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
 - act
 - robotics
+- lerobot
 ---
 
 # Model Card for act

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:75894ddcc0013c7d70e76000e7b96aa33329e770e3037f3d3d626ec8598ee5f1
+oid sha256:dfd0d9e677d7cc3348f9860ffaa0de36060a60be9073c406c0d1f038d1060f5d
 size 206765304

train_config.json

@@ -79,7 +79,46 @@
         "video_backend": "pyav",
         "streaming": false
     },
-    "env": null,
+    "env": {
+        "type": "aloha",
+        "task": "AlohaInsertion-v0",
+        "fps": 50,
+        "features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    14
+                ]
+            },
+            "agent_pos": {
+                "type": "STATE",
+                "shape": [
+                    14
+                ]
+            },
+            "pixels/top": {
+                "type": "VISUAL",
+                "shape": [
+                    480,
+                    640,
+                    3
+                ]
+            }
+        },
+        "features_map": {
+            "action": "action",
+            "agent_pos": "observation.state",
+            "top": "observation.image.top",
+            "pixels/top": "observation.images.top"
+        },
+        "max_parallel_tasks": 1,
+        "disable_env_checker": true,
+        "episode_length": 400,
+        "obs_type": "pixels_agent_pos",
+        "observation_height": 480,
+        "observation_width": 640,
+        "render_mode": "rgb_array"
+    },
     "policy": {
         "type": "act",
         "n_obs_steps": 1,
@@ -142,14 +181,14 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs\\train\\aloha_act_wandb",
-    "job_name": "aloha_act_wandb",
+    "output_dir": "outputs\\train\\aloha_act_wandb_v2",
+    "job_name": "aloha_act_wandb_v2",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
     "steps": 100000,
-    "eval_freq": 20000,
+    "eval_freq": 10000,
     "log_freq": 200,
     "save_checkpoint": true,
     "save_freq": 20000,
@@ -167,8 +206,8 @@
     },
     "scheduler": null,
     "eval": {
-        "n_episodes": 50,
-        "batch_size": 50,
+        "n_episodes": 10,
+        "batch_size": 10,
         "use_async_envs": false
     },
     "wandb": {
@@ -177,7 +216,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "0zqg9ddu",
+        "run_id": "miu8hysr",
         "mode": null
     },
     "checkpoint_path": null,