Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: lamborghini3030/so100_test
+datasets: lamborghini3030/so101_testE
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- act
-- robotics
 - lerobot
+- robotics
+- act
 ---
 
 # Model Card for act

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",
@@ -20,6 +15,14 @@
                 1080,
                 1920
             ]
+        },
+        "observation.images.gripper": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
         }
     },
     "output_features": {
@@ -30,15 +33,22 @@
             ]
         }
     },
-    "device": "mps",
+    "device": "cuda",
     "use_amp": false,
+    "use_peft": false,
     "push_to_hub": true,
     "repo_id": "lamborghini3030/my_policy",
     "private": null,
     "tags": null,
     "license": null,
-    "chunk_size": 20,
-    "n_action_steps": 20,
+    "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 sha256:6ff2e04dc940b1611eaee56c42ec73981908527ed41cfc3aa2b662d0a98c9e87
-size 206373112
+oid sha256:1a686eb93ecd8722ceff40cf1f9e80229b34886100e318b8a694bb3c814f5cb7
+size 206699736

train_config.json

@@ -1,13 +1,12 @@
 {
     "dataset": {
-        "repo_id": "lamborghini3030/so100_test",
+        "repo_id": "lamborghini3030/so101_testE",
         "root": null,
         "episodes": [
             0,
             1,
             2,
-            3,
-            4
+            3
         ],
         "image_transforms": {
             "enable": false,
@@ -63,22 +62,32 @@
                             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": "pyav"
+        "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",
@@ -93,6 +102,14 @@
                     1080,
                     1920
                 ]
+            },
+            "observation.images.gripper": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
             }
         },
         "output_features": {
@@ -103,15 +120,22 @@
                 ]
             }
         },
-        "device": "mps",
+        "device": "cuda",
         "use_amp": false,
+        "use_peft": false,
         "push_to_hub": true,
         "repo_id": "lamborghini3030/my_policy",
         "private": null,
         "tags": null,
         "license": null,
-        "chunk_size": 20,
-        "n_action_steps": 20,
+        "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,
@@ -132,17 +156,19 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/act_so100_test_v3_small",
-    "job_name": "act_so100_test_v3_small",
+    "output_dir": "outputs/train/act_so101_test_v6",
+    "job_name": "act_so101_test_v1",
     "resume": false,
     "seed": 1000,
-    "num_workers": 0,
-    "batch_size": 1,
-    "steps": 100000,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 8,
+    "steps": 100,
     "eval_freq": 20000,
     "log_freq": 200,
+    "tolerance_s": 0.0001,
     "save_checkpoint": true,
-    "save_freq": 20000,
+    "save_freq": 50,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -168,6 +194,15 @@
         "entity": null,
         "notes": null,
         "run_id": null,
-        "mode": null
-    }
+        "mode": null,
+        "add_tags": true
+    },
+    "peft": null,
+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": null
 }