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config.json

@@ -51,12 +51,12 @@
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
     "crop_shape": [
-        84,
-        84
+        224,
+        224
     ],
     "crop_is_random": true,
-    "pretrained_backbone_weights": null,
-    "use_group_norm": true,
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "use_group_norm": false,
     "spatial_softmax_num_keypoints": 32,
     "use_separate_rgb_encoder_per_camera": false,
     "down_dims": [

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:da9e45f69a06102acd9247a5c5958fbd0c008465a7b567cbc8849ba5def57e3d
-size 1066760100
+oid sha256:2c49ca3ece55eac489d64305010777b8bc5aacc0abe910342c4f5d84b0daa686
+size 1066805908

train_config.json

@@ -133,12 +133,12 @@
         "drop_n_last_frames": 7,
         "vision_backbone": "resnet18",
         "crop_shape": [
-            84,
-            84
+            224,
+            224
         ],
         "crop_is_random": true,
-        "pretrained_backbone_weights": null,
-        "use_group_norm": true,
+        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+        "use_group_norm": false,
         "spatial_softmax_num_keypoints": 32,
         "use_separate_rgb_encoder_per_camera": false,
         "down_dims": [
@@ -170,7 +170,7 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/output_diffusion",
+    "output_dir": "outputs/train/output_diffusion_1",
     "job_name": "pick_and_place",
     "resume": false,
     "seed": 1000,