Upload policy weights, train config and readme

README.md

@@ -1,5 +1,5 @@
 ---
-datasets: aloha/move_T_to_center_and_rotate_45_deg
+datasets: aloha/push_T_top_to_bottom_synthetic_top_view
 library_name: lerobot
 license: apache-2.0
 model_name: act

config.json

@@ -7,12 +7,6 @@
         "ACTION": "MEAN_STD"
     },
     "input_features": {
-        "observation.state": {
-            "type": "STATE",
-            "shape": [
-                14
-            ]
-        },
         "observation.images.top": {
             "type": "VISUAL",
             "shape": [
@@ -20,14 +14,6 @@
                 480,
                 640
             ]
-        },
-        "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                480,
-                640
-            ]
         }
     },
     "output_features": {

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:164b58dce3f34242f3b903e6ac64db419825a54e7493fe4239c20b611586204a
-size 206725656
+oid sha256:6831ffb2784cdaed348731b384c1674190458f494870fa29cc2b30f6501d5a9a
+size 206659048

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "aloha/move_T_to_center_and_rotate_45_deg",
+        "repo_id": "aloha/push_T_top_to_bottom_synthetic_top_view",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -74,12 +74,6 @@
             "ACTION": "MEAN_STD"
         },
         "input_features": {
-            "observation.state": {
-                "type": "STATE",
-                "shape": [
-                    14
-                ]
-            },
             "observation.images.top": {
                 "type": "VISUAL",
                 "shape": [
@@ -87,14 +81,6 @@
                     480,
                     640
                 ]
-            },
-            "observation.images.front": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    480,
-                    640
-                ]
             }
         },
         "output_features": {
@@ -134,7 +120,7 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs_lerobot/act_2025-08-23_model",
+    "output_dir": "outputs_lerobot/act_2025-09-03_model_synthetic",
     "job_name": "act",
     "resume": false,
     "seed": 100000,
@@ -169,7 +155,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "e6j3yj96",
+        "run_id": "prfxr3a1",
         "mode": null
     }
 }