Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
-- diffusion
-- lerobot
 - robotics
+- lerobot
+- diffusion
 ---
 
 # Model Card for diffusion

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:41ad3bc9a14d2c70c0b48081ab8ca9c382feb4d38907369511dba84427c1cfb0
+oid sha256:adad31b644568d4dd2508ed8f0ca771908c4fdd89146e705621defabd082661b
 size 1053788376

train_config.json

@@ -203,14 +203,14 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/diffusion_speed_test",
+    "output_dir": "outputs/train/diffusion",
     "job_name": "aloha_diffusion",
     "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 16,
-    "steps": 100,
+    "steps": 35000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -239,12 +239,12 @@
         "use_async_envs": false
     },
     "wandb": {
-        "enable": false,
+        "enable": true,
         "disable_artifact": false,
-        "project": "lerobot",
+        "project": "lerobot-sim-mastery",
         "entity": null,
-        "notes": null,
-        "run_id": null,
+        "notes": "Diffusion bs16 35k steps Kaggle T4",
+        "run_id": "opywvfql",
         "mode": null,
         "add_tags": true
     },