Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: aloha/push_T_top_to_bottom_mixture_50_100percent
+datasets: aloha/simulation_push_T_bottom_right
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
+- robotics
 - act
 - lerobot
-- robotics
 ---
 
 # Model Card for act

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f4e5bd3951cbd05b6f647250f185c4b0d477b490d8150ddeeeb83b048338285b
+oid sha256:2648aee28ffa073ee3114c98ea18735163145f5a2a69d12763db11e9eb388812
 size 206659048

train_config.json

@@ -1,12 +1,12 @@
 {
     "dataset": {
-        "repo_id": "aloha/push_T_top_to_bottom_mixture_50_100percent",
+        "repo_id": "aloha/simulation_push_T_bottom_right",
         "root": null,
         "episodes": null,
         "image_transforms": {
-            "enable": true,
+            "enable": false,
             "max_num_transforms": 3,
-            "random_order": true,
+            "random_order": false,
             "tfs": {
                 "brightness": {
                     "weight": 1.0,
@@ -120,7 +120,7 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "mixture_models/50augmented/100percent/policy",
+    "output_dir": "sim_policy/pushT_bottom_right_act",
     "job_name": "act",
     "resume": false,
     "seed": 100000,
@@ -130,7 +130,7 @@
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 30000,
+    "save_freq": 10000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -155,7 +155,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "xgxwtaj7",
+        "run_id": "3tp6xsyf",
         "mode": null
     }
 }