Upload folder using huggingface_hub

.gitattributes

@@ -33,3 +33,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+exports/executorch/act.pte filter=lfs diff=lfs merge=lfs -text
+exports/onnx/act.onnx.data filter=lfs diff=lfs merge=lfs -text

exports/executorch/act.pte

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a09259640a75aba180d33cdbc0b1610deedcf941cbf6a0021429427bb3232050
+size 137552452

exports/executorch/manifest.json

@@ -0,0 +1,65 @@
+{
+  "policy": {
+    "name": "act",
+    "source": {
+      "class_path": "physicalai.policies.act.policy.ACT"
+    }
+  },
+  "model": {
+    "runner": {
+      "class_path": "physicalai.inference.runners.single_pass.SinglePass"
+    },
+    "artifacts": {
+      "executorch": "act.pte"
+    },
+    "input_features": [
+      {
+        "class_path": "physicalai.inference.data.features.InferenceFeature",
+        "init_args": {
+          "ftype": "STATE",
+          "shape": [
+            6
+          ],
+          "name": "state",
+          "dtype": "float32"
+        }
+      },
+      {
+        "class_path": "physicalai.inference.data.features.InferenceFeature",
+        "init_args": {
+          "ftype": "VISUAL",
+          "shape": [
+            3,
+            480,
+            640
+          ],
+          "name": "images.wrist",
+          "dtype": "float32"
+        }
+      },
+      {
+        "class_path": "physicalai.inference.data.features.InferenceFeature",
+        "init_args": {
+          "ftype": "VISUAL",
+          "shape": [
+            3,
+            480,
+            640
+          ],
+          "name": "images.overview",
+          "dtype": "float32"
+        }
+      }
+    ]
+  },
+  "input_names": [
+    "state",
+    "images.wrist",
+    "images.overview"
+  ],
+  "output_names": [
+    "action"
+  ],
+  "format": "policy_package",
+  "version": "1.0"
+}

exports/onnx/act.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3177914dcf05990bfebd535f2cfc92ce7634964d865a7633af4168840ebffa97
+size 12703516

exports/onnx/act.onnx.data

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cbb5ccbcc92469baabf7fa4121a3bb3c2460868588a932eb3faddaa88d1d54c
+size 138412032

exports/onnx/manifest.json

@@ -0,0 +1,57 @@
+{
+  "policy": {
+    "name": "act",
+    "source": {
+      "class_path": "physicalai.policies.act.policy.ACT"
+    }
+  },
+  "model": {
+    "runner": {
+      "class_path": "physicalai.inference.runners.single_pass.SinglePass"
+    },
+    "artifacts": {
+      "onnx": "act.onnx"
+    },
+    "input_features": [
+      {
+        "class_path": "physicalai.inference.data.features.InferenceFeature",
+        "init_args": {
+          "ftype": "STATE",
+          "shape": [
+            6
+          ],
+          "name": "state",
+          "dtype": "float32"
+        }
+      },
+      {
+        "class_path": "physicalai.inference.data.features.InferenceFeature",
+        "init_args": {
+          "ftype": "VISUAL",
+          "shape": [
+            3,
+            480,
+            640
+          ],
+          "name": "images.wrist",
+          "dtype": "float32"
+        }
+      },
+      {
+        "class_path": "physicalai.inference.data.features.InferenceFeature",
+        "init_args": {
+          "ftype": "VISUAL",
+          "shape": [
+            3,
+            480,
+            640
+          ],
+          "name": "images.overview",
+          "dtype": "float32"
+        }
+      }
+    ]
+  },
+  "format": "policy_package",
+  "version": "1.0"
+}

exports/openvino/act.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b1289ed077e0b4328ed5b2b1c6a3a476e2e015b5a146cd29d93cab5f837a277
+size 136918804

