Upload policy weights, train config and readme

config.json

@@ -5,15 +5,7 @@
         "observation.state": {
             "type": "STATE",
             "shape": [
-                20
-            ]
-        },
-        "observation.images.right_arm.cam_1.image_color": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                480,
-                480
+                10
             ]
         },
         "observation.images.left_arm.cam_1.image_color": {
@@ -37,7 +29,7 @@
         "action": {
             "type": "ACTION",
             "shape": [
-                20
+                10
             ]
         }
     },
@@ -50,8 +42,8 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "chunk_size": 21,
-    "n_action_steps": 21,
+    "chunk_size": 19,
+    "n_action_steps": 19,
     "normalization_mapping": {
         "ACTION": "MEAN_STD",
         "STATE": "MEAN_STD",

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:815d80a08655613d83f01528e7faf4f4918bc93ad5301f7c2f07b42e0aebe853
-size 206490896
+oid sha256:65d871607b29bdd5c666d7bce68099168c1d51c0818577bf558ac3a468d49ec3
+size 206400744

train_config.json

@@ -87,15 +87,7 @@
             "observation.state": {
                 "type": "STATE",
                 "shape": [
-                    20
-                ]
-            },
-            "observation.images.right_arm.cam_1.image_color": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    480,
-                    480
+                    10
                 ]
             },
             "observation.images.left_arm.cam_1.image_color": {
@@ -119,7 +111,7 @@
             "action": {
                 "type": "ACTION",
                 "shape": [
-                    20
+                    10
                 ]
             }
         },
@@ -132,8 +124,8 @@
         "tags": null,
         "license": null,
         "pretrained_path": null,
-        "chunk_size": 21,
-        "n_action_steps": 21,
+        "chunk_size": 19,
+        "n_action_steps": 19,
         "normalization_mapping": {
             "ACTION": "MEAN_STD",
             "STATE": "MEAN_STD",
@@ -159,8 +151,8 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "/ros2_ws/src/robco_autonomy_ros2/2026-07-08_sim_coroplast_tape-stacking_base_v0",
-    "job_name": "sim_coroplast_tape-stacking_base",
+    "output_dir": "/ros2_ws/src/robco_autonomy_ros2/2026-07-08_sim_coroplast_tape-stacking_left-arm-absolute_v0",
+    "job_name": "sim_coroplast_tape-stacking_left-arm_absolute",
     "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
@@ -196,7 +188,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "72bem7t1",
+        "run_id": "bt7m666c",
         "mode": null,
         "add_tags": true,
         "tags": null
@@ -213,18 +205,13 @@
         "observation": {
             "images": {
                 "head": null,
-                "left_arm": null,
-                "right_arm": null
+                "left_arm": null
             },
             "state": {
                 "left_arm.pose": {
                     "rotation": "6d"
                 },
-                "right_arm.pose": {
-                    "rotation": "6d"
-                },
-                "left_arm.gripper": null,
-                "right_arm.gripper": null
+                "left_arm.gripper": null
             }
         },
         "action": {
@@ -232,16 +219,8 @@
                 "mode": "gripper_bin",
                 "rotation": null
             },
-            "right_arm.gripper": {
-                "mode": "gripper_bin",
-                "rotation": null
-            },
             "left_arm.pose": {
-                "mode": "pose_relative",
-                "rotation": "6d"
-            },
-            "right_arm.pose": {
-                "mode": "pose_relative",
+                "mode": "pose_absolute",
                 "rotation": "6d"
             }
         }