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config.json

@@ -16,7 +16,15 @@
                 640
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         },
-        "observation.images.depth": {
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+            "type": "VISUAL",
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+                640
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             "type": "VISUAL",
             "shape": [
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@@ -42,7 +50,7 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 64,
+    "horizon": 16,
     "n_action_steps": 8,
     "normalization_mapping": {
         "ACTION": "MEAN_STD",

model.safetensors

@@ -1,3 +1,3 @@
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+size 1081485652

policy_postprocessor_step_0_unnormalizer_processor.safetensors

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+size 4400

policy_preprocessor.json

@@ -37,7 +37,15 @@
               640
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           },
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+            "type": "VISUAL",
+            "shape": [
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+              400,
+              640
+            ]
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             "type": "VISUAL",
             "shape": [
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policy_preprocessor_step_3_normalizer_processor.safetensors

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-size 4000
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+size 4400

train_config.json

@@ -1,10 +1,10 @@
 {
     "dataset": {
-        "repo_id": "ISdept/piper-pick-place-depth",
+        "repo_id": "ISdept/20260204-piper-pick-place",
         "root": null,
         "episodes": null,
         "image_transforms": {
-            "enable": false,
+            "enable": true,
             "max_num_transforms": 3,
             "random_order": false,
             "tfs": {
@@ -98,7 +98,15 @@
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-            "observation.images.depth": {
+            "observation.images.front": {
+                "type": "VISUAL",
+                "shape": [
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+                    400,
+                    640
+                ]
+            },
+            "observation.images.right": {
                 "type": "VISUAL",
                 "shape": [
                     3,
@@ -124,7 +132,7 @@
         "tags": null,
         "license": null,
         "pretrained_path": null,
-        "horizon": 64,
+        "horizon": 16,
         "n_action_steps": 8,
         "normalization_mapping": {
             "ACTION": "MEAN_STD",
@@ -177,7 +185,7 @@
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 36,
-    "steps": 25000,
+    "steps": 10000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,