Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: leledeyuan/pusht
+datasets: leledeyuan/pusht-revise
 library_name: lerobot
 license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
 - diffusion
-- robotics
 - lerobot
+- robotics
 ---
 
 # Model Card for diffusion

config.json

@@ -10,7 +10,7 @@
         "observation.state": {
             "type": "STATE",
             "shape": [
-                3
+                2
             ]
         },
         "observation.images.front": {
@@ -34,7 +34,7 @@
         "action": {
             "type": "ACTION",
             "shape": [
-                3
+                2
             ]
         }
     },
@@ -47,11 +47,11 @@
     "license": null,
     "horizon": 16,
     "n_action_steps": 8,
-    "drop_n_last_frames": 7,
+    "drop_n_last_frames": 0,
     "vision_backbone": "resnet18",
     "crop_shape": [
-        480,
-        640
+        360,
+        480
     ],
     "crop_is_random": true,
     "pretrained_backbone_weights": null,
@@ -65,7 +65,7 @@
     ],
     "kernel_size": 5,
     "n_groups": 8,
-    "diffusion_step_embed_dim": 128,
+    "diffusion_step_embed_dim": 768,
     "use_film_scale_modulation": true,
     "noise_scheduler_type": "DDPM",
     "num_train_timesteps": 100,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:73905556993c1e2c50458c65e4fa41727f5995f39282168a16177b557fef3317
-size 1065788844
+oid sha256:a75fe3b64e16e03348a3203a0c0368b9736dee3ee171d06ee732f2cf8fba240f
+size 1157307392

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "leledeyuan/pusht",
+        "repo_id": "leledeyuan/pusht-revise",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -114,7 +114,7 @@
             "observation.state": {
                 "type": "STATE",
                 "shape": [
-                    3
+                    2
                 ]
             },
             "observation.images.front": {
@@ -138,7 +138,7 @@
             "action": {
                 "type": "ACTION",
                 "shape": [
-                    3
+                    2
                 ]
             }
         },
@@ -151,11 +151,11 @@
         "license": null,
         "horizon": 16,
         "n_action_steps": 8,
-        "drop_n_last_frames": 7,
+        "drop_n_last_frames": 0,
         "vision_backbone": "resnet18",
         "crop_shape": [
-            480,
-            640
+            360,
+            480
         ],
         "crop_is_random": true,
         "pretrained_backbone_weights": null,
@@ -169,7 +169,7 @@
         ],
         "kernel_size": 5,
         "n_groups": 8,
-        "diffusion_step_embed_dim": 128,
+        "diffusion_step_embed_dim": 768,
         "use_film_scale_modulation": true,
         "noise_scheduler_type": "DDPM",
         "num_train_timesteps": 100,
@@ -191,13 +191,13 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/2025-09-19/00-49-20_pusht_diffusion",
+    "output_dir": "outputs/train/2025-09-23/16-14-13_pusht_diffusion",
     "job_name": "pusht_diffusion",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
-    "batch_size": 8,
-    "steps": 500000,
+    "batch_size": 16,
+    "steps": 200000,
     "eval_freq": 0,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -230,7 +230,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "8459gtx4",
+        "run_id": "j8c7fm2o",
         "mode": null
     }
 }