Upload policy weights, train config and readme

README.md

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

config.json

@@ -17,24 +17,24 @@
             "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
             ]
         }
     },
@@ -50,6 +50,12 @@
             "shape": [
                 1
             ]
+        },
+        "action.skill_param": {
+            "type": "ACTION",
+            "shape": [
+                8
+            ]
         }
     },
     "device": "cuda",
@@ -64,18 +70,18 @@
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
     "crop_shape": [
-        84,
-        84
+        448,
+        448
     ],
-    "crop_is_random": true,
-    "pretrained_backbone_weights": null,
-    "use_group_norm": true,
+    "crop_is_random": false,
+    "pretrained_backbone_weights": "IMAGENET1K_V1",
+    "use_group_norm": false,
     "spatial_softmax_num_keypoints": 32,
     "use_separate_rgb_encoder_per_camera": false,
     "down_dims": [
+        256,
         512,
-        1024,
-        2048
+        1024
     ],
     "kernel_size": 5,
     "n_groups": 8,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6dd81aa6d063686a633cd42dc045dcbcd4d3abdb4ee95798755c84b451310281
-size 1081686048
+oid sha256:3ee3524afa5dbaec7723876f3d727878787c3682a7c0b708764df0184bcda1c0
+size 319767864

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
-        "repo_id": "paragon7060/INSIGHTfixpos",
-        "root": "/mntvol1/INSIGHTBench/data/paragon7060/INSIGHTfixpos",
+        "repo_id": "paragon7060/dp-guide-door",
+        "root": "/home/seonho/workspace/IsaacLab/data/paragon7060/dp-guide-door",
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -84,24 +84,24 @@
                 "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
                 ]
             }
         },
@@ -117,6 +117,12 @@
                 "shape": [
                     1
                 ]
+            },
+            "action.skill_param": {
+                "type": "ACTION",
+                "shape": [
+                    8
+                ]
             }
         },
         "device": "cuda",
@@ -131,18 +137,18 @@
         "drop_n_last_frames": 7,
         "vision_backbone": "resnet18",
         "crop_shape": [
-            84,
-            84
+            448,
+            448
         ],
-        "crop_is_random": true,
-        "pretrained_backbone_weights": null,
-        "use_group_norm": true,
+        "crop_is_random": false,
+        "pretrained_backbone_weights": "IMAGENET1K_V1",
+        "use_group_norm": false,
         "spatial_softmax_num_keypoints": 32,
         "use_separate_rgb_encoder_per_camera": false,
         "down_dims": [
+            256,
             512,
-            1024,
-            2048
+            1024
         ],
         "kernel_size": 5,
         "n_groups": 8,
@@ -173,12 +179,12 @@
     "resume": false,
     "seed": 0,
     "num_workers": 4,
-    "batch_size": 32,
-    "steps": 50000,
+    "batch_size": 16,
+    "steps": 20000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 10000,
+    "save_freq": 2500,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adam",
@@ -207,8 +213,7 @@
         "project": "diffusion-door",
         "entity": "RwHlabs",
         "notes": null,
-        "run_id": "k1a9o89h",
+        "run_id": "7s4vkdyy",
         "mode": null
-    },
-    "task": "door"
+    }
 }