Upload policy weights, train config and readme

README.md

@@ -1,12 +1,12 @@
 ---
-datasets: leledeyuan/mating_cable_3cam
+datasets: leledeyuan/mating_cable
 library_name: lerobot
 license: apache-2.0
 model_name: fact
 pipeline_tag: robotics
 tags:
-- lerobot
 - fact
+- lerobot
 - robotics
 ---
 

config.json

@@ -31,6 +31,22 @@
                 480,
                 640
             ]
+        },
+        "observation.images.wrist_l_depth": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.wrist_r_depth": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
         }
     },
     "output_features": {
@@ -69,7 +85,7 @@
     "use_vae": true,
     "latent_dim": 32,
     "n_vae_encoder_layers": 4,
-    "use_film": false,
+    "use_film": true,
     "selected_state_shape": [
         18
     ],
@@ -77,7 +93,7 @@
         20
     ],
     "wrench_dim": 12,
-    "phase_num": null,
+    "phase_num": 4,
     "use_main_task": null,
     "temporal_ensemble_coeff": 0.1,
     "dropout": 0.1,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b98a520265114a896bc7d879004b40fde40ac6a0d207fb33c95fc495770aae05
-size 253419408
+oid sha256:5cc40d890458f69333c1153c90930cd4e694b397b56b16cd4cb2686fca82d2f0
+size 253440112

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "leledeyuan/mating_cable_3cam",
+        "repo_id": "leledeyuan/mating_cable",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -113,6 +113,22 @@
                     480,
                     640
                 ]
+            },
+            "observation.images.wrist_l_depth": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.wrist_r_depth": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
             }
         },
         "output_features": {
@@ -151,7 +167,7 @@
         "use_vae": true,
         "latent_dim": 32,
         "n_vae_encoder_layers": 4,
-        "use_film": false,
+        "use_film": true,
         "selected_state_shape": [
             18
         ],
@@ -159,7 +175,7 @@
             20
         ],
         "wrench_dim": 12,
-        "phase_num": null,
+        "phase_num": 4,
         "use_main_task": null,
         "temporal_ensemble_coeff": 0.1,
         "dropout": 0.1,
@@ -168,7 +184,7 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "/home/dayuan/nas/models/mating_cable_sphase",
+    "output_dir": "/home/dayuan/nas/models/mating_cable_mphase_depth",
     "job_name": "mating_cable",
     "resume": false,
     "seed": 1000,
@@ -203,7 +219,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "4z83w6c4",
+        "run_id": "o1s8kh5y",
         "mode": null
     },
     "checkpoint_path": null,