Upload policy weights, train config and readme

README.md

@@ -1,12 +1,12 @@
 ---
-datasets: kelvinzhaozg/digit_third_arm_mujoco_walking_dataset
+datasets: kelvinzhaozg/digit_third_arm_mujoco_dataset
 library_name: lerobot
 license: apache-2.0
 model_name: flow_matching
 pipeline_tag: robotics
 tags:
-- robotics
 - lerobot
+- robotics
 - flow_matching
 ---
 

config.json

@@ -37,8 +37,8 @@
     "private": null,
     "tags": null,
     "license": null,
-    "horizon": 32,
-    "n_action_steps": 16,
+    "horizon": 64,
+    "n_action_steps": 32,
     "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
     "crop_shape": [
@@ -49,7 +49,7 @@
     "pretrained_backbone_weights": null,
     "use_group_norm": true,
     "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": true,
+    "use_separate_rgb_encoder_per_camera": false,
     "down_dims": [
         512,
         1024,
@@ -65,8 +65,6 @@
     "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:f2d3d207e7419a9564eac4cd5be10e060eaafb59fef2dfe2e63e7695df0ead41
-size 1046090724
+oid sha256:0e5374df80417d66de57cb9dbb13dffbb810faacf28b6756af9607586448df7d
+size 1046090228

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "kelvinzhaozg/digit_third_arm_mujoco_walking_dataset",
+        "repo_id": "kelvinzhaozg/digit_third_arm_mujoco_dataset",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -62,7 +62,7 @@
         },
         "revision": null,
         "use_imagenet_stats": true,
-        "video_backend": "torchcodec"
+        "video_backend": "pyav"
     },
     "env": null,
     "policy": {
@@ -104,8 +104,8 @@
         "private": null,
         "tags": null,
         "license": null,
-        "horizon": 32,
-        "n_action_steps": 16,
+        "horizon": 64,
+        "n_action_steps": 32,
         "drop_n_last_frames": 7,
         "vision_backbone": "resnet18",
         "crop_shape": [
@@ -116,7 +116,7 @@
         "pretrained_backbone_weights": null,
         "use_group_norm": true,
         "spatial_softmax_num_keypoints": 32,
-        "use_separate_rgb_encoder_per_camera": true,
+        "use_separate_rgb_encoder_per_camera": false,
         "down_dims": [
             512,
             1024,
@@ -132,8 +132,6 @@
         "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": [
@@ -145,7 +143,7 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "outputs/train/2025-09-04/15-13-08_flow_matching",
+    "output_dir": "outputs/train/2025-09-06/15-09-30_flow_matching",
     "job_name": "flow_matching",
     "resume": false,
     "seed": 1000,
@@ -184,7 +182,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "p1sjbmxv",
+        "run_id": "zxhpto0x",
         "mode": null
     }
 }