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config.json

@@ -1,6 +1,6 @@
 {
     "type": "diffusion",
-    "n_obs_steps": 2,
+    "n_obs_steps": 4,
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -8,14 +8,6 @@
                 7
             ]
         },
-        "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                400,
-                640
-            ]
-        },
         "observation.images.gripper": {
             "type": "VISUAL",
             "shape": [
@@ -23,14 +15,6 @@
                 400,
                 640
             ]
-        },
-        "observation.images.right": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                400,
-                640
-            ]
         }
     },
     "output_features": {
@@ -44,13 +28,13 @@
     "device": "cuda",
     "use_amp": false,
     "push_to_hub": true,
-    "repo_id": "ISdept/piper_arm",
+    "repo_id": null,
     "private": null,
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 16,
-    "n_action_steps": 8,
+    "horizon": 24,
+    "n_action_steps": 24,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MIN_MAX",
@@ -59,14 +43,14 @@
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
     "crop_shape": [
-        84,
-        84
+        400,
+        400
     ],
     "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,
+    "use_separate_rgb_encoder_per_camera": true,
     "down_dims": [
         512,
         1024,

model.safetensors

@@ -1,3 +1,3 @@
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+size 1068412748

policy_postprocessor_step_0_unnormalizer_processor.safetensors

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 size 10168

policy_preprocessor.json

@@ -29,14 +29,6 @@
               7
             ]
           },
-          "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-              3,
-              400,
-              640
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           "observation.images.gripper": {
             "type": "VISUAL",
             "shape": [
@@ -45,14 +37,6 @@
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-          "observation.images.right": {
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-            "shape": [
-              3,
-              400,
-              640
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           "action": {
             "type": "ACTION",
             "shape": [

policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ae8de354dbe3d2689ed828ed9dc95c8f6d800a6665339eccd5b03643dff48f08
+oid sha256:2fe415b3f8a730764d0b3a3b66a49961f82a4eb9e6d209f706e04b874fe7b352
 size 10168