Upload policy weights, train config and readme

README.md

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

config.json

@@ -5,7 +5,7 @@
         "observation.state": {
             "type": "STATE",
             "shape": [
-                29
+                14
             ]
         },
         "observation.images.front": {
@@ -45,7 +45,7 @@
         "action": {
             "type": "ACTION",
             "shape": [
-                29
+                16
             ]
         }
     },
@@ -66,7 +66,7 @@
     },
     "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,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d42f4890c7dbedd66d5121494d72d077b40657be0094531529032e8a2c5857d4
-size 206888252
+oid sha256:80d0f6e165b0216ee233e475c6fd39b2bae028efcc1203a91c67b25e2e2fe0a6
+size 206773504

train_config.json

@@ -87,7 +87,7 @@
             "observation.state": {
                 "type": "STATE",
                 "shape": [
-                    29
+                    14
                 ]
             },
             "observation.images.front": {
@@ -127,7 +127,7 @@
             "action": {
                 "type": "ACTION",
                 "shape": [
-                    29
+                    16
                 ]
             }
         },
@@ -148,7 +148,7 @@
         },
         "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,
@@ -166,8 +166,8 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "/home/dayuan/nas/models/act_test",
-    "job_name": "act",
+    "output_dir": "/home/dayuan/nas/models/act_hanging_24chunk_16step_1obs",
+    "job_name": "hanging_act",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
@@ -196,12 +196,12 @@
         "use_async_envs": false
     },
     "wandb": {
-        "enable": false,
+        "enable": true,
         "disable_artifact": false,
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": null,
+        "run_id": "0fq1i8q3",
         "mode": null
     },
     "checkpoint_path": null,