Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
+- lerobot
 - diffusion
 - robotics
-- lerobot
 ---
 
 # Model Card for diffusion

config.json

@@ -44,7 +44,7 @@
     "device": "cuda",
     "use_amp": false,
     "push_to_hub": true,
-    "repo_id": null,
+    "repo_id": "ISdept/piper_arm",
     "private": null,
     "tags": null,
     "license": null,
@@ -63,8 +63,8 @@
         84
     ],
     "crop_is_random": true,
-    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "use_group_norm": false,
+    "pretrained_backbone_weights": null,
+    "use_group_norm": true,
     "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:dd1177d3ce6eea771e265171cc1f0426275a8bef26097cb52b8255f40e671e15
-size 1264069004
+oid sha256:1c98baddef3c62576c6a05e0d0888d3c45eed4d6cfcc8689499c3fc08841c849
+size 1264023516

train_config.json

@@ -4,7 +4,7 @@
         "root": null,
         "episodes": null,
         "image_transforms": {
-            "enable": false,
+            "enable": true,
             "max_num_transforms": 3,
             "random_order": false,
             "tfs": {
@@ -98,7 +98,7 @@
                     640
                 ]
             },
-            "observation.images.rgb": {
+            "observation.images.gripper": {
                 "type": "VISUAL",
                 "shape": [
                     3,
@@ -106,7 +106,7 @@
                     640
                 ]
             },
-            "observation.images.gripper": {
+            "observation.images.rgb": {
                 "type": "VISUAL",
                 "shape": [
                     3,