Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: antwoor/color_figures
+datasets: antwoor/second_experiment_phantom
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- lerobot
 - robotics
 - act
+- lerobot
 ---
 
 # Model Card for act

config.json

@@ -10,7 +10,7 @@
         "observation.state": {
             "type": "STATE",
             "shape": [
-                7
+                15
             ]
         },
         "observation.images.camera_1": {

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bfda642b214cb2e14deae9f0f0c0fc1ce24151e3d5c0bc91666687ee4d5db3b3
-size 206709300
+oid sha256:d6a460273c587473076ce8db8a65ba8bdedac231be28083305bef7410c926020
+size 206742140

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "antwoor/color_figures",
+        "repo_id": "antwoor/second_experiment_phantom",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -64,80 +64,7 @@
         "use_imagenet_stats": true,
         "video_backend": "torchcodec"
     },
-    "env": {
-        "type": "mcx",
-        "task": "pick all objects and place it in the box",
-        "fps": 30,
-        "features": {
-            "action": {
-                "type": "ACTION",
-                "shape": [
-                    7
-                ]
-            },
-            "pixels": {
-                "type": "VISUAL",
-                "shape": [
-                    480,
-                    640,
-                    3
-                ]
-            },
-            "agent_pos": {
-                "type": "STATE",
-                "shape": [
-                    7
-                ]
-            }
-        },
-        "features_map": {
-            "action": "action",
-            "agent_pos": "observation.state",
-            "pixels": "observation.image"
-        },
-        "ip": "192.168.56.101",
-        "obs_type": "pixels_agent_pos",
-        "action_mean": [
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0
-        ],
-        "action_std": [
-            1.0,
-            1.0,
-            1.0,
-            1.0,
-            1.0,
-            1.0,
-            1.0
-        ],
-        "agent_pos_mean": [
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0
-        ],
-        "agent_pos_std": [
-            1.0,
-            1.0,
-            1.0,
-            1.0,
-            1.0,
-            1.0,
-            1.0
-        ],
-        "episode_length": 30,
-        "render_mode": "rgb_array",
-        "visualization_width": 480,
-        "visualization_height": 640
-    },
+    "env": null,
     "policy": {
         "type": "act",
         "n_obs_steps": 1,
@@ -150,7 +77,7 @@
             "observation.state": {
                 "type": "STATE",
                 "shape": [
-                    7
+                    15
                 ]
             },
             "observation.images.camera_1": {
@@ -207,15 +134,15 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/act_color_default",
-    "job_name": "mcx_act",
+    "output_dir": "outputs/train/second_experiment_phantom",
+    "job_name": "act",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 50000,
+    "steps": 10000,
     "eval_freq": -1,
-    "log_freq": 25,
+    "log_freq": 100,
     "save_checkpoint": true,
     "save_freq": 10000,
     "use_policy_training_preset": true,