Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- act
 - robotics
 - lerobot
+- 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

@@ -1,11 +1,6 @@
 {
     "type": "act",
     "n_obs_steps": 1,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MEAN_STD",
-        "ACTION": "MEAN_STD"
-    },
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -45,8 +40,14 @@
     "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 sha256:2112657cf2c38f4a1e3b335e3e7eec6f9511a8cf96e665ca4a8a5de4c5e53331
-size 206701072
+oid sha256:28c25c8b142499cece736bd2025ec8f6e11c6b5b116ea7faad11cb7510cacb82
+size 206699736

train_config.json

@@ -57,22 +57,32 @@
                             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",
@@ -112,8 +122,14 @@
         "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,
@@ -134,7 +150,7 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/record_test_100",
+    "output_dir": "outputs/train/record_test100",
     "job_name": "record_test100",
     "resume": false,
     "seed": 1000,
@@ -164,12 +180,14 @@
         "use_async_envs": false
     },
     "wandb": {
-        "enable": false,
+        "enable": true,
         "disable_artifact": false,
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": null,
+        "run_id": "mut3j7l8",
         "mode": null
-    }
+    },
+    "checkpoint_path": null,
+    "rename_map": {}
 }