,
@@ -240,7 +240,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "zuq9to3v",
+        "run_id": "blal58ww",
         "mode": null
     },
     "checkpoint_path": null,