Upload policy weights, train config and readme

config.json

@@ -42,8 +42,8 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 16,
-    "n_action_steps": 8,
+    "horizon": 64,
+    "n_action_steps": 32,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MIN_MAX",
@@ -51,15 +51,14 @@
     },
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
-    "crop_shape": [
-        84,
-        84
-    ],
+    "resize_shape": null,
+    "crop_ratio": 1.0,
+    "crop_shape": null,
     "crop_is_random": true,
-    "pretrained_backbone_weights": null,
-    "use_group_norm": true,
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "use_group_norm": false,
     "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": false,
+    "use_separate_rgb_encoder_per_camera": true,
     "down_dims": [
         512,
         1024,
@@ -78,6 +77,8 @@
     "clip_sample": true,
     "clip_sample_range": 1.0,
     "num_inference_steps": null,
+    "compile_model": false,
+    "compile_mode": "reduce-overhead",
     "do_mask_loss_for_padding": false,
     "optimizer_lr": 0.0001,
     "optimizer_betas": [

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1aff373ccd04c3331c5440d43a162fce4854382e09f9bbf95dc6ddf7bbc8d2f9
-size 1066516384
+oid sha256:86b6e43eeeca88611d6af208f3bc364959075897aa07fc6b2eed542d0597474e
+size 1111408608

train_config.json

@@ -77,6 +77,7 @@
         "revision": null,
         "use_imagenet_stats": true,
         "video_backend": "torchcodec",
+        "return_uint8": false,
         "streaming": false
     },
     "env": null,
@@ -124,8 +125,8 @@
         "tags": null,
         "license": null,
         "pretrained_path": null,
-        "horizon": 16,
-        "n_action_steps": 8,
+        "horizon": 64,
+        "n_action_steps": 32,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
             "STATE": "MIN_MAX",
@@ -133,15 +134,14 @@
         },
         "drop_n_last_frames": 7,
         "vision_backbone": "resnet18",
-        "crop_shape": [
-            84,
-            84
-        ],
+        "resize_shape": null,
+        "crop_ratio": 1.0,
+        "crop_shape": null,
         "crop_is_random": true,
-        "pretrained_backbone_weights": null,
-        "use_group_norm": true,
+        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+        "use_group_norm": false,
         "spatial_softmax_num_keypoints": 32,
-        "use_separate_rgb_encoder_per_camera": false,
+        "use_separate_rgb_encoder_per_camera": true,
         "down_dims": [
             512,
             1024,
@@ -160,6 +160,8 @@
         "clip_sample": true,
         "clip_sample_range": 1.0,
         "num_inference_steps": null,
+        "compile_model": false,
+        "compile_mode": "reduce-overhead",
         "do_mask_loss_for_padding": false,
         "optimizer_lr": 0.0001,
         "optimizer_betas": [
@@ -171,12 +173,16 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/diffusion_pick_place_dish_50_30ksteps",
-    "job_name": "diffusion_pick_place_dish_30ksteps",
+    "reward_model": null,
+    "output_dir": "outputs/diffusion_pick_place_dish_50_30ksteps_lerobot0.5.2",
+    "job_name": "diffusion_pick_place_dish_v2_30k",
     "resume": false,
     "seed": 1000,
+    "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 4,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
     "steps": 30000,
     "eval_freq": 20000,
     "log_freq": 200,
@@ -202,8 +208,8 @@
     },
     "eval": {
         "n_episodes": 50,
-        "batch_size": 50,
-        "use_async_envs": false
+        "batch_size": 16,
+        "use_async_envs": true
     },
     "wandb": {
         "enable": false,
@@ -212,14 +218,11 @@
         "entity": null,
         "notes": null,
         "run_id": null,
-        "mode": null
+        "mode": null,
+        "add_tags": true
     },
     "peft": null,
-    "use_rabc": false,
-    "rabc_progress_path": null,
-    "rabc_kappa": 0.01,
-    "rabc_epsilon": 1e-06,
-    "rabc_head_mode": "sparse",
+    "sample_weighting": null,
     "rename_map": {},
     "checkpoint_path": null
 }