Upload policy weights, train config and readme

README.md

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

config.json

@@ -41,13 +41,13 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "ISdept/piper_arm",
-    "horizon": 16,
+    "pretrained_path": null,
+    "horizon": 64,
     "n_action_steps": 8,
     "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MIN_MAX",
-        "ACTION": "MIN_MAX"
+        "ACTION": "IDENTITY",
+        "STATE": "IDENTITY",
+        "VISUAL": "IDENTITY"
     },
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4cf4d470b3104d274c6ee220b9a8e82a77f1da821803241d00314f1acaac94c4
+oid sha256:4ca062c4f4157c897604781eb96bff12ba97774d9f239e410620659d78791a4b
 size 1066805588

train_config.json

@@ -123,13 +123,13 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "ISdept/piper_arm",
-        "horizon": 16,
+        "pretrained_path": null,
+        "horizon": 64,
         "n_action_steps": 8,
         "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
-            "STATE": "MIN_MAX",
-            "ACTION": "MIN_MAX"
+            "ACTION": "IDENTITY",
+            "STATE": "IDENTITY",
+            "VISUAL": "IDENTITY"
         },
         "drop_n_last_frames": 7,
         "vision_backbone": "resnet18",
@@ -171,12 +171,12 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/output_diff5",
+    "output_dir": "outputs/train/output_diff7",
     "job_name": "pick_and_place",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
-    "batch_size": 48,
+    "batch_size": 36,
     "steps": 25000,
     "eval_freq": 20000,
     "log_freq": 200,