Upload policy weights, train config and readme

config.json

@@ -49,7 +49,7 @@
     "pretrained_backbone_weights": null,
     "use_group_norm": true,
     "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": false,
+    "use_separate_rgb_encoder_per_camera": true,
     "down_dims": [
         512,
         1024,
@@ -65,6 +65,8 @@
     "sigma_min": 0.0001,
     "clip_sample": true,
     "clip_sample_range": 1.0,
+    "fm_min_period": 0.004,
+    "fm_max_period": 4.0,
     "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 sha256:0e5374df80417d66de57cb9dbb13dffbb810faacf28b6756af9607586448df7d
-size 1046090228
+oid sha256:c69d7c6157a8c9ab50fddc9b57fec281ef2d90b8ad8e33e3bd3887e5255f2f84
+size 1046090724

train_config.json

@@ -116,7 +116,7 @@
         "pretrained_backbone_weights": null,
         "use_group_norm": true,
         "spatial_softmax_num_keypoints": 32,
-        "use_separate_rgb_encoder_per_camera": false,
+        "use_separate_rgb_encoder_per_camera": true,
         "down_dims": [
             512,
             1024,
@@ -132,6 +132,8 @@
         "sigma_min": 0.0001,
         "clip_sample": true,
         "clip_sample_range": 1.0,
+        "fm_min_period": 0.004,
+        "fm_max_period": 4.0,
         "do_mask_loss_for_padding": false,
         "optimizer_lr": 0.0001,
         "optimizer_betas": [
@@ -143,7 +145,7 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/2025-09-06/15-09-30_flow_matching",
+    "output_dir": "outputs/train/2025-09-07/07-38-37_flow_matching",
     "job_name": "flow_matching",
     "resume": false,
     "seed": 1000,
@@ -182,7 +184,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "zxhpto0x",
+        "run_id": "g06zn1pi",
         "mode": null
     }
 }