Upload policy weights, train config and readme

README.md

@@ -5,8 +5,8 @@ license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
-- lerobot
 - diffusion
+- lerobot
 - robotics
 ---
 

config.json

@@ -37,8 +37,8 @@
     "n_action_steps": 40,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
-        "STATE": "MIN_MAX",
-        "ACTION": "MIN_MAX"
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
     },
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d157ee1296eccfe73a375eb1c7901e74679126e20bf1d6804c4ed7d35458af6c
+oid sha256:1242264780feec1c8008f10c227d43499590983984145652b3c76594f64438ce
 size 1053786048

train_config.json

@@ -158,8 +158,8 @@
         "n_action_steps": 40,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
-            "STATE": "MIN_MAX",
-            "ACTION": "MIN_MAX"
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
         },
         "drop_n_last_frames": 7,
         "vision_backbone": "resnet18",
@@ -201,13 +201,13 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/diffusion_policy_aloha_transfer",
+    "output_dir": "outputs/train/diffusion_policy_aloha_transfer_1",
     "job_name": "aloha_diffusion",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
-    "batch_size": 8,
-    "steps": 100000,
+    "batch_size": 16,
+    "steps": 60000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -240,7 +240,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "977qb3p3",
+        "run_id": "zuq9to3v",
         "mode": null
     },
     "checkpoint_path": null,