Upload policy weights, train config and readme

README.md

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

config.json

@@ -10,7 +10,7 @@
         "observation.state": {
             "type": "STATE",
             "shape": [
-                15
+                7
             ]
         },
         "observation.images.camera_1": {
@@ -46,7 +46,7 @@
     "tags": null,
     "license": null,
     "chunk_size": 100,
-    "n_action_steps": 100,
+    "n_action_steps": 1,
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "replace_final_stride_with_dilation": false,
@@ -60,7 +60,7 @@
     "use_vae": true,
     "latent_dim": 32,
     "n_vae_encoder_layers": 4,
-    "temporal_ensemble_coeff": null,
+    "temporal_ensemble_coeff": 0.01,
     "dropout": 0.1,
     "kl_weight": 10.0,
     "optimizer_lr": 1e-05,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d6a460273c587473076ce8db8a65ba8bdedac231be28083305bef7410c926020
-size 206742140
+oid sha256:76c74133864b107c538f27195abd76f0ccfef73449f41f55752c02bbff690221
+size 206709300

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "antwoor/second_experiment_phantom",
+        "repo_id": "antwoor/color_figures",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -77,7 +77,7 @@
             "observation.state": {
                 "type": "STATE",
                 "shape": [
-                    15
+                    7
                 ]
             },
             "observation.images.camera_1": {
@@ -113,7 +113,7 @@
         "tags": null,
         "license": null,
         "chunk_size": 100,
-        "n_action_steps": 100,
+        "n_action_steps": 1,
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
         "replace_final_stride_with_dilation": false,
@@ -127,22 +127,22 @@
         "use_vae": true,
         "latent_dim": 32,
         "n_vae_encoder_layers": 4,
-        "temporal_ensemble_coeff": null,
+        "temporal_ensemble_coeff": 0.01,
         "dropout": 0.1,
         "kl_weight": 10.0,
         "optimizer_lr": 1e-05,
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/second_experiment_phantom",
+    "output_dir": "outputs/train/act_colors_ssl_te001",
     "job_name": "act",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 10000,
+    "steps": 50000,
     "eval_freq": -1,
-    "log_freq": 100,
+    "log_freq": 25,
     "save_checkpoint": true,
     "save_freq": 10000,
     "use_policy_training_preset": true,