Upload policy weights, train config and readme

README.md

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

config.json

@@ -77,7 +77,7 @@
     "license": null,
     "horizon": 16,
     "n_action_steps": 8,
-    "use_proprioceptive": false,
+    "use_proprioceptive": true,
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
     "crop_shape": [
@@ -105,10 +105,6 @@
     "clip_sample": true,
     "clip_sample_range": 1.0,
     "num_inference_steps": 100,
-    "do_consistent_flow": false,
-    "action_batch_size": 100,
-    "sampling_strategy": "deterministic",
-    "sampling_temperature": 5.0,
     "do_mask_loss_for_padding": false,
     "optimizer_lr": 0.0001,
     "optimizer_betas": [
@@ -119,6 +115,8 @@
     "optimizer_weight_decay": 1e-06,
     "scheduler_name": "cosine",
     "scheduler_warmup_steps": 500,
-    "features_to_exclude": [],
+    "features_to_exclude": [
+        "observation.images.tactile"
+    ],
     "features_to_include": null
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b736659d480dde66f317fbc5d302068d64c0e73b3fc604d20beb67a7a2273817
-size 257747844
+oid sha256:6b1931f0127b983034079f539ca870083286ebc0444d02216a093cacdaffe1f5
+size 257854340

train_config.json

@@ -144,7 +144,7 @@
         "license": null,
         "horizon": 16,
         "n_action_steps": 8,
-        "use_proprioceptive": false,
+        "use_proprioceptive": true,
         "drop_n_last_frames": 7,
         "vision_backbone": "resnet18",
         "crop_shape": [
@@ -172,10 +172,6 @@
         "clip_sample": true,
         "clip_sample_range": 1.0,
         "num_inference_steps": 100,
-        "do_consistent_flow": false,
-        "action_batch_size": 100,
-        "sampling_strategy": "deterministic",
-        "sampling_temperature": 5.0,
         "do_mask_loss_for_padding": false,
         "optimizer_lr": 0.0001,
         "optimizer_betas": [
@@ -186,11 +182,13 @@
         "optimizer_weight_decay": 1e-06,
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500,
-        "features_to_exclude": [],
+        "features_to_exclude": [
+            "observation.images.tactile"
+        ],
         "features_to_include": null
     },
-    "output_dir": "outputs/train/2025-12-19/18-05-46_config/train_ditflow_drawer_no_tactile.json",
-    "job_name": "config/train_ditflow_drawer_no_tactile.json",
+    "output_dir": "outputs/train/2025-12-23/15-59-23_config/train_ditflow_stack_without_tactile.json",
+    "job_name": "config/train_ditflow_stack_without_tactile.json",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
@@ -228,7 +226,7 @@
         "project": "policies",
         "entity": null,
         "notes": null,
-        "run_id": "fb8xg0xw",
+        "run_id": "unmnqq9y",
         "mode": null
     }
 }