Upload policy weights, train config and readme

README.md

@@ -5,8 +5,8 @@ license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
-- lerobot
 - diffusion
+- lerobot
 - robotics
 ---
 

config.json

@@ -67,7 +67,7 @@
     "prediction_type": "epsilon",
     "clip_sample": true,
     "clip_sample_range": 1.0,
-    "num_inference_steps": 100,
+    "num_inference_steps": 50,
     "do_mask_loss_for_padding": false,
     "optimizer_lr": 0.0001,
     "optimizer_betas": [

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:75983cf53068e9db786f3a5d5b87b04c2439c058e286863fe1af04fa95995f7b
+oid sha256:4b8325c8fcac98ff90bd71e2038a0e360874892a93be8deb365c4f37ca3e3115
 size 1051837384

train_config.json

@@ -139,7 +139,7 @@
         "prediction_type": "epsilon",
         "clip_sample": true,
         "clip_sample_range": 1.0,
-        "num_inference_steps": 100,
+        "num_inference_steps": 50,
         "do_mask_loss_for_padding": false,
         "optimizer_lr": 0.0001,
         "optimizer_betas": [
@@ -151,18 +151,18 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "/teamspace/studios/this_studio/lerobot/outputs/train/d4_dataset_only_2_validation_episodes_diffusion_smoke_then_train_smoke_20250831_142450",
-    "job_name": "d4_dataset_only_2_validation_episodes_diffusion_smoke_then_train_smoke_20250831_142450_bs4_lr1.0e-04_bblrNone_smp480",
+    "output_dir": "/teamspace/studios/this_studio/lerobot/outputs/train/d4_dataset_only_2_validation_episodes_diffusion_smoke_then_train_full_20250831_160813",
+    "job_name": "d4_dataset_only_2_validation_episodes_diffusion_smoke_then_train_full_20250831_160813_bs8_lr1.0e-04_bblrNone_smp2400000",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
-    "batch_size": 4,
-    "steps": 120,
+    "batch_size": 8,
+    "steps": 300000,
     "target_samples": null,
-    "eval_freq": 120,
-    "log_freq": 50,
-    "save_checkpoint": false,
-    "save_freq": 5000,
+    "eval_freq": 5000,
+    "log_freq": 200,
+    "save_checkpoint": true,
+    "save_freq": 50000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adam",
@@ -192,7 +192,7 @@
         "project": "lerobot",
         "entity": "benfduffy-bearcover-gmbh",
         "notes": null,
-        "run_id": "diff_smoke_1756650290",
+        "run_id": "diff_full_1756656493",
         "mode": null
     }
 }