Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: diffusion
 pipeline_tag: robotics
 tags:
 - diffusion
-- robotics
 - lerobot
+- robotics
 ---
 
 # Model Card for diffusion

config.json

@@ -49,7 +49,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "../franka_data/policy/train/diffusion_HuskyMango/filter-basket-7-24_HuskyMango/diffusion-filter-basket-7-24/checkpoints/last/pretrained_model",
     "horizon": 16,
     "n_action_steps": 10,
     "normalization_mapping": {

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:34b5121278831949b43e5ea7e609b9a4ca460ffcf95c98be5e90da547bb3d446
+oid sha256:a0f23215ec72ffd403fa6bfd54a9f529c45b581eca9d7ec2d5a8312c74515c57
 size 1081712888

train_config.json

@@ -131,7 +131,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "../franka_data/policy/train/diffusion_HuskyMango/filter-basket-7-24_HuskyMango/diffusion-filter-basket-7-24/checkpoints/last/pretrained_model",
         "horizon": 16,
         "n_action_steps": 10,
         "normalization_mapping": {
@@ -182,12 +182,12 @@
     },
     "output_dir": "../franka_data/policy/train/diffusion_HuskyMango/filter-basket-7-24_HuskyMango/diffusion-filter-basket-7-24",
     "job_name": "diffusion_HuskyMango/filter-basket-7-24",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 18,
     "batch_size": 32,
-    "steps": 150000,
+    "steps": 200000,
     "eval_freq": 5000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -232,5 +232,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "../franka_data/policy/train/diffusion_HuskyMango/filter-basket-7-24_HuskyMango/diffusion-filter-basket-7-24/checkpoints/last"
 }