Upload policy weights, train config and readme

README.md

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

config.json

@@ -2,12 +2,6 @@
     "type": "act",
     "n_obs_steps": 1,
     "input_features": {
-        "observation.language": {
-            "type": "STATE",
-            "shape": [
-                1
-            ]
-        },
         "observation.state": {
             "type": "STATE",
             "shape": [
@@ -18,24 +12,24 @@
             "type": "VISUAL",
             "shape": [
                 3,
-                480,
-                640
+                224,
+                224
             ]
         },
         "observation.images.wrist_left": {
             "type": "VISUAL",
             "shape": [
                 3,
-                480,
-                640
+                224,
+                224
             ]
         },
         "observation.images.wrist_right": {
             "type": "VISUAL",
             "shape": [
                 3,
-                480,
-                640
+                224,
+                224
             ]
         }
     },

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:06011135958afa49ef333627f394e2cd77c5ecee837473fca7661b69130fb3e7
+oid sha256:88f0ad45ed8d8ba90ad55109d7020991fa16534975b421b2e6842f88401349b2
 size 206839068

train_config.json

@@ -84,12 +84,6 @@
         "type": "act",
         "n_obs_steps": 1,
         "input_features": {
-            "observation.language": {
-                "type": "STATE",
-                "shape": [
-                    1
-                ]
-            },
             "observation.state": {
                 "type": "STATE",
                 "shape": [
@@ -100,24 +94,24 @@
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    480,
-                    640
+                    224,
+                    224
                 ]
             },
             "observation.images.wrist_left": {
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    480,
-                    640
+                    224,
+                    224
                 ]
             },
             "observation.images.wrist_right": {
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    480,
-                    640
+                    224,
+                    224
                 ]
             }
         },
@@ -164,8 +158,8 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/act_1103_00_sub0",
-    "job_name": "act_training",
+    "output_dir": "outputs/train/act/1103_00_sub0",
+    "job_name": "act_sub0_4090",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
@@ -195,11 +189,11 @@
     },
     "wandb": {
         "enable": true,
-        "disable_artifact": false,
+        "disable_artifact": true,
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "qnrsvanc",
+        "run_id": "bfxs3vv1",
         "mode": null
     },
     "checkpoint_path": null,