Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: lerobot/pusht
+datasets: aloha/expert_training_data_random_init_2025-08-02
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- robotics
 - lerobot
 - act
+- robotics
 ---
 
 # Model Card for act

config.json

@@ -7,18 +7,26 @@
         "ACTION": "MEAN_STD"
     },
     "input_features": {
-        "observation.image": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                14
+            ]
+        },
+        "observation.images.top": {
             "type": "VISUAL",
             "shape": [
                 3,
-                96,
-                96
+                480,
+                640
             ]
         },
-        "observation.state": {
-            "type": "STATE",
+        "observation.images.front": {
+            "type": "VISUAL",
             "shape": [
-                2
+                3,
+                480,
+                640
             ]
         }
     },
@@ -26,12 +34,12 @@
         "action": {
             "type": "ACTION",
             "shape": [
-                2
+                4
             ]
         }
     },
     "device": "cuda",
-    "use_amp": false,
+    "use_amp": true,
     "push_to_hub": true,
     "repo_id": "act",
     "private": null,
@@ -41,7 +49,7 @@
     "n_action_steps": 100,
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "replace_final_stride_with_dilation": 0,
+    "replace_final_stride_with_dilation": false,
     "pre_norm": false,
     "dim_model": 512,
     "n_heads": 8,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8c9f1e40020ad126f3d24ba5de52329ab5e48674820a1074604e4d83a90e25c2
-size 206667888
+oid sha256:7ae27b86da5396f005cab7606fd8b64a99879665a3f775d11372258c191d36f4
+size 206725656

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "lerobot/pusht",
+        "repo_id": "aloha/expert_training_data_random_init_2025-08-02",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -74,18 +74,26 @@
             "ACTION": "MEAN_STD"
         },
         "input_features": {
-            "observation.image": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    14
+                ]
+            },
+            "observation.images.top": {
                 "type": "VISUAL",
                 "shape": [
                     3,
-                    96,
-                    96
+                    480,
+                    640
                 ]
             },
-            "observation.state": {
-                "type": "STATE",
+            "observation.images.front": {
+                "type": "VISUAL",
                 "shape": [
-                    2
+                    3,
+                    480,
+                    640
                 ]
             }
         },
@@ -93,12 +101,12 @@
             "action": {
                 "type": "ACTION",
                 "shape": [
-                    2
+                    4
                 ]
             }
         },
         "device": "cuda",
-        "use_amp": false,
+        "use_amp": true,
         "push_to_hub": true,
         "repo_id": "act",
         "private": null,
@@ -108,7 +116,7 @@
         "n_action_steps": 100,
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "replace_final_stride_with_dilation": 0,
+        "replace_final_stride_with_dilation": false,
         "pre_norm": false,
         "dim_model": 512,
         "n_heads": 8,
@@ -126,9 +134,9 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/act_pusht",
+    "output_dir": "outputs_lerobot/act_2025-08-02_model",
     "job_name": "act",
-    "resume": true,
+    "resume": false,
     "seed": 100000,
     "num_workers": 4,
     "batch_size": 64,
@@ -161,7 +169,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "7zokrcsh",
+        "run_id": "ox30dzop",
         "mode": null
     }
 }