Upload policy weights, train config and readme

README.md

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+---
+datasets: lerobot/pusht_random_it0
+library_name: lerobot
+license: apache-2.0
+model_name: ditflow
+pipeline_tag: robotics
+tags:
+- lerobot
+- robotics
+- ditflow
+---
+
+# Model Card for ditflow
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+_Model type not recognized — please update this template._
+
+
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
+
+---
+
+## How to Get Started with the Model
+
+For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
+Below is the short version on how to train and run inference/eval:
+
+### Train from scratch
+
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.type=act \
+  --output_dir=outputs/train/<desired_policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
+  --wandb.enable=true
+```
+
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
+
+### Evaluate the policy/run inference
+
+```bash
+lerobot-record \
+  --robot.type=so100_follower \
+  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --policy.path=<hf_user>/<desired_policy_repo_id> \
+  --episodes=10
+```
+
+Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+
+---
+
+## Model Details
+
+- **License:** apache-2.0

config.json

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+{
+    "type": "ditflow",
+    "n_obs_steps": 2,
+    "input_features": {
+        "observation.image": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                96,
+                96
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                2
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                2
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "push_to_hub": true,
+    "repo_id": "random_it0",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "horizon": 16,
+    "n_action_steps": 8,
+    "use_proprioceptive": true,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MIN_MAX",
+        "ACTION": "MIN_MAX"
+    },
+    "drop_n_last_frames": 7,
+    "vision_backbone": "resnet18",
+    "crop_shape": [
+        84,
+        84
+    ],
+    "crop_is_random": true,
+    "pretrained_backbone_weights": null,
+    "use_group_norm": true,
+    "spatial_softmax_num_keypoints": 32,
+    "use_separate_rgb_encoder_per_camera": false,
+    "frequency_embedding_dim": 256,
+    "hidden_dim": 512,
+    "num_blocks": 6,
+    "num_heads": 16,
+    "dropout": 0.1,
+    "dim_feedforward": 4096,
+    "activation": "gelu",
+    "training_noise_sampling": "uniform",
+    "clip_sample": true,
+    "clip_sample_range": 1.0,
+    "num_inference_steps": 100,
+    "do_mask_loss_for_padding": false,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 500
+}

model.safetensors

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+size 212673408

train_config.json

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+    "dataset": {
+        "repo_id": "lerobot/pusht_random_it0",
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+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "streaming": false
+    },
+    "env": {
+        "type": "pusht",
+        "task": "PushT-v0",
+        "fps": 10,
+        "features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
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+        "visualization_width": 384,
+        "visualization_height": 384,
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+        "observation_width": 384
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+            "STATE": "MIN_MAX",
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+        "notes": "run_label=random_it0, seed=42",
+        "run_id": "gnmtz2m2",
+        "mode": "online"
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+    "use_rabc": false,
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+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": null
+}