Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: EXP_pusht_teleop_Y2025_M12_D03_H13_M58_S26_fine
+datasets: pusht_merged_300_fine
 library_name: lerobot
 license: apache-2.0
 model_name: ditflow
 pipeline_tag: robotics
 tags:
-- robotics
 - lerobot
 - ditflow
+- robotics
 ---
 
 # Model Card for ditflow

config.json

@@ -37,7 +37,8 @@
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MIN_MAX",
-        "ACTION": "MIN_MAX"
+        "ACTION": "MIN_MAX",
+        "ENV": "MIN_MAX"
     },
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
@@ -50,19 +51,19 @@
     "use_group_norm": true,
     "spatial_softmax_num_keypoints": 32,
     "use_separate_rgb_encoder_per_camera": true,
-    "frequency_embedding_dim": 128,
-    "hidden_dim": 512,
-    "num_blocks": 6,
-    "num_heads": 8,
+    "frequency_embedding_dim": 256,
+    "hidden_dim": 1024,
+    "num_blocks": 12,
+    "num_heads": 16,
     "dropout": 0.1,
-    "dim_feedforward": 2048,
+    "dim_feedforward": 4096,
     "activation": "gelu",
     "training_noise_sampling": "uniform",
     "clip_sample": true,
     "clip_sample_range": 1.0,
     "num_inference_steps": 100,
     "do_mask_loss_for_padding": false,
-    "optimizer_lr": 0.0003,
+    "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 sha256:86a456a55954c20b403601e44757faab28260e42e25004f02b399cfb7dc8f9a6
-size 117037656
+oid sha256:e412546ed36d69e450762729fc4e8ba260df7d4166501a57090c631564496182
+size 920834376

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
-        "repo_id": "EXP_pusht_teleop_Y2025_M12_D03_H13_M58_S26_fine",
-        "root": "pusht_teleop_data/EXP_pusht_teleop_Y2025_M12_D03_H13_M58_S26_fine",
+        "repo_id": "pusht_merged_300_fine",
+        "root": "pusht_teleop_data/pusht_merged_300_fine",
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -169,7 +169,8 @@
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
             "STATE": "MIN_MAX",
-            "ACTION": "MIN_MAX"
+            "ACTION": "MIN_MAX",
+            "ENV": "MIN_MAX"
         },
         "drop_n_last_frames": 7,
         "vision_backbone": "resnet18",
@@ -182,19 +183,19 @@
         "use_group_norm": true,
         "spatial_softmax_num_keypoints": 32,
         "use_separate_rgb_encoder_per_camera": true,
-        "frequency_embedding_dim": 128,
-        "hidden_dim": 512,
-        "num_blocks": 6,
-        "num_heads": 8,
+        "frequency_embedding_dim": 256,
+        "hidden_dim": 1024,
+        "num_blocks": 12,
+        "num_heads": 16,
         "dropout": 0.1,
-        "dim_feedforward": 2048,
+        "dim_feedforward": 4096,
         "activation": "gelu",
         "training_noise_sampling": "uniform",
         "clip_sample": true,
         "clip_sample_range": 1.0,
         "num_inference_steps": 100,
         "do_mask_loss_for_padding": false,
-        "optimizer_lr": 0.0003,
+        "optimizer_lr": 0.0002,
         "optimizer_betas": [
             0.95,
             0.999
@@ -209,13 +210,13 @@
         "partial_green_t_cover_processor": false,
         "features_to_include": null
     },
-    "output_dir": "outputs/train/2025-12-05/09-40-18_pusht_ditflow_fine",
+    "output_dir": "outputs/train/2025-12-06/12-48-03_pusht_ditflow_fine",
     "job_name": "pusht_ditflow_fine",
     "resume": false,
     "seed": 1000,
-    "num_workers": 4,
-    "batch_size": 256,
-    "steps": 80000,
+    "num_workers": 20,
+    "batch_size": 512,
+    "steps": 100000,
     "eval_freq": 5000,
     "log_freq": 500,
     "save_checkpoint": true,
@@ -223,7 +224,7 @@
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adam",
-        "lr": 0.0003,
+        "lr": 0.0002,
         "weight_decay": 1e-06,
         "grad_clip_norm": 10.0,
         "betas": [
@@ -238,7 +239,7 @@
         "name": "cosine"
     },
     "eval": {
-        "n_episodes": 50,
+        "n_episodes": 500,
         "batch_size": 50,
         "use_async_envs": false
     },
@@ -248,7 +249,7 @@
         "project": "policies",
         "entity": null,
         "notes": null,
-        "run_id": "9hobiwv7",
+        "run_id": "dp72s3nd",
         "mode": null
     },
     "checkpoint_path": null,