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config.json

@@ -1,6 +1,6 @@
 {
     "type": "diffusion",
-    "n_obs_steps": 4,
+    "n_obs_steps": 2,
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -44,13 +44,13 @@
     "device": "cuda",
     "use_amp": false,
     "push_to_hub": true,
-    "repo_id": null,
+    "repo_id": "ISdept/piper-act",
     "private": null,
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 24,
-    "n_action_steps": 24,
+    "horizon": 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,
+    "pretrained_backbone_weights": null,
+    "use_group_norm": true,
     "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 @@
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-size 1216819292
+oid sha256:02574ea7a953bdf2042461b7f1227459b53c72740539666cbd63a981d95e6dd0
+size 1081440164

policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b3098031401ea5ddf5da9f7e6e76348eba42908cfb756d7a30628947664e21be
+oid sha256:ae8de354dbe3d2689ed828ed9dc95c8f6d800a6665339eccd5b03643dff48f08
 size 10168

policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b3098031401ea5ddf5da9f7e6e76348eba42908cfb756d7a30628947664e21be
+oid sha256:ae8de354dbe3d2689ed828ed9dc95c8f6d800a6665339eccd5b03643dff48f08
 size 10168

train_config.json

@@ -126,12 +126,12 @@
         "device": "cuda",
         "use_amp": false,
         "push_to_hub": true,
-        "repo_id": "ISdept/piper_arm",
+        "repo_id": "ISdept/piper-act",
         "private": null,
         "tags": null,
         "license": null,
         "pretrained_path": null,
-        "horizon": 24,
+        "horizon": 16,
         "n_action_steps": 8,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
@@ -145,8 +145,8 @@
             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": [
@@ -178,17 +178,17 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/output_diff5",
+    "output_dir": "outputs/train/output_act",
     "job_name": "pick_and_place",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
-    "batch_size": 3,
-    "steps": 25000,
+    "batch_size": 16,
+    "steps": 20000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 2000,
+    "save_freq": 1000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adam",