Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: act
 pipeline_tag: robotics
 tags:
 - robotics
-- act
 - lerobot
+- act
 ---
 
 # Model Card for act

config.json

@@ -1,6 +1,11 @@
 {
     "type": "act",
     "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -42,11 +47,6 @@
     "license": 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 sha256:94750cc0346b9376d42b59bacd25a9950bffb0a589ccf8e281cd17aaac03e185
-size 206699736
+oid sha256:604ac661a6e32eac8523633d8ba2cb045db539c7cb71aa4d0c72fa40d889066b
+size 206701064

train_config.json

@@ -69,6 +69,11 @@
     "policy": {
         "type": "act",
         "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
         "input_features": {
             "observation.state": {
                 "type": "STATE",
@@ -110,11 +115,6 @@
         "license": 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,
@@ -135,7 +135,7 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/act_jetson_005",
+    "output_dir": "outputs/train/act_jetson_007",
     "job_name": "il_sim_test",
     "resume": false,
     "seed": 1000,
@@ -170,7 +170,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "hui28d1o",
+        "run_id": "d106iz9k",
         "mode": null
     }
 }