Overwrite ACT stack_blocks_v2 ee_state trained on stack_blocks_v2_fixed (leading static frames trimmed)

config.json

@@ -0,0 +1,72 @@
+{
+  "action_dim": 7,
+  "architectures": [
+    "ACTPolicy"
+  ],
+  "args": {
+    "action_dim": 7,
+    "backbone": "resnet18",
+    "camera_names": [
+      "primary",
+      "wrist"
+    ],
+    "chunk_size": 16,
+    "dec_layers": 7,
+    "dilation": false,
+    "dim_feedforward": 3200,
+    "dropout": 0.1,
+    "enc_layers": 4,
+    "hidden_dim": 512,
+    "history_len": 1,
+    "image_size": [
+      256,
+      256
+    ],
+    "kl_weight": 10,
+    "lr_backbone": 1e-05,
+    "masks": false,
+    "nheads": 8,
+    "num_queries": 16,
+    "position_embedding": "sine",
+    "pre_norm": false,
+    "prediction_len": 16,
+    "raw_size": [
+      640,
+      480
+    ],
+    "state_dim": 7
+  },
+  "backbone": "resnet18",
+  "camera_names": [
+    "primary",
+    "wrist"
+  ],
+  "chunk_size": 16,
+  "dec_layers": 7,
+  "dilation": false,
+  "dim_feedforward": 3200,
+  "dropout": 0.1,
+  "enc_layers": 4,
+  "hidden_dim": 512,
+  "history_len": 1,
+  "image_size": [
+    256,
+    256
+  ],
+  "kl_weight": 10,
+  "lr_backbone": 1e-05,
+  "masks": false,
+  "nheads": 8,
+  "num_queries": 16,
+  "position_embedding": "sine",
+  "pre_norm": false,
+  "prediction_len": 16,
+  "raw_size": [
+    640,
+    480
+  ],
+  "state_dim": 7,
+  "torch_dtype": "float32",
+  "transformers_version": "4.45.2",
+  "type": "policy.act"
+}

example_data/action_raw.csv

@@ -0,0 +1,17 @@
+action_0,action_1,action_2,action_3,action_4,action_5,action_6
+-6.609993577003479004e-01,-8.436583727598190308e-02,1.018037199974060059e+00,1.277138590812683105e+00,1.634037017822265625e+00,-1.298746466636657715e-01,6.953705549240112305e-01
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+-4.077726602554321289e-01,-2.740307152271270752e-01,1.134771704673767090e+00,2.042443990707397461e+00,1.776880383491516113e+00,-4.849428310990333557e-02,6.953705549240112305e-01
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example_data/info.txt

@@ -0,0 +1,26 @@
+=== Training Example Data Info ===
+
+This example is saved from the raw training dataset (before data_processor).
+Data is saved in unnormalized form to match testing phase format.
+
+Sample keys:
+  image: shape=torch.Size([2, 3, 256, 256]), dtype=torch.uint8
+  state: shape=torch.Size([7]), dtype=torch.float32
+  action: shape=torch.Size([16, 7]), dtype=torch.float32
+  is_pad: shape=torch.Size([16]), dtype=torch.bool
+  raw_lang: str
+  reasoning: dict
+  timestamp: int
+  episode_id: int
+  action_raw: shape=torch.Size([16, 7]), dtype=torch.float32
+  dataset_id: str
+
+Files saved:
+  - camera_{i}.png: raw images from dataset (unnormalized, original resolution)
+  - state_raw.csv: raw state values (unnormalized)
+  - action_raw.csv: raw action values (unnormalized)
+  - raw_lang.txt: language instruction (if available)
+  - reasoning.json: reasoning data (if available)
+  - info.txt: this file
+
+Note: These raw values can be directly compared with testing phase examples.

example_data/raw_lang.txt

@@ -0,0 +1 @@
+stack_blocks_v2

example_data/state_raw.csv

@@ -0,0 +1,2 @@
+state_0,state_1,state_2,state_3,state_4,state_5,state_6
+-6.609993577003479004e-01,-8.436583727598190308e-02,1.018037199974060059e+00,1.277138590812683105e+00,1.634037017822265625e+00,-1.298746466636657715e-01,6.953705549240112305e-01

log/events.out.tfevents.1784548443.asi-keepalive-4a-202607152040--b75f27509fb0-do5xieuiqx.3960199.0

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+size 644276

model.safetensors

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+size 335617008

normalize.json

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+{
+  "version": "2.0",
+  "datasets": [
+    {
+      "dataset_id": "stack_blocks_v2_ee_state",
+      "ctrl_space": "ee",
+      "ctrl_type": "abs"
+    }
+  ],
+  "state": {
+    "stack_blocks_v2_ee_state": "zscore"
+  },
+  "action": {
+    "stack_blocks_v2_ee_state": "zscore"
+  }
+}

policy_metadata.json

@@ -0,0 +1,12 @@
+{
+  "policy_module": "policy.act",
+  "policy_name": "act_cam2_7dof",
+  "raw_size": [
+    640,
+    480
+  ],
+  "image_size": [
+    256,
+    256
+  ]
+}

stack_blocks_v2_ee_state_stats_ee_abs.pkl

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+size 1379

training_args.bin

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+size 5649