Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: leledeyuan/hanging-tshirt
+datasets: leledeyuan/takeoff-tshirt
 library_name: lerobot
 license: apache-2.0
 model_name: fact
 pipeline_tag: robotics
 tags:
+- lerobot
 - fact
 - robotics
-- lerobot
 ---
 
 # Model Card for fact

config.json

@@ -84,7 +84,7 @@
         20
     ],
     "wrench_dim": 12,
-    "phase_num": 5,
+    "phase_num": 3,
     "temporal_ensemble_coeff": 0.1,
     "dropout": 0.1,
     "kl_weight": 10.0,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6ceb322c97e18a648c5eea3332da333fb9ce9cd0822333975bf9ebfdae035dc4
-size 206684096
+oid sha256:09e25aec72e29b03576022cd37a1430e262c478f655dd1ebae375c036e7f3d30
+size 206675904

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "leledeyuan/hanging-tshirt",
+        "repo_id": "leledeyuan/takeoff-tshirt",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -166,7 +166,7 @@
             20
         ],
         "wrench_dim": 12,
-        "phase_num": 5,
+        "phase_num": 3,
         "temporal_ensemble_coeff": 0.1,
         "dropout": 0.1,
         "kl_weight": 10.0,
@@ -174,8 +174,8 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "/home/dayuan/nas/models/fact_hanging_pws_50chunk",
-    "job_name": "hanging_fact",
+    "output_dir": "/home/dayuan/nas/models/fact_takeoff_pws_50chunk",
+    "job_name": "takeoff_fact",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
@@ -209,7 +209,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "y2m0yhpi",
+        "run_id": "tj7biwr4",
         "mode": null
     },
     "checkpoint_path": null,