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
 - robotics
+- lerobot
 - diffusion
 ---
 

config.json

@@ -1,6 +1,6 @@
 {
     "type": "diffusion",
-    "n_obs_steps": 2,
+    "n_obs_steps": 3,
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -67,7 +67,7 @@
     "n_groups": 8,
     "diffusion_step_embed_dim": 128,
     "use_film_scale_modulation": true,
-    "noise_scheduler_type": "DDPM",
+    "noise_scheduler_type": "DDIM",
     "num_train_timesteps": 100,
     "beta_schedule": "squaredcos_cap_v2",
     "beta_start": 0.0001,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bcb4779a9c78cd56688cbdfa083578f2eeb88514fe42acbf45651065d9b410e3
-size 1066760420
+oid sha256:2ad1c2f01f03723fb5f318ba0f4f9a072a11c0eec2a7a51ae1303a8c4c30ebf7
+size 1082243300

train_config.json

@@ -68,7 +68,7 @@
     "env": null,
     "policy": {
         "type": "diffusion",
-        "n_obs_steps": 2,
+        "n_obs_steps": 3,
         "input_features": {
             "observation.state": {
                 "type": "STATE",
@@ -135,7 +135,7 @@
         "n_groups": 8,
         "diffusion_step_embed_dim": 128,
         "use_film_scale_modulation": true,
-        "noise_scheduler_type": "DDPM",
+        "noise_scheduler_type": "DDIM",
         "num_train_timesteps": 100,
         "beta_schedule": "squaredcos_cap_v2",
         "beta_start": 0.0001,
@@ -155,7 +155,7 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/needle-pick-diffusion-v5.3.1",
+    "output_dir": "outputs/train/needle-pick-diffusion-v5.3-n2",
     "job_name": "needle-pick-diffusion-v5.3",
     "resume": false,
     "seed": 1000,
@@ -194,7 +194,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "awdnby8i",
+        "run_id": "l0fnv97y",
         "mode": null
     }
 }