Upload policy weights, train config and readme

config.json

@@ -10,7 +10,7 @@
         "observation.state": {
             "type": "STATE",
             "shape": [
-                8
+                16
             ]
         },
         "observation.images.wrist": {

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3ee3524afa5dbaec7723876f3d727878787c3682a7c0b708764df0184bcda1c0
-size 319767864
+oid sha256:65da6d432d9c9ccd6e9d8c5b786aea89c5578f03291011083f9cb2a970831b93
+size 320685432

train_config.json

@@ -77,7 +77,7 @@
             "observation.state": {
                 "type": "STATE",
                 "shape": [
-                    8
+                    16
                 ]
             },
             "observation.images.wrist": {
@@ -180,11 +180,11 @@
     "seed": 0,
     "num_workers": 4,
     "batch_size": 16,
-    "steps": 20000,
+    "steps": 50000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 2500,
+    "save_freq": 10000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adam",
@@ -213,7 +213,7 @@
         "project": "diffusion-door",
         "entity": "RwHlabs",
         "notes": null,
-        "run_id": "7s4vkdyy",
+        "run_id": "d50bk84x",
         "mode": null
     }
 }