Upload policy weights, train config and readme

config.json

@@ -1,6 +1,6 @@
 {
-    "type": "custom_diffusion",
-    "n_obs_steps": 10,
+    "type": "diffusion",
+    "n_obs_steps": 2,
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -8,7 +8,7 @@
                 7
             ]
         },
-        "observation.images.gripper": {
+        "observation.images.front": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -16,7 +16,7 @@
                 640
             ]
         },
-        "observation.images.rgb": {
+        "observation.images.gripper": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -24,10 +24,10 @@
                 640
             ]
         },
-        "observation.images.depth": {
+        "observation.images.right": {
             "type": "VISUAL",
             "shape": [
-                1,
+                3,
                 400,
                 640
             ]
@@ -44,13 +44,13 @@
     "device": "cuda",
     "use_amp": false,
     "push_to_hub": true,
-    "repo_id": null,
+    "repo_id": "ISdept/piper_arm",
     "private": null,
     "tags": null,
     "license": null,
     "pretrained_path": null,
     "horizon": 24,
-    "n_action_steps": 16,
+    "n_action_steps": 8,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MIN_MAX",
@@ -59,14 +59,14 @@
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
     "crop_shape": [
-        400,
-        400
+        84,
+        84
     ],
     "crop_is_random": true,
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "use_group_norm": false,
     "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": true,
+    "use_separate_rgb_encoder_per_camera": false,
     "down_dims": [
         512,
         1024,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:168b77643a5d917f18e0adefde7ec1b08dd8657382b7f09a6e7010a32b58f0da
-size 1353756788
+oid sha256:684d6306e3f4a3e264c436e583367660e0b107a0f1dbe6c4f7ca9ef2bd28d2c4
+size 1081485652

train_config.json

@@ -82,7 +82,7 @@
     "env": null,
     "policy": {
         "type": "diffusion",
-        "n_obs_steps": 10,
+        "n_obs_steps": 2,
         "input_features": {
             "observation.state": {
                 "type": "STATE",
@@ -90,7 +90,7 @@
                     7
                 ]
             },
-            "observation.images.gripper": {
+            "observation.images.front": {
                 "type": "VISUAL",
                 "shape": [
                     3,
@@ -98,7 +98,7 @@
                     640
                 ]
             },
-            "observation.images.rgb": {
+            "observation.images.gripper": {
                 "type": "VISUAL",
                 "shape": [
                     3,
@@ -106,7 +106,7 @@
                     640
                 ]
             },
-            "observation.images.depth": {
+            "observation.images.right": {
                 "type": "VISUAL",
                 "shape": [
                     3,