Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: ISdept/piper_arm
+datasets: ISdept/piper-pick-place-depth
 library_name: lerobot
 license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
-- lerobot
 - diffusion
 - robotics
+- lerobot
 ---
 
 # Model Card for diffusion

config.json

@@ -40,7 +40,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "ISdept/piper_arm",
     "horizon": 16,
     "n_action_steps": 8,
     "normalization_mapping": {

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2c49ca3ece55eac489d64305010777b8bc5aacc0abe910342c4f5d84b0daa686
+oid sha256:b130bec4a7a8bbe659a022a845bb411c2f304559cff641015248bd5dfe591341
 size 1066805908

train_config.json

@@ -122,7 +122,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "ISdept/piper_arm",
         "horizon": 16,
         "n_action_steps": 8,
         "normalization_mapping": {
@@ -170,13 +170,13 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/output_diffusion_1",
+    "output_dir": "outputs/train/output_diffusion_2",
     "job_name": "pick_and_place",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 16,
-    "steps": 20000,
+    "steps": 30000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,