exports/openvino/manifest.json

@@ -0,0 +1,57 @@
+{
+  "policy": {
+    "name": "act",
+    "source": {
+      "class_path": "physicalai.policies.act.policy.ACT"
+    }
+  },
+  "model": {
+    "runner": {
+      "class_path": "physicalai.inference.runners.single_pass.SinglePass"
+    },
+    "artifacts": {
+      "openvino": "act.xml"
+    },
+    "input_features": [
+      {
+        "class_path": "physicalai.inference.data.features.InferenceFeature",
+        "init_args": {
+          "ftype": "STATE",
+          "shape": [
+            6
+          ],
+          "name": "state",
+          "dtype": "float32"
+        }
+      },
+      {
+        "class_path": "physicalai.inference.data.features.InferenceFeature",
+        "init_args": {
+          "ftype": "VISUAL",
+          "shape": [
+            3,
+            480,
+            640
+          ],
+          "name": "images.wrist",
+          "dtype": "float32"
+        }
+      },
+      {
+        "class_path": "physicalai.inference.data.features.InferenceFeature",
+        "init_args": {
+          "ftype": "VISUAL",
+          "shape": [
+            3,
+            480,
+            640
+          ],
+          "name": "images.overview",
+          "dtype": "float32"
+        }
+      }
+    ]
+  },
+  "format": "policy_package",
+  "version": "1.0"
+}

exports/torch/act.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9f3f6dd4f4cfa74ddf7a0f3b4de20bb42aac3e94bff7580d79ec7ad554bb5f7
+size 206753263

exports/torch/manifest.json

@@ -0,0 +1,57 @@
+{
+  "policy": {
+    "name": "act",
+    "source": {
+      "class_path": "physicalai.policies.act.policy.ACT"
+    }
+  },
+  "model": {
+    "runner": {
+      "class_path": "physicalai.inference.runners.single_pass.SinglePass"
+    },
+    "artifacts": {
+      "torch": "act.pt"
+    },
+    "input_features": [
+      {
+        "class_path": "physicalai.inference.data.features.InferenceFeature",
+        "init_args": {
+          "ftype": "STATE",
+          "shape": [
+            6
+          ],
+          "name": "state",
+          "dtype": "float32"
+        }
+      },
+      {
+        "class_path": "physicalai.inference.data.features.InferenceFeature",
+        "init_args": {
+          "ftype": "VISUAL",
+          "shape": [
+            3,
+            480,
+            640
+          ],
+          "name": "images.wrist",
+          "dtype": "float32"
+        }
+      },
+      {
+        "class_path": "physicalai.inference.data.features.InferenceFeature",
+        "init_args": {
+          "ftype": "VISUAL",
+          "shape": [
+            3,
+            480,
+            640
+          ],
+          "name": "images.overview",
+          "dtype": "float32"
+        }
+      }
+    ]
+  },
+  "format": "policy_package",
+  "version": "1.0"
+}

model.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1394a850082910cf4027c0d6ff6213db5bc8f12a21713859cd98954dc6588af2
+size 619681471

version_0/hparams.yaml

@@ -0,0 +1,26 @@
+n_obs_steps: 1
+chunk_size: 100
+n_action_steps: 100
+vision_backbone: resnet18
+pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
+replace_final_stride_with_dilation: false
+image_size:
+- 512
+- 512
+pre_norm: false
+dim_model: 512
+n_heads: 8
+dim_feedforward: 3200
+feedforward_activation: relu
+n_encoder_layers: 4
+n_decoder_layers: 1
+use_vae: true
+latent_dim: 32
+n_vae_encoder_layers: 4
+temporal_ensemble_coeff: null
+dropout: 0.1
+kl_weight: 10.0
+optimizer_lr: 1.0e-05
+optimizer_weight_decay: 0.0001
+optimizer_grad_clip_norm: 10.0
+dataset_stats: null

version_0/metrics.csv

@@ -0,0 +1,17 @@
+epoch,step,train/loss,train/loss_step,val/loss
+0,49,,5.509679794311523,
+0,65,,,5.460446357727051
+0,65,11.565197944641113,,
+1,99,,4.5766119956970215,
+1,131,,,3.809234619140625
+1,131,4.3943915367126465,,
+2,149,,3.9605958461761475,
+2,197,,,3.123067855834961
+2,197,3.5187249183654785,,
+3,199,,3.217646837234497,
+3,249,,2.9451258182525635,
+3,263,,,2.8558363914489746
+3,263,3.077080488204956,,
+4,264,,2.809929609298706,
+4,264,,,2.857694625854492
+4,264,2.809929609298706,,