Upload policy weights, train config and readme

README.md

@@ -1,12 +1,12 @@
 ---
-datasets: paragon7060/INSIGHTfixpos
+datasets: paragon7060/dp-guide-cabinet
 library_name: lerobot
 license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
-- lerobot
 - diffusion
+- lerobot
 - robotics
 ---
 

config.json

@@ -10,31 +10,31 @@
         "observation.state": {
             "type": "STATE",
             "shape": [
-                8
+                16
             ]
         },
         "observation.images.wrist": {
             "type": "VISUAL",
             "shape": [
                 3,
-                224,
-                224
+                672,
+                672
             ]
         },
         "observation.images.right_shoulder": {
             "type": "VISUAL",
             "shape": [
                 3,
-                224,
-                224
+                672,
+                672
             ]
         },
         "observation.images.guide": {
             "type": "VISUAL",
             "shape": [
                 3,
-                224,
-                224
+                672,
+                672
             ]
         }
     },
@@ -50,22 +50,28 @@
             "shape": [
                 1
             ]
+        },
+        "action.skill_param": {
+            "type": "ACTION",
+            "shape": [
+                8
+            ]
         }
     },
     "device": "cuda",
-    "use_amp": true,
+    "use_amp": false,
     "push_to_hub": true,
     "repo_id": "paragon7060/diffusion-cabinet",
     "private": null,
     "tags": null,
     "license": null,
-    "horizon": 40,
-    "n_action_steps": 30,
+    "horizon": 16,
+    "n_action_steps": 8,
     "drop_n_last_frames": 7,
-    "vision_backbone": "resnet50",
+    "vision_backbone": "resnet18",
     "crop_shape": [
-        224,
-        224
+        448,
+        448
     ],
     "crop_is_random": false,
     "pretrained_backbone_weights": "IMAGENET1K_V1",

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6ee3995b00d1481561586b1b783a6aa807dc5289b2eba29c1e55241d1992dfa2
-size 369486112
+oid sha256:db52bfe7c54d735411f9575f9667395682aefaa16072baa615f3c334f0fc48de
+size 320685432

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
-        "repo_id": "paragon7060/INSIGHTfixpos",
-        "root": "/mntvol1/INSIGHTBench/data/paragon7060/INSIGHTfixpos",
+        "repo_id": "paragon7060/dp-guide-cabinet",
+        "root": "/home/seonho/workspace/IsaacLab/data/paragon7060/dp-guide-cabinet",
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -77,31 +77,31 @@
             "observation.state": {
                 "type": "STATE",
                 "shape": [
-                    8
+                    16
                 ]
             },
             "observation.images.wrist": {
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    224,
-                    224
+                    672,
+                    672
                 ]
             },
             "observation.images.right_shoulder": {
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    224,
-                    224
+                    672,
+                    672
                 ]
             },
             "observation.images.guide": {
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    224,
-                    224
+                    672,
+                    672
                 ]
             }
         },
@@ -117,22 +117,28 @@
                 "shape": [
                     1
                 ]
+            },
+            "action.skill_param": {
+                "type": "ACTION",
+                "shape": [
+                    8
+                ]
             }
         },
         "device": "cuda",
-        "use_amp": true,
+        "use_amp": false,
         "push_to_hub": true,
         "repo_id": "paragon7060/diffusion-cabinet",
         "private": null,
         "tags": null,
         "license": null,
-        "horizon": 40,
-        "n_action_steps": 30,
+        "horizon": 16,
+        "n_action_steps": 8,
         "drop_n_last_frames": 7,
-        "vision_backbone": "resnet50",
+        "vision_backbone": "resnet18",
         "crop_shape": [
-            224,
-            224
+            448,
+            448
         ],
         "crop_is_random": false,
         "pretrained_backbone_weights": "IMAGENET1K_V1",
@@ -173,8 +179,8 @@
     "resume": false,
     "seed": 0,
     "num_workers": 4,
-    "batch_size": 64,
-    "steps": 30000,
+    "batch_size": 16,
+    "steps": 50000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -207,8 +213,7 @@
         "project": "diffusion-cabinet",
         "entity": "RwHlabs",
         "notes": null,
-        "run_id": "9p7ia6xv",
+        "run_id": "dsdvzhh9",
         "mode": null
-    },
-    "task": "cabinet"
+    }
 }