Upload policy weights, train config and readme

config.json

@@ -59,9 +59,9 @@
     "spatial_softmax_num_keypoints": 32,
     "use_separate_rgb_encoder_per_camera": true,
     "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:b0f2859dc9f6329a3d35a473b4e86ea15c3979a326fc2828996ff4924e0281ff
-size 1110597968
+oid sha256:e524273e3e00d5fa7519ed34f94f73d934f3e6832f3f45b686ff4e7a10588469
+size 356574368

train_config.json

@@ -126,9 +126,9 @@
         "spatial_softmax_num_keypoints": 32,
         "use_separate_rgb_encoder_per_camera": true,
         "down_dims": [
+            256,
             512,
-            1024,
-            2048
+            1024
         ],
         "kernel_size": 5,
         "n_groups": 8,
@@ -154,12 +154,12 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "/scratch/ameypore/runs/lerobot/1298744/checkpoints",
+    "output_dir": "/scratch/ameypore/runs/lerobot/1298737/checkpoints",
     "job_name": "diffusion",
     "resume": false,
     "seed": 1000,
     "num_workers": 8,
-    "batch_size": 32,
+    "batch_size": 64,
     "steps": 3000,
     "eval_freq": 20000,
     "log_freq": 200,