Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: RonPlusSign/RLBench-LeRobot-v3-PutRubbishInBin
+datasets: RonPlusSign/PutRubbishInBin_RLBENCH
 library_name: lerobot
 license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
+- lerobot
 - robotics
 - diffusion
-- lerobot
 ---
 
 # Model Card for diffusion

config.json

@@ -5,7 +5,13 @@
         "observation.state": {
             "type": "STATE",
             "shape": [
-                8
+                7
+            ]
+        },
+        "observation.state.joints": {
+            "type": "STATE",
+            "shape": [
+                7
             ]
         },
         "observation.images.left_shoulder_rgb": {
@@ -64,7 +70,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/diffusion_rubbish/checkpoints/last/pretrained_model",
+    "pretrained_path": null,
     "horizon": 16,
     "n_action_steps": 10,
     "normalization_mapping": {

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2d3aa369bc336e99eb16878f10b28bd130b78f2dfb3d8c72be1929609f3bbb53
-size 1111029684
+oid sha256:2f86e733d62a06f1714ab07bcd62601e83500752fd6bf0a5fe8f151a11476fa7
+size 1110800308

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "RonPlusSign/RLBench-LeRobot-v3-PutRubbishInBin",
+        "repo_id": "RonPlusSign/PutRubbishInBin_RLBENCH",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -87,7 +87,13 @@
             "observation.state": {
                 "type": "STATE",
                 "shape": [
-                    8
+                    7
+                ]
+            },
+            "observation.state.joints": {
+                "type": "STATE",
+                "shape": [
+                    7
                 ]
             },
             "observation.images.left_shoulder_rgb": {
@@ -146,7 +152,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/diffusion_rubbish/checkpoints/last/pretrained_model",
+        "pretrained_path": null,
         "horizon": 16,
         "n_action_steps": 10,
         "normalization_mapping": {
@@ -194,17 +200,17 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/diffusion_rubbish",
+    "output_dir": "outputs/train/diffusion_train_rubbish",
     "job_name": "diffusion",
-    "resume": true,
+    "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 64,
-    "steps": 100000,
+    "steps": 30000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 10000,
+    "save_freq": 5000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adam",
@@ -233,9 +239,9 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "k0dv0ydr",
+        "run_id": "itf3z216",
         "mode": null
     },
-    "checkpoint_path": "outputs/train/diffusion_rubbish/checkpoints/last",
+    "checkpoint_path": null,
     "rename_map": {}
 }