Upload policy weights, train config and readme

README.md

@@ -1,12 +1,12 @@
 ---
-datasets: pusht_merged_300_fine
+datasets: pusht_merged_300_fine_relative_converted
 library_name: lerobot
 license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
-- lerobot
 - diffusion
+- lerobot
 - robotics
 ---
 

config.json

@@ -52,13 +52,13 @@
     "spatial_softmax_num_keypoints": 32,
     "use_separate_rgb_encoder_per_camera": true,
     "down_dims": [
+        256,
         512,
-        1024,
-        2048
+        512
     ],
     "kernel_size": 5,
-    "n_groups": 8,
-    "diffusion_step_embed_dim": 128,
+    "n_groups": 4,
+    "diffusion_step_embed_dim": 64,
     "use_film_scale_modulation": true,
     "noise_scheduler_type": "DDPM",
     "num_train_timesteps": 100,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1df9d83470762bdb2a817e1299833440581d725e352a99eee98df739ca485982
-size 995055496
+oid sha256:bc3a29af3c6a7ca35fa884473782ebddf503635bafb261bb8bdbac1679b4903e
+size 118209656

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
-        "repo_id": "pusht_merged_300_fine",
-        "root": "pusht_teleop_data/pusht_merged_300_fine",
+        "repo_id": "pusht_merged_300_fine_relative_converted",
+        "root": "pusht_teleop_data/pusht_merged_300_fine_relative_converted",
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -77,7 +77,10 @@
         "revision": null,
         "use_imagenet_stats": true,
         "video_backend": "torchcodec",
-        "streaming": false
+        "streaming": false,
+        "drop_columns": [
+            "observation.image"
+        ]
     },
     "env": {
         "type": "pusht",
@@ -96,6 +99,12 @@
                     2
                 ]
             },
+            "environment_state": {
+                "type": "ENV",
+                "shape": [
+                    16
+                ]
+            },
             "pixels": {
                 "type": "VISUAL",
                 "shape": [
@@ -103,12 +112,6 @@
                     512,
                     3
                 ]
-            },
-            "environment_state": {
-                "type": "ENV",
-                "shape": [
-                    16
-                ]
             }
         },
         "features_map": {
@@ -128,7 +131,8 @@
         "observation_width": 512,
         "gaussian_blur": null,
         "CoverGreenT": null,
-        "coarsity": "fine"
+        "coarsity": "fine",
+        "action_type": "relative"
     },
     "policy": {
         "type": "diffusion",
@@ -184,13 +188,13 @@
         "spatial_softmax_num_keypoints": 32,
         "use_separate_rgb_encoder_per_camera": true,
         "down_dims": [
+            256,
             512,
-            1024,
-            2048
+            512
         ],
         "kernel_size": 5,
-        "n_groups": 8,
-        "diffusion_step_embed_dim": 128,
+        "n_groups": 4,
+        "diffusion_step_embed_dim": 64,
         "use_film_scale_modulation": true,
         "noise_scheduler_type": "DDPM",
         "num_train_timesteps": 100,
@@ -214,17 +218,17 @@
         "partial_green_t_cover_processor": false,
         "use_rnd": false
     },
-    "output_dir": "outputs/train/2025-12-06/22-33-05_pusht_diffusion_fine",
+    "output_dir": "outputs/train/2025-12-08/18-09-32_pusht_diffusion_fine",
     "job_name": "pusht_diffusion_fine",
     "resume": false,
     "seed": 1000,
     "num_workers": 20,
     "batch_size": 512,
-    "steps": 100000,
+    "steps": 80000,
     "eval_freq": 5000,
     "log_freq": 500,
     "save_checkpoint": true,
-    "save_freq": 150000,
+    "save_freq": 80000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adam",
@@ -245,7 +249,9 @@
     "eval": {
         "n_episodes": 500,
         "batch_size": 50,
-        "use_async_envs": false
+        "use_async_envs": false,
+        "max_episodes_rendered": 0,
+        "only_render_failures": false
     },
     "wandb": {
         "enable": true,
@@ -253,7 +259,7 @@
         "project": "policies",
         "entity": null,
         "notes": null,
-        "run_id": "uerv4t19",
+        "run_id": "9jvfqkbc",
         "mode": null
     },
     "checkpoint_path": null,