Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
-- diffusion
 - robotics
 - lerobot
+- diffusion
 ---
 
 # Model Card for diffusion

config.json

@@ -1,6 +1,6 @@
 {
     "type": "diffusion",
-    "n_obs_steps": 2,
+    "n_obs_steps": 8,
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -41,14 +41,14 @@
     "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",
         "ACTION": "MIN_MAX"
     },
-    "drop_n_last_frames": 7,
+    "drop_n_last_frames": 25,
     "vision_backbone": "resnet18",
     "crop_shape": [
         168,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cfa8c7792d8a458efa008dc914651eda9c1d46a5a1f1d6a82a99d56eaaaf9bed
-size 1066516600
+oid sha256:e7adf9af53e84577d8c54bead1a2c4dc15fafc7be9cf81f832908032e41d6a66
+size 1158725792

train_config.json

@@ -68,7 +68,7 @@
     "env": null,
     "policy": {
         "type": "diffusion",
-        "n_obs_steps": 2,
+        "n_obs_steps": 8,
         "input_features": {
             "observation.state": {
                 "type": "STATE",
@@ -109,14 +109,14 @@
         "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",
             "ACTION": "MIN_MAX"
         },
-        "drop_n_last_frames": 7,
+        "drop_n_last_frames": 25,
         "vision_backbone": "resnet18",
         "crop_shape": [
             168,
@@ -156,12 +156,12 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/diff_so101_modified_resize",
-    "job_name": "diff_so101_modified2",
+    "output_dir": "outputs/train/diff_so101_modified_resize_long1",
+    "job_name": "diff_so101_modified_long",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
-    "batch_size": 8,
+    "batch_size": 4,
     "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 200,
@@ -195,7 +195,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "taoev630",
+        "run_id": "9e2nwq92",
         "mode": null
     }
 }