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config.json

@@ -2,6 +2,12 @@
     "type": "act",
     "n_obs_steps": 1,
     "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                5
+            ]
+        },
         "observation.image": {
             "type": "VISUAL",
             "shape": [
@@ -9,12 +15,6 @@
                 96,
                 96
             ]
-        },
-        "observation.state": {
-            "type": "STATE",
-            "shape": [
-                2
-            ]
         }
     },
     "output_features": {

model.safetensors

@@ -1,3 +1,3 @@
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-size 206666936
+oid sha256:9491421a76c4095fd07aa9915dd8eba236a68aba0425a1bcd4060acd5fb63f7b
+size 206679224

policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -1,3 +1,3 @@
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-oid sha256:294c36db20666b06e5924d21c110c75c9f3e0fbd13dcc2425bec3ef405a13ccc
-size 6184
+oid sha256:c2c6f5b67bc192c18c98f8161a4be8690a75e0af065701ce14b62aabd513a42e
+size 6292

policy_preprocessor.json

@@ -23,6 +23,12 @@
       "config": {
         "eps": 1e-08,
         "features": {
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              5
+            ]
+          },
           "observation.image": {
             "type": "VISUAL",
             "shape": [
@@ -31,12 +37,6 @@
               96
             ]
           },
-          "observation.state": {
-            "type": "STATE",
-            "shape": [
-              2
-            ]
-          },
           "action": {
             "type": "ACTION",
             "shape": [

policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -1,3 +1,3 @@
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-size 6184
+oid sha256:c2c6f5b67bc192c18c98f8161a4be8690a75e0af065701ce14b62aabd513a42e
+size 6292

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "adimunot/pushbox_test",
+        "repo_id": "adimunot/pushbox_demos",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -84,6 +84,12 @@
         "type": "act",
         "n_obs_steps": 1,
         "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    5
+                ]
+            },
             "observation.image": {
                 "type": "VISUAL",
                 "shape": [
@@ -91,12 +97,6 @@
                     96,
                     96
                 ]
-            },
-            "observation.state": {
-                "type": "STATE",
-                "shape": [
-                    2
-                ]
             }
         },
         "output_features": {
@@ -144,17 +144,17 @@
         "optimizer_lr_backbone": 1e-05
     },
     "output_dir": "outputs/train/act_pushbox",
-    "job_name": "act",
+    "job_name": "act_pushbox",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 8000,
-    "eval_freq": -1,
+    "steps": 100000,
+    "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
-    "save_freq": 1000,
+    "save_freq": 10000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",