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config.json

@@ -16,7 +16,7 @@
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-        "observation.images.rgb": {
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             "type": "VISUAL",
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@@ -24,7 +24,7 @@
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-        "observation.images.gripper": {
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             "shape": [
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@@ -44,7 +44,7 @@
     "device": "cuda",
     "use_amp": false,
     "push_to_hub": true,
-    "repo_id": "ISdept/piper_arm",
+    "repo_id": null,
     "private": null,
     "tags": null,
     "license": null,
@@ -63,8 +63,8 @@
         84
     ],
     "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

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-size 1264023516
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+size 1264069004

policy_postprocessor_step_0_unnormalizer_processor.safetensors

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 size 10144

policy_preprocessor.json

@@ -37,7 +37,7 @@
               640
             ]
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             "shape": [
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@@ -45,7 +45,7 @@
               640
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-          "observation.images.gripper": {
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             "type": "VISUAL",
             "shape": [
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policy_preprocessor_step_3_normalizer_processor.safetensors

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 size 10144