Upload policy weights, train config and readme

README.md

@@ -1,12 +1,12 @@
 ---
-datasets: coffeeeaa/cube_transfer
+datasets: coffeeeaa/cube_transfer_policy1
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- lerobot
 - robotics
+- lerobot
 - act
 ---
 

config.json

@@ -57,7 +57,7 @@
     "n_action_steps": 1,
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "replace_final_stride_with_dilation": false,
+    "replace_final_stride_with_dilation": 0,
     "pre_norm": false,
     "dim_model": 512,
     "n_heads": 8,
@@ -69,7 +69,7 @@
     "latent_dim": 32,
     "n_vae_encoder_layers": 4,
     "temporal_ensemble_coeff": 0.01,
-    "dropout": 0.1,
+    "dropout": 0.2,
     "kl_weight": 10.0,
     "optimizer_lr": 1e-05,
     "optimizer_weight_decay": 0.0001,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2088971cb53c92539b3392261cd00079ab85c4bff41e3037eaed5b791ef7b664
+oid sha256:d6e4e3ac9b2ec05e0979e17a953401179ebd586e3fdbc0c0f0059bf5a1f41e2e
 size 206472136

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
-        "repo_id": "coffeeeaa/cube_transfer",
-        "root": "/home/user/lerobot/record_data/cube_transfer0",
+        "repo_id": "coffeeeaa/cube_transfer_policy1",
+        "root": "/home/user/lerobot/record_data/cube_transfer1",
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -125,7 +125,7 @@
         "n_action_steps": 1,
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "replace_final_stride_with_dilation": false,
+        "replace_final_stride_with_dilation": 0,
         "pre_norm": false,
         "dim_model": 512,
         "n_heads": 8,
@@ -137,19 +137,19 @@
         "latent_dim": 32,
         "n_vae_encoder_layers": 4,
         "temporal_ensemble_coeff": 0.01,
-        "dropout": 0.1,
+        "dropout": 0.2,
         "kl_weight": 10.0,
         "optimizer_lr": 1e-05,
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "/home/user/lerobot/outputs/cube_transfer0",
+    "output_dir": "/home/user/lerobot/outputs/cube_transfer1",
     "job_name": "act",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
-    "batch_size": 16,
-    "steps": 100000,
+    "batch_size": 8,
+    "steps": 140000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -175,10 +175,10 @@
     "wandb": {
         "enable": true,
         "disable_artifact": false,
-        "project": "cube_trasfer0",
+        "project": "cube_trasfer1",
         "entity": null,
         "notes": null,
-        "run_id": "amrgefoo",
+        "run_id": "g8nleh96",
         "mode": null
     }
 }