Upload policy weights, train config and readme

README.md

@@ -0,0 +1,62 @@
+---
+datasets: hnghia517/lerobot
+library_name: lerobot
+license: apache-2.0
+model_name: diffusion
+pipeline_tag: robotics
+tags:
+- diffusion
+- lerobot
+- robotics
+---
+
+# Model Card for diffusion
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+[Diffusion Policy](https://huggingface.co/papers/2303.04137) treats visuomotor control as a generative diffusion process, producing smooth, multi-step action trajectories that excel at contact-rich manipulation.
+
+
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
+
+---
+
+## How to Get Started with the Model
+
+For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
+Below is the short version on how to train and run inference/eval:
+
+### Train from scratch
+
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.type=act \
+  --output_dir=outputs/train/<desired_policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
+  --wandb.enable=true
+```
+
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
+
+### Evaluate the policy/run inference
+
+```bash
+lerobot-record \
+  --robot.type=so100_follower \
+  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --policy.path=<hf_user>/<desired_policy_repo_id> \
+  --episodes=10
+```
+
+Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+
+---
+
+## Model Details
+
+- **License:** apache-2.0

config.json

@@ -35,12 +35,12 @@
     },
     "device": "cuda",
     "use_amp": false,
-    "push_to_hub": false,
-    "repo_id": null,
+    "push_to_hub": true,
+    "repo_id": "jsag/LerobotDiffusion",
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/diffusion_experiment/checkpoints/last/pretrained_model",
+    "pretrained_path": null,
     "horizon": 16,
     "n_action_steps": 8,
     "normalization_mapping": {

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:27e66a8b7127a0d08581b7b7d5279a6924bc5789fbd80c7abb8998683d12b97f
+oid sha256:a41f7da22f0b2618a5a3431bc2f8ae19709fcd5a6f3334c05e1810f6883ffb96
 size 1066516384

train_config.json

@@ -117,12 +117,12 @@
         },
         "device": "cuda",
         "use_amp": false,
-        "push_to_hub": false,
-        "repo_id": null,
+        "push_to_hub": true,
+        "repo_id": "jsag/LerobotDiffusion",
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/diffusion_experiment/checkpoints/last/pretrained_model",
+        "pretrained_path": null,
         "horizon": 16,
         "n_action_steps": 8,
         "normalization_mapping": {
@@ -170,13 +170,13 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/diffusion_experiment",
+    "output_dir": "outputs/train/diffusion_experiment2",
     "job_name": "diffusion_training",
-    "resume": true,
+    "resume": false,
     "seed": 1000,
     "num_workers": 8,
     "batch_size": 64,
-    "steps": 20000,
+    "steps": 60000,
     "eval_freq": -1,
     "log_freq": 100,
     "save_checkpoint": true,
@@ -204,14 +204,14 @@
         "use_async_envs": false
     },
     "wandb": {
-        "enable": false,
+        "enable": true,
         "disable_artifact": false,
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": null,
+        "run_id": "au4pslh3",
         "mode": null
     },
-    "checkpoint_path": "outputs/train/diffusion_experiment/checkpoints/last",
+    "checkpoint_path": null,
     "rename_map": {}
 }