Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: aloha/push_T_top_to_bottom_mixture_50_20percent
+datasets: aloha/push_T_top_to_bottom_mixture_10_0percent
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
 - act
-- robotics
 - lerobot
+- robotics
 ---
 
 # Model Card for act
@@ -41,7 +41,7 @@ python -m lerobot.scripts.train \
   --wandb.enable=true
 ```
 
-_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
+*Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`.*
 
 ### Evaluate the policy/run inference
 
@@ -59,4 +59,4 @@ Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a
 
 ## Model Details
 
-- **License:** apache-2.0
+* **License:** apache-2.0

config.json

@@ -11,8 +11,8 @@
             "type": "VISUAL",
             "shape": [
                 3,
-                480,
-                640
+                128,
+                128
             ]
         }
     },

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:71d0e742510818b5aff23824d978ad03b4c8821042ea03f107eb8e845341eebe
+oid sha256:b34252d4b6b8b5908a747169cfd8acfe4271acbc10c752a82483a00e5561c152
 size 206659048

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "aloha/push_T_top_to_bottom_mixture_50_20percent",
+        "repo_id": "aloha/push_T_top_to_bottom_mixture_10_0percent",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -78,8 +78,8 @@
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    480,
-                    640
+                    128,
+                    128
                 ]
             }
         },
@@ -120,7 +120,7 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "mixture_models/50/20percent/policy",
+    "output_dir": "mixture_models/10/0percent/policy",
     "job_name": "act",
     "resume": false,
     "seed": 100000,
@@ -130,7 +130,7 @@
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 10000,
+    "save_freq": 20000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -155,7 +155,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "5g28unoe",
+        "run_id": "lx4rt1gs",
         "mode": null
     }
 }