Upload policy weights, train config and readme

README.md

@@ -1,5 +1,62 @@
 ---
+datasets: SonDePoisson/phospho_test_dataset
+library_name: lerobot
 license: apache-2.0
-datasets:
-- SonDePoisson/so101_top_wrist_dataset
----
+model_name: act
+pipeline_tag: robotics
+tags:
+- lerobot
+- robotics
+- act
+---
+
+# Model Card for act
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+[Action Chunking with Transformers (ACT)](https://huggingface.co/papers/2304.13705) is an imitation-learning method that predicts short action chunks instead of single steps. It learns from teleoperated data and often achieves high success rates.
+
+
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
+
+---
+
+## How to Get Started with the Model
+
+For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
+Below is the short version on how to train and run inference/eval:
+
+### Train from scratch
+
+```bash
+lerobot-train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.type=act \
+  --output_dir=outputs/train/<desired_policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
+  --wandb.enable=true
+```
+
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
+
+### Evaluate the policy/run inference
+
+```bash
+lerobot-record \
+  --robot.type=so100_follower \
+  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --policy.path=<hf_user>/<desired_policy_repo_id> \
+  --episodes=10
+```
+
+Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+
+---
+
+## Model Details
+
+- **License:** apache-2.0

config.json

@@ -10,23 +10,23 @@
         "observation.state": {
             "type": "STATE",
             "shape": [
-                21
+                6
             ]
         },
-        "observation.images.top": {
+        "observation.images.main": {
             "type": "VISUAL",
             "shape": [
                 3,
-                512,
-                512
+                240,
+                320
             ]
         },
-        "observation.images.wrist": {
+        "observation.images.secondary_0": {
             "type": "VISUAL",
             "shape": [
                 3,
-                512,
-                512
+                240,
+                320
             ]
         }
     },
@@ -34,7 +34,7 @@
         "action": {
             "type": "ACTION",
             "shape": [
-                4
+                6
             ]
         }
     },

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1b0330bd99c06f683b03586681edca562a5be0b8048573021c6e6505bf937ffe
-size 206754384
+oid sha256:98885a8c23f6394df83a4b6fc7c88142f2e774238ae9a5a2de920d2a76b715f0
+size 206701080

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
-        "repo_id": "SonDePoisson/SonDePoisson/so101_top_wrist_dataset",
-        "root": ".dev/datasets/SonDePoisson/so101_top_wrist_dataset",
+        "repo_id": "SonDePoisson/phospho_test_dataset",
+        "root": "dev/datasets/SonDePoisson/phospho_test_dataset",
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -77,23 +77,23 @@
             "observation.state": {
                 "type": "STATE",
                 "shape": [
-                    21
+                    6
                 ]
             },
-            "observation.images.top": {
+            "observation.images.main": {
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    512,
-                    512
+                    240,
+                    320
                 ]
             },
-            "observation.images.wrist": {
+            "observation.images.secondary_0": {
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    512,
-                    512
+                    240,
+                    320
                 ]
             }
         },
@@ -101,7 +101,7 @@
             "action": {
                 "type": "ACTION",
                 "shape": [
-                    4
+                    6
                 ]
             }
         },
@@ -134,7 +134,7 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/2025-09-01/10-49-20_so101_act",
+    "output_dir": "outputs/train/act",
     "job_name": "so101_act",
     "resume": false,
     "seed": 1000,
@@ -144,7 +144,7 @@
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 20000,
+    "save_freq": 5000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -169,7 +169,7 @@
         "project": "so101_training",
         "entity": null,
         "notes": null,
-        "run_id": "dvrqty1i",
+        "run_id": "ge8zddbp",
         "mode": null
     }
 }