Upload policy weights, train config and readme

README.md

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

config.json

@@ -43,7 +43,10 @@
     },
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
-    "resize_shape": null,
+    "resize_shape": [
+        480,
+        640
+    ],
     "crop_ratio": 1.0,
     "crop_shape": null,
     "crop_is_random": true,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:abc9d24f67d80b4231ea7660e788c6cf96b255986215bb8f1024de20b733b9fd
+oid sha256:f239c2f986a2dc99559e62256b4e5fe6faff2f14f5122d378553f48e015a812f
 size 1053834112

train_config.json

@@ -80,7 +80,46 @@
         "return_uint8": false,
         "streaming": false
     },
-    "env": null,
+    "env": {
+        "type": "aloha",
+        "task": "AlohaTransferCube-v0",
+        "fps": 50,
+        "features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    14
+                ]
+            },
+            "agent_pos": {
+                "type": "STATE",
+                "shape": [
+                    14
+                ]
+            },
+            "pixels/top": {
+                "type": "VISUAL",
+                "shape": [
+                    480,
+                    640,
+                    3
+                ]
+            }
+        },
+        "features_map": {
+            "action": "action",
+            "agent_pos": "observation.state",
+            "top": "observation.image.top",
+            "pixels/top": "observation.images.top"
+        },
+        "max_parallel_tasks": 1,
+        "disable_env_checker": true,
+        "episode_length": 400,
+        "obs_type": "pixels_agent_pos",
+        "observation_height": 480,
+        "observation_width": 640,
+        "render_mode": "rgb_array"
+    },
     "policy": {
         "type": "diffusion",
         "n_obs_steps": 2,
@@ -126,7 +165,10 @@
         },
         "drop_n_last_frames": 7,
         "vision_backbone": "resnet18",
-        "resize_shape": null,
+        "resize_shape": [
+            480,
+            640
+        ],
         "crop_ratio": 1.0,
         "crop_shape": null,
         "crop_is_random": true,
@@ -176,7 +218,7 @@
     "prefetch_factor": 4,
     "persistent_workers": true,
     "steps": 5,
-    "eval_freq": 5,
+    "eval_freq": 0,
     "log_freq": 200,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
@@ -200,16 +242,16 @@
     },
     "eval": {
         "n_episodes": 10,
-        "batch_size": 10,
+        "batch_size": 4,
         "use_async_envs": true
     },
     "wandb": {
-        "enable": false,
+        "enable": true,
         "disable_artifact": false,
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": null,
+        "run_id": "napnd2ys",
         "mode": null,
         "add_tags": true
     },