Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: diffusion
 pipeline_tag: robotics
 tags:
 - robotics
-- diffusion
 - lerobot
+- diffusion
 ---
 
 # Model Card for diffusion

config.json

@@ -41,7 +41,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "/project_ghent/lerobot/outputs/train/2026-02-24/13-35-49_b-n150-PREPR-INSTR0/checkpoints/040000/pretrained_model",
+    "pretrained_path": "/project_ghent/lerobot/outputs/train/2026-02-24/13-35-49_b-n150-PREPR-INSTR0/checkpoints/020000/pretrained_model",
     "horizon": 16,
     "n_action_steps": 8,
     "normalization_mapping": {

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f88f9793f56ea00e18f0dafb68f22c548c8458324501519ea08dc7f368bcac80
+oid sha256:67e6591f60a35e6bc3cc396f83a43db2bdf7679a27278132f1b8ce2d44f1bc8a
 size 368931004

train_config.json

@@ -109,7 +109,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "/project_ghent/lerobot/outputs/train/2026-02-24/13-35-49_b-n150-PREPR-INSTR0/checkpoints/040000/pretrained_model",
+        "pretrained_path": "/project_ghent/lerobot/outputs/train/2026-02-24/13-35-49_b-n150-PREPR-INSTR0/checkpoints/020000/pretrained_model",
         "horizon": 16,
         "n_action_steps": 8,
         "normalization_mapping": {
@@ -163,12 +163,12 @@
     "seed": 2025,
     "num_workers": 4,
     "batch_size": 32,
-    "steps": 100000,
+    "steps": 150000,
     "eval_freq": 0,
     "log_freq": 200,
     "tolerance_s": 0.0001,
-    "save_checkpoint": false,
-    "save_freq": 20000,
+    "save_checkpoint": true,
+    "save_freq": 80000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adam",
@@ -207,5 +207,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": "/project_ghent/lerobot/outputs/train/2026-02-24/13-35-49_b-n150-PREPR-INSTR0/checkpoints/040000"
+    "checkpoint_path": "/project_ghent/lerobot/outputs/train/2026-02-24/13-35-49_b-n150-PREPR-INSTR0/checkpoints/020000"
 }