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
@@ -31,7 +31,7 @@ Below is the short version on how to train and run inference/eval:
 ### Train from scratch
 
 ```bash
-lerobot-train \
+python -m lerobot.scripts.train \
   --dataset.repo_id=${HF_USER}/<dataset> \
   --policy.type=act \
   --output_dir=outputs/train/<desired_policy_repo_id> \
@@ -46,7 +46,7 @@ _Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
 ### Evaluate the policy/run inference
 
 ```bash
-lerobot-record \
+python -m lerobot.record \
   --robot.type=so100_follower \
   --dataset.repo_id=<hf_user>/eval_<dataset> \
   --policy.path=<hf_user>/<desired_policy_repo_id> \

config.json

@@ -1,6 +1,11 @@
 {
     "type": "act",
     "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -48,14 +53,8 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
     "chunk_size": 100,
     "n_action_steps": 100,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MEAN_STD",
-        "ACTION": "MEAN_STD"
-    },
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "replace_final_stride_with_dilation": false,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:855d8003dfab8d3b2837469eacf059dc649df00309b59fb341f63b4491ce3bc9
-size 206699736
+oid sha256:81e69e4c9195380f237f8a21875e9bba184938713f374cc040f24f7935a78882
+size 206701336

train_config.json

@@ -62,13 +62,17 @@
         },
         "revision": null,
         "use_imagenet_stats": true,
-        "video_backend": "torchcodec",
-        "streaming": false
+        "video_backend": "torchcodec"
     },
     "env": null,
     "policy": {
         "type": "act",
         "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
         "input_features": {
             "observation.state": {
                 "type": "STATE",
@@ -116,14 +120,8 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
         "chunk_size": 100,
         "n_action_steps": 100,
-        "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
-            "STATE": "MEAN_STD",
-            "ACTION": "MEAN_STD"
-        },
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
         "replace_final_stride_with_dilation": false,
@@ -154,7 +152,7 @@
     "eval_freq": 20000,
     "log_freq": 50,
     "save_checkpoint": true,
-    "save_freq": 200,
+    "save_freq": 2000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",