Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: act
 pipeline_tag: robotics
 tags:
 - act
-- robotics
 - lerobot
+- robotics
 ---
 
 # Model Card for act

config.json

@@ -5,7 +5,7 @@
         "observation.state": {
             "type": "STATE",
             "shape": [
-                12
+                26
             ]
         },
         "observation.images.front": {
@@ -57,8 +57,8 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "chunk_size": 100,
-    "n_action_steps": 100,
+    "chunk_size": 24,
+    "n_action_steps": 16,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MEAN_STD",

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0ca7f52af5abd8a5367064d651be51143b326402025718bd69797a1fea9127fe
-size 206765312
+oid sha256:f782892d44aefabb3e52e457b9610ced92b6ff5ae8c65c95a71b81914bb90d2a
+size 206511360

train_config.json

@@ -87,7 +87,7 @@
             "observation.state": {
                 "type": "STATE",
                 "shape": [
-                    12
+                    26
                 ]
             },
             "observation.images.front": {
@@ -139,8 +139,8 @@
         "tags": null,
         "license": null,
         "pretrained_path": null,
-        "chunk_size": 100,
-        "n_action_steps": 100,
+        "chunk_size": 24,
+        "n_action_steps": 16,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
             "STATE": "MEAN_STD",
@@ -166,7 +166,7 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "/home/dayuan/nas/models/act_takeoff_w_24chunk_16step_1obs",
+    "output_dir": "/home/dayuan/nas/models/act_takeoff_pw_24chunk_16step_1obs",
     "job_name": "takeoff_act",
     "resume": false,
     "seed": 1000,
@@ -201,7 +201,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "wc0a47fd",
+        "run_id": "hktzq7vw",
         "mode": null
     },
     "checkpoint_path": null,