Upload policy weights, train config and readme

README.md

@@ -0,0 +1,62 @@
+---
+datasets: Vertax/bi_arx5_pick_and_place_cube
+library_name: lerobot
+license: apache-2.0
+model_name: diffusion
+pipeline_tag: robotics
+tags:
+- lerobot
+- diffusion
+- robotics
+---
+
+# Model Card for diffusion
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+[Diffusion Policy](https://huggingface.co/papers/2303.04137) treats visuomotor control as a generative diffusion process, producing smooth, multi-step action trajectories that excel at contact-rich manipulation.
+
+
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
+
+---
+
+## How to Get Started with the Model
+
+For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
+Below is the short version on how to train and run inference/eval:
+
+### Train from scratch
+
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.type=act \
+  --output_dir=outputs/train/<desired_policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
+  --wandb.enable=true
+```
+
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
+
+### Evaluate the policy/run inference
+
+```bash
+lerobot-record \
+  --robot.type=so100_follower \
+  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --policy.path=<hf_user>/<desired_policy_repo_id> \
+  --episodes=10
+```
+
+Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+
+---
+
+## Model Details
+
+- **License:** apache-2.0

config.json

@@ -48,7 +48,7 @@
     },
     "device": "cuda",
     "use_amp": false,
-    "push_to_hub": false,
+    "push_to_hub": true,
     "repo_id": "Vertax/diffusion_bi_arx5_pick_and_place_cube",
     "private": null,
     "tags": null,

model.safetensors

@@ -1,3 +1,3 @@
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+oid sha256:6eac48f9283c1747b1a7071401dfb9e01488a28cc8a148b45635c75800a0dc5b
 size 1083148024

train_config.json

@@ -115,7 +115,7 @@
         },
         "device": "cuda",
         "use_amp": false,
-        "push_to_hub": false,
+        "push_to_hub": true,
         "repo_id": "Vertax/diffusion_bi_arx5_pick_and_place_cube",
         "private": null,
         "tags": null,
@@ -167,7 +167,7 @@
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
-    "batch_size": 8,
+    "batch_size": 16,
     "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 200,
@@ -197,11 +197,11 @@
     },
     "wandb": {
         "enable": true,
-        "disable_artifact": false,
+        "disable_artifact": true,
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "venub1z7",
+        "run_id": "vstek0qa",
         "mode": null
     }
 }