Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: thomas0829/bimanual-so101-stacking-blocks
+datasets: thomas0829/bimanual-so101-stacking-blocks-v2
 library_name: lerobot
 license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
+- robotics
 - diffusion
 - lerobot
-- robotics
 ---
 
 # Model Card for diffusion

config.json

@@ -33,8 +33,8 @@
             "type": "VISUAL",
             "shape": [
                 3,
-                480,
-                640
+                720,
+                1280
             ]
         }
     },
@@ -62,6 +62,10 @@
         84
     ],
     "crop_is_random": true,
+    "resize_shape": [
+        480,
+        640
+    ],
     "pretrained_backbone_weights": null,
     "use_group_norm": true,
     "spatial_softmax_num_keypoints": 32,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9c7e603cd85e09bc1b7de4a05ec10ef8a94a4d694a14f75e13ab7089d835992d
+oid sha256:d3089fd87cef1996031fe7b2af99e94083568b2c400468c47ce310fb3661b55d
 size 1082660520

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "thomas0829/bimanual-so101-stacking-blocks",
+        "repo_id": "thomas0829/bimanual-so101-stacking-blocks-v2",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -100,8 +100,8 @@
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    480,
-                    640
+                    720,
+                    1280
                 ]
             }
         },
@@ -129,6 +129,10 @@
             84
         ],
         "crop_is_random": true,
+        "resize_shape": [
+            480,
+            640
+        ],
         "pretrained_backbone_weights": null,
         "use_group_norm": true,
         "spatial_softmax_num_keypoints": 32,
@@ -167,7 +171,7 @@
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
-    "batch_size": 32,
+    "batch_size": 16,
     "steps": 10000,
     "eval_freq": 1000,
     "log_freq": 100,
@@ -201,7 +205,7 @@
         "project": "diffusion-bimanual-stacking",
         "entity": null,
         "notes": null,
-        "run_id": "cw1bcwg3",
+        "run_id": "12ctjrp7",
         "mode": null
     }
 }