Upload policy weights, train config and readme

README.md

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

config.json

@@ -98,14 +98,6 @@
             "ACTION": "MEAN_STD"
         },
         "input_features": {
-            "observation.images.primary": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    256,
-                    256
-                ]
-            },
             "observation.images.wrist": {
                 "type": "VISUAL",
                 "shape": [
@@ -208,6 +200,7 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500,
         "features_to_exclude": [
+            "observation.images.primary",
             "observation.images.tactile"
         ],
         "features_to_include": null,
@@ -355,5 +348,5 @@
     "smooth_slow_policy_output": false,
     "apply_slow_policy_output": false,
     "use_image_features_for_fast_policy": true,
-    "training_stage": "fast_policy"
+    "training_stage": "slow_policy"
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f37acb443a2d95f7363d04c97a902245a5fbb932add32db43e2190ab954f98f2
-size 384728888
+oid sha256:414c2c6394beaba3fd1ab4f02c3d1799f275d743d50349133568166ceced86c3
+size 384204600

train_config.json

@@ -165,14 +165,6 @@
                 "ACTION": "MEAN_STD"
             },
             "input_features": {
-                "observation.images.primary": {
-                    "type": "VISUAL",
-                    "shape": [
-                        3,
-                        256,
-                        256
-                    ]
-                },
                 "observation.images.wrist": {
                     "type": "VISUAL",
                     "shape": [
@@ -275,6 +267,7 @@
             "scheduler_name": "cosine",
             "scheduler_warmup_steps": 500,
             "features_to_exclude": [
+                "observation.images.primary",
                 "observation.images.tactile"
             ],
             "features_to_include": null,
@@ -422,10 +415,10 @@
         "smooth_slow_policy_output": false,
         "apply_slow_policy_output": false,
         "use_image_features_for_fast_policy": true,
-        "training_stage": "fast_policy"
+        "training_stage": "slow_policy"
     },
-    "output_dir": "outputs/train/2025-11-21/14-13-30_config/train_cascaded_stack_cake_v2.json_fast",
-    "job_name": "config/train_cascaded_stack_cake_v2.json_fast",
+    "output_dir": "outputs/train/2025-11-23/19-05-30_config/train_cascaded_stack_cake_v2.json_slow",
+    "job_name": "config/train_cascaded_stack_cake_v2.json_slow",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
@@ -463,7 +456,7 @@
         "project": "policies",
         "entity": null,
         "notes": null,
-        "run_id": "tgyuv1h1",
+        "run_id": "eliz2ov0",
         "mode": null
     }
 }