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config.json

@@ -1,6 +1,6 @@
 {
-    "type": "long_task_diffusion",
-    "n_obs_steps": 4,
+    "type": "diffusion",
+    "n_obs_steps": 2,
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -16,15 +16,7 @@
                 640
             ]
         },
-        "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                400,
-                640
-            ]
-        },
-        "observation.images.right": {
+        "observation.images.depth": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -44,29 +36,29 @@
     "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": 8,
-    "n_action_steps": 4,
+    "horizon": 16,
+    "n_action_steps": 8,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MIN_MAX",
         "ACTION": "MIN_MAX"
     },
     "drop_n_last_frames": 7,
-    "vision_backbone": "resnet50",
+    "vision_backbone": "resnet18",
     "crop_shape": [
-        320,
-        320
+        84,
+        84
     ],
     "crop_is_random": true,
-    "pretrained_backbone_weights": "ResNet50_Weights.IMAGENET1K_V2",
-    "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,
@@ -94,7 +86,5 @@
     "optimizer_eps": 1e-08,
     "optimizer_weight_decay": 1e-06,
     "scheduler_name": "cosine",
-    "scheduler_warmup_steps": 500,
-    "custom_loss_weight": 1.0,
-    "horizon_extension_factor": 1.0
+    "scheduler_warmup_steps": 500
 }

model.safetensors

@@ -1,3 +1,3 @@
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-size 1365979908
+oid sha256:da9e45f69a06102acd9247a5c5958fbd0c008465a7b567cbc8849ba5def57e3d
+size 1066760100

policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -1,3 +1,3 @@
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-oid sha256:0d934ea3983f7f1c627e6544cfe274047e969a581cbeca168d1f5607b7296416
-size 10168
+oid sha256:6293ccba7d153ca220f417c365a0efeebd0aff36e0d6b6b856f1c09ac67bfeef
+size 4000

policy_preprocessor.json

@@ -37,15 +37,7 @@
               640
             ]
           },
-          "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-              3,
-              400,
-              640
-            ]
-          },
-          "observation.images.right": {
+          "observation.images.depth": {
             "type": "VISUAL",
             "shape": [
               3,

policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -1,3 +1,3 @@
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-size 10168
+oid sha256:6293ccba7d153ca220f417c365a0efeebd0aff36e0d6b6b856f1c09ac67bfeef
+size 4000

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "ISdept/piper_arm",
+        "repo_id": "ISdept/piper-pick-place-depth",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -90,14 +90,6 @@
                     7
                 ]
             },
-            "observation.images.front": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    400,
-                    640
-                ]
-            },
             "observation.images.gripper": {
                 "type": "VISUAL",
                 "shape": [
@@ -106,7 +98,7 @@
                     640
                 ]
             },
-            "observation.images.right": {
+            "observation.images.depth": {
                 "type": "VISUAL",
                 "shape": [
                     3,