Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
+- lerobot
 - robotics
 - act
-- lerobot
 ---
 
 # Model Card for act

config.json

@@ -8,7 +8,15 @@
                 6
             ]
         },
-        "observation.images.front": {
+        "observation.images.righ": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.top": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -32,7 +40,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/act_so101-grab-box/checkpoints/last/pretrained_model",
+    "pretrained_path": null,
     "chunk_size": 100,
     "n_action_steps": 100,
     "normalization_mapping": {
@@ -42,7 +50,7 @@
     },
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "replace_final_stride_with_dilation": 0,
+    "replace_final_stride_with_dilation": false,
     "pre_norm": false,
     "dim_model": 512,
     "n_heads": 8,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1863b8293524124f26656b1a745219cfa7ea0d5eff597e2f68f0d3d0ec092726
+oid sha256:b2a7878993ea11d0db6720097fd7f4769a1d7761f31b39a3d062a8c25b5aff30
 size 206699736

train_config.json

@@ -90,7 +90,15 @@
                     6
                 ]
             },
-            "observation.images.front": {
+            "observation.images.righ": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.top": {
                 "type": "VISUAL",
                 "shape": [
                     3,
@@ -114,7 +122,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/act_so101-grab-box/checkpoints/last/pretrained_model",
+        "pretrained_path": null,
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -124,7 +132,7 @@
         },
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "replace_final_stride_with_dilation": 0,
+        "replace_final_stride_with_dilation": false,
         "pre_norm": false,
         "dim_model": 512,
         "n_heads": 8,
@@ -144,7 +152,7 @@
     },
     "output_dir": "outputs/act_so101-grab-box",
     "job_name": "act_so101-grab-box",
-    "resume": true,
+    "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
@@ -152,7 +160,7 @@
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 1000,
+    "save_freq": 5000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -180,6 +188,6 @@
         "run_id": null,
         "mode": null
     },
-    "checkpoint_path": "outputs/act_so101-grab-box/checkpoints/last",
+    "checkpoint_path": null,
     "rename_map": {}
 }