Upload policy weights, train config and readme

config.json

@@ -74,8 +74,8 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 64,
-    "n_action_steps": 32,
+    "horizon": 16,
+    "n_action_steps": 8,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MIN_MAX",
@@ -87,10 +87,10 @@
     "crop_ratio": 1.0,
     "crop_shape": null,
     "crop_is_random": true,
-    "pretrained_backbone_weights": "ResNet18_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,
     "down_dims": [
         512,
         1024,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:466371543cb6dba0d500e822ce66f250223831dc12cb43bade311f5267ddb507
-size 1351931168
+oid sha256:f0bea626d7c807f1f9cc3abdad118d8df95c15f579c4c9fa593656ac757032f2
+size 1127674144

train_config.json

@@ -77,7 +77,6 @@
         "revision": null,
         "use_imagenet_stats": true,
         "video_backend": "torchcodec",
-        "return_uint8": false,
         "streaming": false
     },
     "env": null,
@@ -157,8 +156,8 @@
         "tags": null,
         "license": null,
         "pretrained_path": null,
-        "horizon": 64,
-        "n_action_steps": 32,
+        "horizon": 16,
+        "n_action_steps": 8,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
             "STATE": "MIN_MAX",
@@ -170,10 +169,10 @@
         "crop_ratio": 1.0,
         "crop_shape": null,
         "crop_is_random": true,
-        "pretrained_backbone_weights": "ResNet18_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,
         "down_dims": [
             512,
             1024,
@@ -205,7 +204,6 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "reward_model": null,
     "output_dir": "../franka_data/policy/train/diffusion_HuskyMango/red-block-simple_20260510_200349",
     "job_name": "diffusion_HuskyMango/red-block-simple_20260510_200349",
     "resume": false,
@@ -213,9 +211,7 @@
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 32,
-    "prefetch_factor": 4,
-    "persistent_workers": true,
-    "steps": 10000,
+    "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -240,8 +236,8 @@
     },
     "eval": {
         "n_episodes": 50,
-        "batch_size": 16,
-        "use_async_envs": true
+        "batch_size": 50,
+        "use_async_envs": false
     },
     "wandb": {
         "enable": true,
@@ -249,12 +245,16 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "1f55vgxf",
+        "run_id": "wdqe36c6",
         "mode": null,
         "add_tags": true
     },
     "peft": null,
-    "sample_weighting": null,
+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
     "rename_map": {},
     "checkpoint_path": null
 }