Upload policy weights, train config and readme

README.md

@@ -2,20 +2,20 @@
 datasets: quincyu/trace_robotwin
 library_name: lerobot
 license: apache-2.0
-model_name: diffusion
+model_name: tg_diffusion
 pipeline_tag: robotics
 tags:
-- diffusion
+- tg_diffusion
 - lerobot
 - robotics
 ---
 
-# Model Card for diffusion
+# Model Card for tg_diffusion
 
 <!-- Provide a quick summary of what the model is/does. -->
 
 
-[Diffusion Policy](https://huggingface.co/papers/2303.04137) treats visuomotor control as a generative diffusion process, producing smooth, multi-step action trajectories that excel at contact-rich manipulation.
+_Model type not recognized — please update this template._
 
 
 This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).

config.json

@@ -1,5 +1,5 @@
 {
-    "type": "diffusion",
+    "type": "tg_diffusion",
     "n_obs_steps": 2,
     "input_features": {
         "observation.state": {
@@ -64,6 +64,7 @@
     "pretrained_path": null,
     "horizon": 16,
     "n_action_steps": 8,
+    "ee_pixel_image_resolution": 256,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MIN_MAX",
@@ -99,6 +100,8 @@
     "clip_sample_range": 1.0,
     "num_inference_steps": null,
     "do_mask_loss_for_padding": false,
+    "compile_model": false,
+    "compile_mode": "max-autotune",
     "optimizer_lr": 0.0001,
     "optimizer_betas": [
         0.95,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:14ff88f12b7d60ea57b8c324b56ab5981af8bf99748f6ca8d71806d8fe15b01e
-size 1083146504
+oid sha256:3c7811a89d618b1cf1057c721c66c7601addcf9c861e9cd4a04167043ec21de9
+size 1090486544

train_config.json

@@ -81,7 +81,7 @@
     },
     "env": null,
     "policy": {
-        "type": "diffusion",
+        "type": "tg_diffusion",
         "n_obs_steps": 2,
         "input_features": {
             "observation.state": {
@@ -146,6 +146,7 @@
         "pretrained_path": null,
         "horizon": 16,
         "n_action_steps": 8,
+        "ee_pixel_image_resolution": 256,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
             "STATE": "MIN_MAX",
@@ -181,6 +182,8 @@
         "clip_sample_range": 1.0,
         "num_inference_steps": null,
         "do_mask_loss_for_padding": false,
+        "compile_model": false,
+        "compile_mode": "max-autotune",
         "optimizer_lr": 0.0001,
         "optimizer_betas": [
             0.95,
@@ -191,8 +194,8 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/2026-02-13/16-30-33_diffusion",
-    "job_name": "diffusion",
+    "output_dir": "outputs/train/2026-02-13/16-29-46_tg_diffusion",
+    "job_name": "tg_diffusion",
     "resume": false,
     "seed": 0,
     "num_workers": 8,
@@ -232,7 +235,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "2oralbh2",
+        "run_id": "3m8ll78q",
         "mode": null
     },
     "peft": null,