Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: xe_pick_egg
+datasets: xe_pick_cookie_n_wuji_12
 library_name: lerobot
 license: apache-2.0
 model_name: ditflow
 pipeline_tag: robotics
 tags:
 - ditflow
-- robotics
 - lerobot
+- robotics
 ---
 
 # Model Card for ditflow

config.json

@@ -49,7 +49,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "lerobot/outputs/train/ditflow_xbody_pick_egg_h150/checkpoints/040000/pretrained_model",
+    "pretrained_path": "lerobot/outputs/train/ditflow_xbody_pick_cookie_n/checkpoints/060000/pretrained_model",
     "horizon": 150,
     "n_action_steps": 149,
     "use_proprioceptive": true,
@@ -67,18 +67,18 @@
     "crop_ratio": 1.0,
     "crop_shape": null,
     "crop_is_random": true,
-    "pretrained_backbone_weights": "IMAGENET1K_V1",
-    "use_group_norm": false,
+    "pretrained_backbone_weights": null,
+    "use_group_norm": true,
     "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": true,
+    "use_separate_rgb_encoder_per_camera": false,
     "frequency_embedding_dim": 256,
     "hidden_dim": 512,
     "num_blocks": 6,
     "num_heads": 16,
-    "dropout": 0.15,
+    "dropout": 0.1,
     "dim_feedforward": 4096,
     "activation": "gelu",
-    "training_noise_sampling": "beta",
+    "training_noise_sampling": "uniform",
     "clip_sample": true,
     "clip_sample_range": 1.0,
     "num_inference_steps": 16,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:99693b19920eca3dd5b3b82416a0c3b324f0e29840ac82c7e42d732a4631fa62
-size 303570008
+oid sha256:a28a74cb46986fb37e5695bdc95ec4ccd58a50080ec51611bdc6057b60c5515b
+size 213839720

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
-        "repo_id": "xe_pick_egg",
-        "root": "/home/volume/datasets/xe_pick_egg",
+        "repo_id": "xe_pick_cookie_n_wuji_12",
+        "root": "/home/volume/datasets/xe_pick_cookie_n_wuji_12",
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -132,7 +132,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "lerobot/outputs/train/ditflow_xbody_pick_egg_h150/checkpoints/040000/pretrained_model",
+        "pretrained_path": "lerobot/outputs/train/ditflow_xbody_pick_cookie_n/checkpoints/060000/pretrained_model",
         "horizon": 150,
         "n_action_steps": 149,
         "use_proprioceptive": true,
@@ -150,18 +150,18 @@
         "crop_ratio": 1.0,
         "crop_shape": null,
         "crop_is_random": true,
-        "pretrained_backbone_weights": "IMAGENET1K_V1",
-        "use_group_norm": false,
+        "pretrained_backbone_weights": null,
+        "use_group_norm": true,
         "spatial_softmax_num_keypoints": 32,
-        "use_separate_rgb_encoder_per_camera": true,
+        "use_separate_rgb_encoder_per_camera": false,
         "frequency_embedding_dim": 256,
         "hidden_dim": 512,
         "num_blocks": 6,
         "num_heads": 16,
-        "dropout": 0.15,
+        "dropout": 0.1,
         "dim_feedforward": 4096,
         "activation": "gelu",
-        "training_noise_sampling": "beta",
+        "training_noise_sampling": "uniform",
         "clip_sample": true,
         "clip_sample_range": 1.0,
         "num_inference_steps": 16,
@@ -177,16 +177,16 @@
         "scheduler_warmup_steps": 500
     },
     "reward_model": null,
-    "output_dir": "/home/volume/lerobot/outputs/train/ditflow_xbody_pick_egg_h150",
-    "job_name": "ditflow_xbody_pick_egg_h150",
+    "output_dir": "/home/volume/lerobot/outputs/train/ditflow_xbody_pick_cookie_n_wuji_12",
+    "job_name": "ditflow_xbody_pick_cookie_n_wuji_12",
     "resume": true,
     "seed": 1000,
     "cudnn_deterministic": false,
-    "num_workers": 18,
+    "num_workers": 6,
     "batch_size": 64,
     "prefetch_factor": 4,
     "persistent_workers": true,
-    "steps": 60000,
+    "steps": 100000,
     "eval_freq": 5000,
     "log_freq": 500,
     "tolerance_s": 0.0001,
@@ -211,7 +211,7 @@
     },
     "eval": {
         "n_episodes": 50,
-        "batch_size": 22,
+        "batch_size": 11,
         "use_async_envs": true
     },
     "wandb": {
@@ -220,12 +220,12 @@
         "project": "policies",
         "entity": null,
         "notes": null,
-        "run_id": "b1ox1kii",
+        "run_id": "rag8ga44",
         "mode": null,
         "add_tags": true
     },
     "peft": null,
     "sample_weighting": null,
     "rename_map": {},
-    "checkpoint_path": "lerobot/outputs/train/ditflow_xbody_pick_egg_h150/checkpoints/040000"
+    "checkpoint_path": "lerobot/outputs/train/ditflow_xbody_pick_cookie_n/checkpoints/060000"
 }