Upload policy weights, train config and readme

README.md

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

config.json

@@ -85,7 +85,7 @@
     "use_vae": true,
     "latent_dim": 32,
     "n_vae_encoder_layers": 4,
-    "use_film": true,
+    "use_film": false,
     "selected_state_shape": [
         18
     ],
@@ -93,7 +93,7 @@
         20
     ],
     "wrench_dim": 12,
-    "phase_num": 4,
+    "phase_num": null,
     "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 sha256:5cc40d890458f69333c1153c90930cd4e694b397b56b16cd4cb2686fca82d2f0
-size 253440112
+oid sha256:0b84eb6c690c2467de5c6b4748a86948d0b60d7828b325c666ad6c56d9c99d69
+size 253419408

train_config.json

@@ -167,7 +167,7 @@
         "use_vae": true,
         "latent_dim": 32,
         "n_vae_encoder_layers": 4,
-        "use_film": true,
+        "use_film": false,
         "selected_state_shape": [
             18
         ],
@@ -175,7 +175,7 @@
             20
         ],
         "wrench_dim": 12,
-        "phase_num": 4,
+        "phase_num": null,
         "use_main_task": null,
         "temporal_ensemble_coeff": 0.1,
         "dropout": 0.1,
@@ -184,7 +184,7 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "/home/dayuan/nas/models/mating_cable_mphase_depth",
+    "output_dir": "/home/dayuan/nas/models/mating_cable_sphase_depth",
     "job_name": "mating_cable",
     "resume": false,
     "seed": 1000,
@@ -219,7 +219,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "o1s8kh5y",
+        "run_id": "09ana7jf",
         "mode": null
     },
     "checkpoint_path": null,