Upload policy weights, train config and readme

README.md

@@ -5,8 +5,8 @@ license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
-- diffusion
 - lerobot
+- diffusion
 - robotics
 ---
 

config.json

@@ -72,7 +72,7 @@
     "beta_schedule": "squaredcos_cap_v2",
     "beta_start": 0.0001,
     "beta_end": 0.02,
-    "prediction_type": "epsilon",
+    "prediction_type": "sample",
     "clip_sample": true,
     "clip_sample_range": 1.0,
     "num_inference_steps": null,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a75fe3b64e16e03348a3203a0c0368b9736dee3ee171d06ee732f2cf8fba240f
+oid sha256:0bc1b623135034f460d944c3b31cc87fafb1f241e34e05384d01ace28ece458b
 size 1157307392

train_config.json

@@ -176,7 +176,7 @@
         "beta_schedule": "squaredcos_cap_v2",
         "beta_start": 0.0001,
         "beta_end": 0.02,
-        "prediction_type": "epsilon",
+        "prediction_type": "sample",
         "clip_sample": true,
         "clip_sample_range": 1.0,
         "num_inference_steps": null,
@@ -191,13 +191,13 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/2025-09-23/16-14-13_pusht_diffusion",
+    "output_dir": "outputs/train/2025-09-24/15-12-25_pusht_diffusion",
     "job_name": "pusht_diffusion",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 16,
-    "steps": 200000,
+    "steps": 20000,
     "eval_freq": 0,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -230,7 +230,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "j8c7fm2o",
+        "run_id": "ltisg3gn",
         "mode": null
     }
 }