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config.json

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+{
+    "type": "act",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
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+        "observation.images.wrist_cam": {
+            "type": "VISUAL",
+            "shape": [
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+                640
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+        "observation.images.overhead_cam": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
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+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": true,
+    "repo_id": null,
+    "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,
+    "pre_norm": false,
+    "dim_model": 512,
+    "n_heads": 8,
+    "dim_feedforward": 3200,
+    "feedforward_activation": "relu",
+    "n_encoder_layers": 4,
+    "n_decoder_layers": 1,
+    "use_vae": true,
+    "latent_dim": 32,
+    "n_vae_encoder_layers": 4,
+    "temporal_ensemble_coeff": null,
+    "dropout": 0.1,
+    "kl_weight": 10.0,
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 0.0001,
+    "optimizer_lr_backbone": 1e-05
+}

model.safetensors

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+size 206699736

policy_postprocessor.json

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+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
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+            "type": "ACTION",
+            "shape": [
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+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
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+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

policy_postprocessor_step_0_unnormalizer_processor.safetensors

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+size 768

policy_preprocessor.json

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+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
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+        "features": {
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+            "shape": [
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+          "observation.images.wrist_cam": {
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+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
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+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
+    }
+  ]
+}

policy_preprocessor_step_3_normalizer_processor.safetensors

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+size 768

training_metadata.json

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+{
+  "dataset_repo_id": "danbhf/sim_pick_place_2pos_220ep_v2",
+  "scene": "so101_with_wrist_cam.xml",
+  "scene_cameras": {
+    "overhead_cam": {
+      "fovy": 52.0,
+      "pos": [
+        0.3,
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+        0.6
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+      "pos": [
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+  },
+  "cameras": [
+    "wrist_cam",
+    "overhead_cam"
+  ],
+  "camera_resolutions": {
+    "wrist_cam": "640x480",
+    "overhead_cam": "640x480"
+  },
+  "action_space": "joint (6-dim: normalized joints)",
+  "action_dim": 6,
+  "chunk_size": 100,
+  "fps": 30,
+  "total_frames": 31210,
+  "pickup_coords": false,
+  "pos1_only": false,
+  "episode_filter": "0-219",
+  "delta_actions": false,
+  "integrated_loss_weight": 0.0,
+  "color_jitter": false,
+  "color_jitter_after": 0
+}

training_state.pt

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