Upload policy weights, train config and readme

README.md

@@ -1,12 +1,12 @@
 ---
-datasets: act_700merged
+datasets: act_800merged
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- lerobot
 - act
+- lerobot
 - robotics
 ---
 

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ea2cc39b67106ae4a3c5e37ed2aa903b7c70d3d9b8825edc583c2078bfffbfa4
+oid sha256:ee88885317274540da53e88e7b672e0521f206f28fa7a10293943481ad35d5e6
 size 206699736

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "act_700merged",
+        "repo_id": "act_800merged",
         "root": "/home/syg5hm/data/gluestick-merged-fixed",
         "episodes": [
             0,
@@ -702,7 +702,107 @@
             696,
             697,
             698,
-            699
+            699,
+            700,
+            701,
+            702,
+            703,
+            704,
+            705,
+            706,
+            707,
+            708,
+            709,
+            710,
+            711,
+            712,
+            713,
+            714,
+            715,
+            716,
+            717,
+            718,
+            719,
+            720,
+            721,
+            722,
+            723,
+            724,
+            725,
+            726,
+            727,
+            728,
+            729,
+            730,
+            731,
+            732,
+            733,
+            734,
+            735,
+            736,
+            737,
+            738,
+            739,
+            740,
+            741,
+            742,
+            743,
+            744,
+            745,
+            746,
+            747,
+            748,
+            749,
+            750,
+            751,
+            752,
+            753,
+            754,
+            755,
+            756,
+            757,
+            758,
+            759,
+            760,
+            761,
+            762,
+            763,
+            764,
+            765,
+            766,
+            767,
+            768,
+            769,
+            770,
+            771,
+            772,
+            773,
+            774,
+            775,
+            776,
+            777,
+            778,
+            779,
+            780,
+            781,
+            782,
+            783,
+            784,
+            785,
+            786,
+            787,
+            788,
+            789,
+            790,
+            791,
+            792,
+            793,
+            794,
+            795,
+            796,
+            797,
+            798,
+            799
         ],
         "image_transforms": {
             "enable": false,
@@ -778,7 +878,6 @@
         "revision": "local",
         "use_imagenet_stats": true,
         "video_backend": "pyav",
-        "return_uint8": false,
         "streaming": false
     },
     "env": null,
@@ -845,16 +944,13 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "reward_model": null,
-    "output_dir": "/home/syg5hm/data/outputs/train/act_700merged",
-    "job_name": "act_700merged",
+    "output_dir": "/home/syg5hm/data/outputs/train/act_800merged",
+    "job_name": "act_800merged",
     "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 8,
-    "prefetch_factor": 4,
-    "persistent_workers": true,
     "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 200,
@@ -876,8 +972,8 @@
     "scheduler": null,
     "eval": {
         "n_episodes": 50,
-        "batch_size": 44,
-        "use_async_envs": true
+        "batch_size": 50,
+        "use_async_envs": false
     },
     "wandb": {
         "enable": false,
@@ -890,7 +986,11 @@
         "add_tags": true
     },
     "peft": null,
-    "sample_weighting": null,
+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
     "rename_map": {},
     "checkpoint_path": null
 }