Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: booang/record-test4
+datasets: kemjensak/real_data_0207_short_ver4
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- act
-- robotics
 - lerobot
+- robotics
+- act
 ---
 
 # Model Card for act
@@ -31,7 +31,7 @@ Below is the short version on how to train and run inference/eval:
 ### Train from scratch
 
 ```bash
-python -m lerobot.scripts.train \
+lerobot-train \
   --dataset.repo_id=${HF_USER}/<dataset> \
   --policy.type=act \
   --output_dir=outputs/train/<desired_policy_repo_id> \
@@ -46,7 +46,7 @@ _Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
 ### Evaluate the policy/run inference
 
 ```bash
-python -m lerobot.record \
+lerobot-record \
   --robot.type=so100_follower \
   --dataset.repo_id=<hf_user>/eval_<dataset> \
   --policy.path=<hf_user>/<desired_policy_repo_id> \

config.json

@@ -1,19 +1,30 @@
 {
     "type": "act",
     "n_obs_steps": 1,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MEAN_STD",
-        "ACTION": "MEAN_STD"
-    },
     "input_features": {
         "observation.state": {
             "type": "STATE",
             "shape": [
-                6
+                12
+            ]
+        },
+        "observation.images.left_left": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.left_top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
             ]
         },
-        "observation.images.front": {
+        "observation.images.right_right": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -26,19 +37,26 @@
         "action": {
             "type": "ACTION",
             "shape": [
-                6
+                12
             ]
         }
     },
     "device": "cuda",
     "use_amp": false,
+    "use_peft": false,
     "push_to_hub": true,
     "repo_id": "booang/act_record_test4",
     "private": null,
     "tags": null,
     "license": null,
+    "pretrained_path": null,
     "chunk_size": 100,
     "n_action_steps": 100,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "replace_final_stride_with_dilation": false,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:73cef0a735e0e83acd25e7eab2d3f6d54694a50d4222c56c13121c24fc94e0a2
-size 206700792
+oid sha256:48527b8874a3b21d2003221021aa2b68f701bde289011469793d2ffa4d7f8081
+size 206748912

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "booang/record-test4",
+        "repo_id": "kemjensak/real_data_0207_short_ver4",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -57,30 +57,56 @@
                             1.5
                         ]
                     }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
                 }
             }
         },
         "revision": null,
         "use_imagenet_stats": true,
-        "video_backend": "torchcodec"
+        "video_backend": "torchcodec",
+        "streaming": false
     },
     "env": null,
     "policy": {
         "type": "act",
         "n_obs_steps": 1,
-        "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
-            "STATE": "MEAN_STD",
-            "ACTION": "MEAN_STD"
-        },
         "input_features": {
             "observation.state": {
                 "type": "STATE",
                 "shape": [
-                    6
+                    12
                 ]
             },
-            "observation.images.front": {
+            "observation.images.left_left": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.left_top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.right_right": {
                 "type": "VISUAL",
                 "shape": [
                     3,
@@ -93,19 +119,26 @@
             "action": {
                 "type": "ACTION",
                 "shape": [
-                    6
+                    12
                 ]
             }
         },
         "device": "cuda",
         "use_amp": false,
+        "use_peft": false,
         "push_to_hub": true,
         "repo_id": "booang/act_record_test4",
         "private": null,
         "tags": null,
         "license": null,
+        "pretrained_path": null,
         "chunk_size": 100,
         "n_action_steps": 100,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
         "replace_final_stride_with_dilation": false,
@@ -126,17 +159,18 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/act_record_test4",
-    "job_name": "act_record_test3",
+    "output_dir": "outputs/train/act_record_test11",
+    "job_name": "act_record_test11",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 1000,
+    "steps": 20000,
     "eval_freq": 20000,
     "log_freq": 200,
+    "tolerance_s": 0.0001,
     "save_checkpoint": true,
-    "save_freq": 100,
+    "save_freq": 200,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -163,5 +197,13 @@
         "notes": null,
         "run_id": null,
         "mode": null
-    }
+    },
+    "peft": null,
+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": null
 }