Upload policy weights, train config and readme
Browse files- README.md +1 -1
- model.safetensors +1 -1
- train_config.json +44 -5
README.md
CHANGED
|
@@ -5,9 +5,9 @@ license: apache-2.0
|
|
| 5 |
model_name: diffusion
|
| 6 |
pipeline_tag: robotics
|
| 7 |
tags:
|
|
|
|
| 8 |
- diffusion
|
| 9 |
- robotics
|
| 10 |
-
- lerobot
|
| 11 |
---
|
| 12 |
|
| 13 |
# Model Card for diffusion
|
|
|
|
| 5 |
model_name: diffusion
|
| 6 |
pipeline_tag: robotics
|
| 7 |
tags:
|
| 8 |
+
- lerobot
|
| 9 |
- diffusion
|
| 10 |
- robotics
|
|
|
|
| 11 |
---
|
| 12 |
|
| 13 |
# Model Card for diffusion
|
model.safetensors
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
size 1053834112
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3e708f20b1f4cda117a1263b3d108dbc4ff125dc7ddc78fca8d5347aa5657f09
|
| 3 |
size 1053834112
|
train_config.json
CHANGED
|
@@ -80,7 +80,46 @@
|
|
| 80 |
"return_uint8": false,
|
| 81 |
"streaming": false
|
| 82 |
},
|
| 83 |
-
"env":
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 84 |
"policy": {
|
| 85 |
"type": "diffusion",
|
| 86 |
"n_obs_steps": 2,
|
|
@@ -199,9 +238,9 @@
|
|
| 199 |
"name": "cosine"
|
| 200 |
},
|
| 201 |
"eval": {
|
| 202 |
-
"n_episodes":
|
| 203 |
-
"batch_size":
|
| 204 |
-
"use_async_envs":
|
| 205 |
},
|
| 206 |
"wandb": {
|
| 207 |
"enable": true,
|
|
@@ -209,7 +248,7 @@
|
|
| 209 |
"project": "lerobot",
|
| 210 |
"entity": null,
|
| 211 |
"notes": null,
|
| 212 |
-
"run_id": "
|
| 213 |
"mode": null,
|
| 214 |
"add_tags": true
|
| 215 |
},
|
|
|
|
| 80 |
"return_uint8": false,
|
| 81 |
"streaming": false
|
| 82 |
},
|
| 83 |
+
"env": {
|
| 84 |
+
"type": "aloha",
|
| 85 |
+
"task": "AlohaTransferCube-v0",
|
| 86 |
+
"fps": 50,
|
| 87 |
+
"features": {
|
| 88 |
+
"action": {
|
| 89 |
+
"type": "ACTION",
|
| 90 |
+
"shape": [
|
| 91 |
+
14
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"agent_pos": {
|
| 95 |
+
"type": "STATE",
|
| 96 |
+
"shape": [
|
| 97 |
+
14
|
| 98 |
+
]
|
| 99 |
+
},
|
| 100 |
+
"pixels/top": {
|
| 101 |
+
"type": "VISUAL",
|
| 102 |
+
"shape": [
|
| 103 |
+
480,
|
| 104 |
+
640,
|
| 105 |
+
3
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"features_map": {
|
| 110 |
+
"action": "action",
|
| 111 |
+
"agent_pos": "observation.state",
|
| 112 |
+
"top": "observation.image.top",
|
| 113 |
+
"pixels/top": "observation.images.top"
|
| 114 |
+
},
|
| 115 |
+
"max_parallel_tasks": 1,
|
| 116 |
+
"disable_env_checker": true,
|
| 117 |
+
"episode_length": 400,
|
| 118 |
+
"obs_type": "pixels_agent_pos",
|
| 119 |
+
"observation_height": 480,
|
| 120 |
+
"observation_width": 640,
|
| 121 |
+
"render_mode": "rgb_array"
|
| 122 |
+
},
|
| 123 |
"policy": {
|
| 124 |
"type": "diffusion",
|
| 125 |
"n_obs_steps": 2,
|
|
|
|
| 238 |
"name": "cosine"
|
| 239 |
},
|
| 240 |
"eval": {
|
| 241 |
+
"n_episodes": 1,
|
| 242 |
+
"batch_size": 1,
|
| 243 |
+
"use_async_envs": false
|
| 244 |
},
|
| 245 |
"wandb": {
|
| 246 |
"enable": true,
|
|
|
|
| 248 |
"project": "lerobot",
|
| 249 |
"entity": null,
|
| 250 |
"notes": null,
|
| 251 |
+
"run_id": "gtb58yra",
|
| 252 |
"mode": null,
|
| 253 |
"add_tags": true
|
| 254 |
},
|