Upload policy weights, train config and readme

config.json

@@ -43,10 +43,7 @@
     },
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
-    "resize_shape": [
-        480,
-        640
-    ],
+    "resize_shape": null,
     "crop_ratio": 1.0,
     "crop_shape": null,
     "crop_is_random": true,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9cd3a7fde43c4d531002be4576ff148279acdaab6b2daba839551b58a4ef3a86
+oid sha256:3863ae8b43e9ea780b5141f95714c5d95ffb3c31cc1fdecdd08cee9aa5c12864
 size 1053834112

train_config.json

@@ -80,46 +80,7 @@
         "return_uint8": false,
         "streaming": false
     },
-    "env": {
-        "type": "aloha",
-        "task": "AlohaTransferCube-v0",
-        "fps": 50,
-        "features": {
-            "action": {
-                "type": "ACTION",
-                "shape": [
-                    14
-                ]
-            },
-            "agent_pos": {
-                "type": "STATE",
-                "shape": [
-                    14
-                ]
-            },
-            "pixels/top": {
-                "type": "VISUAL",
-                "shape": [
-                    480,
-                    640,
-                    3
-                ]
-            }
-        },
-        "features_map": {
-            "action": "action",
-            "agent_pos": "observation.state",
-            "top": "observation.image.top",
-            "pixels/top": "observation.images.top"
-        },
-        "max_parallel_tasks": 1,
-        "disable_env_checker": true,
-        "episode_length": 400,
-        "obs_type": "pixels_agent_pos",
-        "observation_height": 480,
-        "observation_width": 640,
-        "render_mode": "rgb_array"
-    },
+    "env": null,
     "policy": {
         "type": "diffusion",
         "n_obs_steps": 2,
@@ -165,10 +126,7 @@
         },
         "drop_n_last_frames": 7,
         "vision_backbone": "resnet18",
-        "resize_shape": [
-            480,
-            640
-        ],
+        "resize_shape": null,
         "crop_ratio": 1.0,
         "crop_shape": null,
         "crop_is_random": true,
@@ -211,7 +169,7 @@
     "output_dir": "/kaggle/working/outputs/train/aloha_transfer_cube_seed42",
     "job_name": "diffusion_aloha_transfer_cube_seed42",
     "resume": false,
-    "seed": 1000,
+    "seed": 42,
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 8,
@@ -251,7 +209,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "35m6twdc",
+        "run_id": "gqh20b8u",
         "mode": null,
         "add_tags": true
     },