Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: author31/cup-stacking-twoviews-joint-positions
+datasets: author31/HCIS-Final-fixed
 library_name: lerobot
 license: apache-2.0
 model_name: diffusion
 pipeline_tag: robotics
 tags:
 - lerobot
-- diffusion
 - robotics
+- diffusion
 ---
 
 # Model Card for diffusion

config.json

@@ -41,7 +41,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "base-model/pretrained_model",
     "horizon": 16,
     "n_action_steps": 8,
     "normalization_mapping": {

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "author31/cup-stacking-twoviews-joint-positions",
+        "repo_id": "author31/HCIS-Final-fixed",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -123,7 +123,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "base-model/pretrained_model",
         "horizon": 16,
         "n_action_steps": 8,
         "normalization_mapping": {
@@ -172,13 +172,13 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/diffusion-policy",
+    "output_dir": "outputs/train/finetune",
     "job_name": "lerobot-cup-stacking-twoviews",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 8,
-    "batch_size": 16,
+    "batch_size": 128,
     "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 100,
@@ -224,5 +224,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "base-model"
 }