Upload policy weights, train config and readme

README.md

@@ -1,12 +1,12 @@
 ---
-datasets: U-RIL/record-Edge
+datasets: U-RIL/record-Pastery
 library_name: lerobot
 license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
-- robotics
 - lerobot
+- robotics
 - diffusion
 ---
 

config.json

@@ -59,7 +59,7 @@
     "n_groups": 8,
     "diffusion_step_embed_dim": 128,
     "use_film_scale_modulation": true,
-    "noise_scheduler_type": "DDPM",
+    "noise_scheduler_type": "DDIM",
     "num_train_timesteps": 100,
     "beta_schedule": "squaredcos_cap_v2",
     "beta_start": 0.0001,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5dc1b25f3dae3621b98e24c31068fe6b4fdd95b6c9050cc296b5ed5f6cd597f4
+oid sha256:1edab3db23a31c904ec49e64875cc9aa41594ddc066ac171eb13b4a5344af691
 size 1051837384

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "U-RIL/record-Edge",
+        "repo_id": "U-RIL/record-Pastery",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -126,7 +126,7 @@
         "n_groups": 8,
         "diffusion_step_embed_dim": 128,
         "use_film_scale_modulation": true,
-        "noise_scheduler_type": "DDPM",
+        "noise_scheduler_type": "DDIM",
         "num_train_timesteps": 100,
         "beta_schedule": "squaredcos_cap_v2",
         "beta_start": 0.0001,
@@ -146,17 +146,17 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/diffusion_so100_test_edges",
-    "job_name": "diffusion_edges",
+    "output_dir": "outputs/train/diffusion_so100_test_5",
+    "job_name": "diffusion_5",
     "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 16,
-    "steps": 100000,
-    "eval_freq": 2000,
-    "log_freq": 1000,
+    "steps": 220000,
+    "eval_freq": 10000,
+    "log_freq": 2000,
     "save_checkpoint": true,
-    "save_freq": 2000,
+    "save_freq": 10000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adam",
@@ -180,12 +180,12 @@
         "use_async_envs": false
     },
     "wandb": {
-        "enable": false,
+        "enable": true,
         "disable_artifact": false,
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": null,
+        "run_id": "s8kr1rkv",
         "mode": null
     }
 }