Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: leolin6/zbot_pick_cube35
+datasets: leolin6/pick_bottle
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
 - act
-- lerobot
 - robotics
+- lerobot
 ---
 
 # Model Card for act

config.json

@@ -10,15 +10,23 @@
         "observation.state": {
             "type": "STATE",
             "shape": [
-                26
+                16
+            ]
+        },
+        "observation.images.left": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                400,
+                500
             ]
         },
-        "observation.images.front": {
+        "observation.images.right": {
             "type": "VISUAL",
             "shape": [
                 3,
-                480,
-                640
+                400,
+                500
             ]
         }
     },

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0723f9b8c2833631ff31ee43b5e4dd0720b365a3fc0bb73e1d636364295d5f33
-size 206824048
+oid sha256:7d90ae888f2cb9e219548bddc6a9d603d69f511e11f9dba955bba2b8540a42c1
+size 206783280

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "leolin6/zbot_pick_cube35",
+        "repo_id": "leolin6/pick_bottle",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -77,15 +77,23 @@
             "observation.state": {
                 "type": "STATE",
                 "shape": [
-                    26
+                    16
+                ]
+            },
+            "observation.images.left": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    400,
+                    500
                 ]
             },
-            "observation.images.front": {
+            "observation.images.right": {
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    480,
-                    640
+                    400,
+                    500
                 ]
             }
         },
@@ -126,8 +134,8 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/zbot_pick_cub6",
-    "job_name": "pick_up_cube",
+    "output_dir": "outputs/train/pick_bottle_act",
+    "job_name": "pick_bottle",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
@@ -161,7 +169,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "9spwqpu9",
+        "run_id": "ih46peh4",
         "mode": null
     }
 }