Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
-- robotics
-- diffusion
 - lerobot
+- diffusion
+- robotics
 ---
 
 # Model Card for diffusion
@@ -31,7 +31,7 @@ Below is the short version on how to train and run inference/eval:
 ### Train from scratch
 
 ```bash
-python -m lerobot.scripts.train \
+lerobot-train \
   --dataset.repo_id=${HF_USER}/<dataset> \
   --policy.type=act \
   --output_dir=outputs/train/<desired_policy_repo_id> \
@@ -46,7 +46,7 @@ _Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
 ### Evaluate the policy/run inference
 
 ```bash
-python -m lerobot.record \
+lerobot-record \
   --robot.type=so100_follower \
   --dataset.repo_id=<hf_user>/eval_<dataset> \
   --policy.path=<hf_user>/<desired_policy_repo_id> \

config.json

@@ -1,11 +1,6 @@
 {
     "type": "diffusion",
     "n_obs_steps": 2,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MIN_MAX",
-        "ACTION": "MIN_MAX"
-    },
     "input_features": {
         "observation.images.cam0_img": {
             "type": "VISUAL",
@@ -45,13 +40,19 @@
     "private": null,
     "tags": null,
     "license": null,
+    "pretrained_path": null,
     "horizon": 16,
     "n_action_steps": 8,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MIN_MAX",
+        "ACTION": "MIN_MAX"
+    },
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
     "crop_shape": [
-        108,
-        162
+        84,
+        84
     ],
     "crop_is_random": true,
     "pretrained_backbone_weights": null,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:131d7999c53054c7ca1a9a18f38cf644370c29f88790def0f5149ffd09c7b199
-size 356688448
+oid sha256:c39b3ba90e434037ae94e00c0c6aced105738fe65ca3f9071ac9c0cfeb049750
+size 356686904

train_config.json

@@ -4,7 +4,7 @@
         "root": null,
         "episodes": null,
         "image_transforms": {
-            "enable": true,
+            "enable": false,
             "max_num_transforms": 3,
             "random_order": false,
             "tfs": {
@@ -57,22 +57,32 @@
                             1.5
                         ]
                     }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
                 }
             }
         },
         "revision": null,
         "use_imagenet_stats": true,
-        "video_backend": "torchcodec"
+        "video_backend": "torchcodec",
+        "streaming": false
     },
     "env": null,
     "policy": {
         "type": "diffusion",
         "n_obs_steps": 2,
-        "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
-            "STATE": "MIN_MAX",
-            "ACTION": "MIN_MAX"
-        },
         "input_features": {
             "observation.images.cam0_img": {
                 "type": "VISUAL",
@@ -112,13 +122,19 @@
         "private": null,
         "tags": null,
         "license": null,
+        "pretrained_path": null,
         "horizon": 16,
         "n_action_steps": 8,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MIN_MAX",
+            "ACTION": "MIN_MAX"
+        },
         "drop_n_last_frames": 7,
         "vision_backbone": "resnet18",
         "crop_shape": [
-            108,
-            162
+            84,
+            84
         ],
         "crop_is_random": true,
         "pretrained_backbone_weights": null,
@@ -154,13 +170,13 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "/scratch/ameypore/runs/lerobot/612509/checkpoints",
+    "output_dir": "/home/shahha35/scratch/runs/lerobot/10490694/checkpoints",
     "job_name": "diffusion",
     "resume": false,
     "seed": 1000,
-    "num_workers": 4,
-    "batch_size": 8,
-    "steps": 200000,
+    "num_workers": 8,
+    "batch_size": 32,
+    "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -190,10 +206,12 @@
     "wandb": {
         "enable": false,
         "disable_artifact": false,
-        "project": "unity_dvrk_pushblock_DP",
-        "entity": "ameyapores",
+        "project": "lerobot_dvrk_DP",
+        "entity": "hj-shah",
         "notes": null,
         "run_id": null,
         "mode": null
-    }
+    },
+    "checkpoint_path": null,
+    "rename_map": {}
 }