Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
-- robotics
-- lerobot
 - diffusion
+- lerobot
+- robotics
 ---
 
 # Model Card for diffusion

config.json

@@ -33,7 +33,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/hf_diffusion_fast/checkpoints/last/pretrained_model",
     "horizon": 16,
     "n_action_steps": 8,
     "normalization_mapping": {

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:438a5ed08e0f26050d68d56a1b85620072053c44ba0f639c4f01859e08b441ca
+oid sha256:3a7a37fa1c66b31e632a22406f5db5fc0a07c8784709bc04c3ada50abda4985a
 size 1050906936

train_config.json

@@ -115,7 +115,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/hf_diffusion_fast/checkpoints/last/pretrained_model",
         "horizon": 16,
         "n_action_steps": 8,
         "normalization_mapping": {
@@ -166,12 +166,12 @@
     },
     "output_dir": "outputs/train/hf_diffusion_fast",
     "job_name": "pusht_diffusion_fast",
-    "resume": false,
+    "resume": true,
     "seed": 42,
     "cudnn_deterministic": false,
     "num_workers": 12,
     "batch_size": 64,
-    "steps": 50000,
+    "steps": 100000,
     "eval_freq": 10000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -216,5 +216,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "outputs/train/hf_diffusion_fast/checkpoints/last"
 }