Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
-- diffusion
 - lerobot
 - robotics
+- diffusion
 ---
 
 # Model Card for diffusion

config.json

@@ -52,13 +52,13 @@
     "spatial_softmax_num_keypoints": 32,
     "use_separate_rgb_encoder_per_camera": true,
     "down_dims": [
-        256,
         512,
-        512
+        1024,
+        2048
     ],
     "kernel_size": 5,
-    "n_groups": 4,
-    "diffusion_step_embed_dim": 64,
+    "n_groups": 8,
+    "diffusion_step_embed_dim": 128,
     "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:bc3a29af3c6a7ca35fa884473782ebddf503635bafb261bb8bdbac1679b4903e
-size 118209656
+oid sha256:83bc47347f6e6d67b763cd972fb1d9bfc985156cecbeaf92b880727dd28a49b3
+size 995055496

train_config.json

@@ -188,13 +188,13 @@
         "spatial_softmax_num_keypoints": 32,
         "use_separate_rgb_encoder_per_camera": true,
         "down_dims": [
-            256,
             512,
-            512
+            1024,
+            2048
         ],
         "kernel_size": 5,
-        "n_groups": 4,
-        "diffusion_step_embed_dim": 64,
+        "n_groups": 8,
+        "diffusion_step_embed_dim": 128,
         "use_film_scale_modulation": true,
         "noise_scheduler_type": "DDPM",
         "num_train_timesteps": 100,
@@ -218,7 +218,7 @@
         "partial_green_t_cover_processor": false,
         "use_rnd": false
     },
-    "output_dir": "outputs/train/2025-12-08/18-09-32_pusht_diffusion_fine",
+    "output_dir": "outputs/train/2025-12-08/21-16-57_pusht_diffusion_fine",
     "job_name": "pusht_diffusion_fine",
     "resume": false,
     "seed": 1000,
@@ -259,7 +259,7 @@
         "project": "policies",
         "entity": null,
         "notes": null,
-        "run_id": "9jvfqkbc",
+        "run_id": "aju71xif",
         "mode": null
     },
     "checkpoint_path": null,