Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: paragon7060/dp-guide-door
+datasets: paragon7060/INSIGHTfixpos
 library_name: lerobot
 license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
-- diffusion
 - robotics
 - lerobot
+- diffusion
 ---
 
 # Model Card for diffusion

config.json

@@ -10,31 +10,31 @@
         "observation.state": {
             "type": "STATE",
             "shape": [
-                16
+                8
             ]
         },
         "observation.images.wrist": {
             "type": "VISUAL",
             "shape": [
                 3,
-                672,
-                672
+                224,
+                224
             ]
         },
         "observation.images.right_shoulder": {
             "type": "VISUAL",
             "shape": [
                 3,
-                672,
-                672
+                224,
+                224
             ]
         },
         "observation.images.guide": {
             "type": "VISUAL",
             "shape": [
                 3,
-                672,
-                672
+                224,
+                224
             ]
         }
     },
@@ -50,28 +50,23 @@
             "shape": [
                 1
             ]
-        },
-        "action.skill_param": {
-            "type": "ACTION",
-            "shape": [
-                8
-            ]
         }
     },
     "device": "cuda",
-    "use_amp": false,
+    "use_amp": true,
     "push_to_hub": true,
     "repo_id": "paragon7060/diffusion-door",
     "private": null,
     "tags": null,
     "license": null,
-    "horizon": 16,
-    "n_action_steps": 8,
+    "task": null,
+    "horizon": 40,
+    "n_action_steps": 30,
     "drop_n_last_frames": 7,
-    "vision_backbone": "resnet18",
+    "vision_backbone": "resnet50",
     "crop_shape": [
-        448,
-        448
+        224,
+        224
     ],
     "crop_is_random": false,
     "pretrained_backbone_weights": "IMAGENET1K_V1",

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:65da6d432d9c9ccd6e9d8c5b786aea89c5578f03291011083f9cb2a970831b93
-size 320685432
+oid sha256:28dcb42a13deb31c8843ab41a003ee48f1c6d71465e44165763088cd53e3feab
+size 369486112

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
-        "repo_id": "paragon7060/dp-guide-door",
-        "root": "/home/seonho/workspace/IsaacLab/data/paragon7060/dp-guide-door",
+        "repo_id": "paragon7060/INSIGHTfixpos",
+        "root": "/mntvol1/INSIGHTBench/data/paragon7060/INSIGHTfixpos",
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -77,31 +77,31 @@
             "observation.state": {
                 "type": "STATE",
                 "shape": [
-                    16
+                    8
                 ]
             },
             "observation.images.wrist": {
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    672,
-                    672
+                    224,
+                    224
                 ]
             },
             "observation.images.right_shoulder": {
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    672,
-                    672
+                    224,
+                    224
                 ]
             },
             "observation.images.guide": {
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    672,
-                    672
+                    224,
+                    224
                 ]
             }
         },
@@ -117,28 +117,23 @@
                 "shape": [
                     1
                 ]
-            },
-            "action.skill_param": {
-                "type": "ACTION",
-                "shape": [
-                    8
-                ]
             }
         },
         "device": "cuda",
-        "use_amp": false,
+        "use_amp": true,
         "push_to_hub": true,
         "repo_id": "paragon7060/diffusion-door",
         "private": null,
         "tags": null,
         "license": null,
-        "horizon": 16,
-        "n_action_steps": 8,
+        "task": null,
+        "horizon": 40,
+        "n_action_steps": 30,
         "drop_n_last_frames": 7,
-        "vision_backbone": "resnet18",
+        "vision_backbone": "resnet50",
         "crop_shape": [
-            448,
-            448
+            224,
+            224
         ],
         "crop_is_random": false,
         "pretrained_backbone_weights": "IMAGENET1K_V1",
@@ -176,11 +171,11 @@
     },
     "output_dir": "outputs/train/diffusion-door",
     "job_name": "diffusion",
-    "resume": false,
+    "resume": true,
     "seed": 0,
     "num_workers": 4,
-    "batch_size": 16,
-    "steps": 50000,
+    "batch_size": 64,
+    "steps": 60000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -213,7 +208,8 @@
         "project": "diffusion-door",
         "entity": "RwHlabs",
         "notes": null,
-        "run_id": "d50bk84x",
+        "run_id": "ab914u0x",
         "mode": null
-    }
+    },
+    "task": "door"
 }