Upload policy weights, train config and readme

README.md

@@ -5,8 +5,8 @@ license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
-- lerobot
 - diffusion
+- lerobot
 - robotics
 ---
 

config.json

@@ -33,7 +33,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/diffusion_insertion_scripted/bimanual_reference/checkpoints/last/pretrained_model",
     "horizon": 64,
     "n_action_steps": 32,
     "normalization_mapping": {

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c2688d8e1e60b9e65eeba28caf2df885225c82e13d94dce56d6745e09f5111bd
+oid sha256:888941d92b9b70331cd652701dfcb7cfaf239e25cfad67f89f90588f6474fa36
 size 1053834112

train_config.json

@@ -155,7 +155,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/diffusion_insertion_scripted/bimanual_reference/checkpoints/last/pretrained_model",
         "horizon": 64,
         "n_action_steps": 32,
         "normalization_mapping": {
@@ -207,14 +207,14 @@
     "reward_model": null,
     "output_dir": "outputs/train/diffusion_insertion_scripted/bimanual_reference",
     "job_name": "aloha_diffusion",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 64,
     "prefetch_factor": 4,
     "persistent_workers": true,
-    "steps": 5000,
+    "steps": 10000,
     "eval_freq": 0,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -255,5 +255,5 @@
     "peft": null,
     "sample_weighting": null,
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "outputs/train/diffusion_insertion_scripted/bimanual_reference/checkpoints/last"
 }