Upload policy weights, train config and readme

README.md

@@ -1,12 +1,12 @@
 ---
-datasets: peyschen/hil_reward_2
+datasets: peyschen/hil_reward__no_wrist
 library_name: lerobot
 license: apache-2.0
 model_name: reward_classifier
 pipeline_tag: robotics
 tags:
-- reward_classifier
 - robotics
+- reward_classifier
 - lerobot
 ---
 

config.json

@@ -2,14 +2,6 @@
     "type": "reward_classifier",
     "n_obs_steps": 1,
     "input_features": {
-        "observation.images.wrist": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                128,
-                128
-            ]
-        },
         "observation.images.front": {
             "type": "VISUAL",
             "shape": [
@@ -44,7 +36,7 @@
     "dropout_rate": 0.1,
     "model_name": "helper2424/resnet10",
     "model_type": "cnn",
-    "num_cameras": 2,
+    "num_cameras": 1,
     "learning_rate": 0.0001,
     "weight_decay": 0.01,
     "grad_clip_norm": 1.0,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:47acf3999f81622840f5cff456b6486b7673630affa2d14de1eca474beaf6fc9
-size 29084020
+oid sha256:8347757c5b21eb43ebcb552c7ef08760a3c060e647fdaa12e0bae715cabc9143
+size 24357828

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "peyschen/hil_reward_2",
+        "repo_id": "peyschen/hil_reward__no_wrist",
         "root": "/home/peyschen/rl_playground/datasets/PandaPickCubeGamepad-v0_reward",
         "episodes": null,
         "image_transforms": {
@@ -84,14 +84,6 @@
         "type": "reward_classifier",
         "n_obs_steps": 1,
         "input_features": {
-            "observation.images.wrist": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    128,
-                    128
-                ]
-            },
             "observation.images.front": {
                 "type": "VISUAL",
                 "shape": [
@@ -126,7 +118,7 @@
         "dropout_rate": 0.1,
         "model_name": "helper2424/resnet10",
         "model_type": "cnn",
-        "num_cameras": 2,
+        "num_cameras": 1,
         "learning_rate": 0.0001,
         "weight_decay": 0.01,
         "grad_clip_norm": 1.0,
@@ -134,7 +126,7 @@
             "VISUAL": "MEAN_STD"
         }
     },
-    "output_dir": "outputs/train/2026-01-13/15-29-27_reward-classifier",
+    "output_dir": "outputs/train/2026-01-13/17-55-12_reward-classifier",
     "job_name": "reward-classifier",
     "resume": false,
     "seed": 2,