Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: pusht_merged_300_fine_relative_converted
+datasets: pusht_merged_300_fine
 library_name: lerobot
 license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
-- robotics
-- lerobot
 - diffusion
+- lerobot
+- robotics
 ---
 
 # Model Card for diffusion

config.json

@@ -36,7 +36,7 @@
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MIN_MAX",
-        "ACTION": "ASINH_MIN_MAX",
+        "ACTION": "MIN_MAX",
         "ENV": "MIN_MAX"
     },
     "drop_n_last_frames": 7,
@@ -70,7 +70,7 @@
     "clip_sample_range": 1.0,
     "num_inference_steps": null,
     "do_mask_loss_for_padding": false,
-    "optimizer_lr": 2e-05,
+    "optimizer_lr": 0.0002,
     "optimizer_betas": [
         0.95,
         0.999

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2bdbb1ccc6224e34e47a83dbcc5eb0c129647ba94abd7244431785618127e052
+oid sha256:9ee1307bf7930b9ffb9eac5c9720025a58df265163e09a95f6d9f8f000955c99
 size 995055496

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
-        "repo_id": "pusht_merged_300_fine_relative_converted",
-        "root": "pusht_teleop_data/pusht_merged_300_fine_relative_converted",
+        "repo_id": "pusht_merged_300_fine",
+        "root": "pusht_teleop_data/pusht_merged_300_fine",
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -132,7 +132,7 @@
         "gaussian_blur": null,
         "CoverGreenT": null,
         "coarsity": "fine",
-        "action_type": "relative"
+        "action_type": "absolute"
     },
     "policy": {
         "type": "diffusion",
@@ -172,7 +172,7 @@
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
             "STATE": "MIN_MAX",
-            "ACTION": "ASINH_MIN_MAX",
+            "ACTION": "MIN_MAX",
             "ENV": "MIN_MAX"
         },
         "drop_n_last_frames": 7,
@@ -206,7 +206,7 @@
         "clip_sample_range": 1.0,
         "num_inference_steps": null,
         "do_mask_loss_for_padding": false,
-        "optimizer_lr": 2e-05,
+        "optimizer_lr": 0.0002,
         "optimizer_betas": [
             0.95,
             0.999
@@ -218,7 +218,7 @@
         "partial_green_t_cover_processor": false,
         "use_rnd": false
     },
-    "output_dir": "outputs/train/2025-12-09/02-03-51_pusht_diffusion_fine",
+    "output_dir": "outputs/train/2025-12-10/09-43-55_pusht_diffusion_fine",
     "job_name": "pusht_diffusion_fine",
     "resume": false,
     "seed": 1000,
@@ -232,7 +232,7 @@
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adam",
-        "lr": 2e-05,
+        "lr": 0.0002,
         "weight_decay": 1e-06,
         "grad_clip_norm": 10.0,
         "betas": [
@@ -259,7 +259,7 @@
         "project": "policies",
         "entity": null,
         "notes": null,
-        "run_id": "yzpk2lg6",
+        "run_id": "aux7jvgy",
         "mode": null
     },
     "checkpoint_path": null,