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README.md

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+---
+tags:
+- model_hub_mixin
+- pytorch_model_hub_mixin
+---
+
+This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
+- Library: [More Information Needed]
+- Docs: [More Information Needed]

config.json

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+{
+  "chunk_size": 16,
+  "dim_feedforward": 3200,
+  "dim_model": 512,
+  "dropout": 0.1,
+  "feedforward_activation": "relu",
+  "input_normalization_modes": {
+    "observation.environment_state": "min_max",
+    "observation.state": "min_max"
+  },
+  "input_shapes": {
+    "observation.environment_state": [
+      16
+    ],
+    "observation.state": [
+      2
+    ]
+  },
+  "kl_weight": 10.0,
+  "latent_dim": 32,
+  "n_action_steps": 16,
+  "n_decoder_layers": 4,
+  "n_encoder_layers": 4,
+  "n_heads": 8,
+  "n_obs_steps": 1,
+  "n_vae_encoder_layers": 4,
+  "output_normalization_modes": {
+    "action": "min_max"
+  },
+  "output_shapes": {
+    "action": [
+      2
+    ]
+  },
+  "pre_norm": false,
+  "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+  "replace_final_stride_with_dilation": false,
+  "temporal_ensemble_momentum": null,
+  "use_vae": false,
+  "vision_backbone": "resnet18"
+}

config.yaml

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+resume: false
+device: cuda
+use_amp: true
+seed: 100000
+dataset_repo_id: lerobot/pusht_keypoints
+video_backend: pyav
+training:
+  offline_steps: 100000
+  online_steps: 0
+  online_steps_between_rollouts: ???
+  online_sampling_ratio: 0.5
+  online_env_seed: ???
+  eval_freq: 10000
+  log_freq: 250
+  save_checkpoint: true
+  save_freq: 25000
+  num_workers: 8
+  batch_size: 64
+  image_transforms:
+    enable: false
+    max_num_transforms: 3
+    random_order: false
+    brightness:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+    contrast:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+    saturation:
+      weight: 1
+      min_max:
+      - 0.5
+      - 1.5
+    hue:
+      weight: 1
+      min_max:
+      - -0.05
+      - 0.05
+    sharpness:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+  lr: 3.0e-05
+  lr_backbone: 1.0e-05
+  weight_decay: 0.0001
+  grad_clip_norm: 10
+  delta_timestamps:
+    action:
+    - 0.0
+    - 0.1
+    - 0.2
+    - 0.3
+    - 0.4
+    - 0.5
+    - 0.6
+    - 0.7
+    - 0.8
+    - 0.9
+    - 1.0
+    - 1.1
+    - 1.2
+    - 1.3
+    - 1.4
+    - 1.5
+eval:
+  n_episodes: 50
+  batch_size: 50
+  use_async_envs: false
+wandb:
+  enable: true
+  disable_artifact: true
+  project: lerobot
+  notes: ''
+fps: 10
+env:
+  name: pusht
+  task: PushT-v0
+  image_size: 96
+  state_dim: 2
+  action_dim: 2
+  fps: ${fps}
+  episode_length: 300
+  gym:
+    obs_type: environment_state_agent_pos
+    render_mode: rgb_array
+    visualization_width: 384
+    visualization_height: 384
+policy:
+  name: act
+  n_obs_steps: 1
+  chunk_size: 16
+  n_action_steps: 16
+  input_shapes:
+    observation.environment_state:
+    - 16
+    observation.state:
+    - ${env.state_dim}
+  output_shapes:
+    action:
+    - ${env.action_dim}
+  input_normalization_modes:
+    observation.environment_state: min_max
+    observation.state: min_max
+  output_normalization_modes:
+    action: min_max
+  vision_backbone: resnet18
+  pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
+  replace_final_stride_with_dilation: false
+  pre_norm: false
+  dim_model: 512
+  n_heads: 8
+  dim_feedforward: 3200
+  feedforward_activation: relu
+  n_encoder_layers: 4
+  n_decoder_layers: 4
+  use_vae: false
+  latent_dim: 32
+  n_vae_encoder_layers: 4
+  temporal_ensemble_momentum: null
+  dropout: 0.1
+  kl_weight: 10.0

model.safetensors

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+version https://git-lfs.github.com/spec/v1
+oid sha256:08bb8b4b7c96fed1c887735ceda79c59cd0402cb39daff5292550bc1de196d4e
+size 155659472