Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: chomeed/peg_insertion_success_1000_for_rewind
+datasets: chomeed/peg_insertion_success_1000_for_rewind_train
 library_name: lerobot
 license: apache-2.0
 model_name: rewind
 pipeline_tag: robotics
 tags:
+- robotics
 - rewind
 - lerobot
-- robotics
 ---
 
 # Model Card for rewind

config.json

@@ -48,6 +48,14 @@
     "n_heads": 8,
     "dropout": 0.1,
     "num_cameras": 2,
+    "finetune_encoder": true,
+    "finetune_encoder_blocks": 2,
+    "encoder_ckpt": "facebook/dinov2-base",
+    "encoder_lr": 1e-05,
+    "encoder_camera_keys": [
+        "observation.images.front_rgb",
+        "observation.images.wrist_rgb"
+    ],
     "optimizer_lr": 0.0001,
     "optimizer_betas": [
         0.9,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cc84040e1935f3a6ee3f328cffd1ab691b65bd0c5e1add36cc6c37f10f0f0c82
-size 55971724
+oid sha256:4076bb55e742d16dfcc3163e99a5cff74cfeddfc5f9737dca6808a993cf518e3
+size 402321044

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "chomeed/peg_insertion_success_1000_for_rewind",
+        "repo_id": "chomeed/peg_insertion_success_1000_for_rewind_train",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -131,6 +131,14 @@
         "n_heads": 8,
         "dropout": 0.1,
         "num_cameras": 2,
+        "finetune_encoder": true,
+        "finetune_encoder_blocks": 2,
+        "encoder_ckpt": "facebook/dinov2-base",
+        "encoder_lr": 1e-05,
+        "encoder_camera_keys": [
+            "observation.images.front_rgb",
+            "observation.images.wrist_rgb"
+        ],
         "optimizer_lr": 0.0001,
         "optimizer_betas": [
             0.9,
@@ -150,7 +158,7 @@
             "REWARD": "IDENTITY"
         }
     },
-    "output_dir": "outputs/train/2026-04-14/15-11-33_rewind_peg_insertion",
+    "output_dir": "outputs/train/2026-04-20/13-43-45_rewind_peg_insertion",
     "job_name": "rewind_peg_insertion",
     "resume": false,
     "seed": 1000,
@@ -182,7 +190,7 @@
         "decay_lr": 2.5e-06
     },
     "val": {
-        "repo_id": "chomeed/peg_insertion_success_1000_for_rewind",
+        "repo_id": "chomeed/peg_insertion_success_1000_for_rewind_train",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -350,7 +358,7 @@
         "project": "long_horizon_reward_modeling",
         "entity": null,
         "notes": null,
-        "run_id": "6733vjoh",
+        "run_id": "e9a8ajvu",
         "mode": null
     },
     "peft": null,