Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: act
 pipeline_tag: robotics
 tags:
 - act
-- robotics
 - lerobot
+- robotics
 ---
 
 # Model Card for act

config.json

@@ -22,14 +22,6 @@
                 224
             ]
         },
-        "observation.image.camera1": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                224,
-                224
-            ]
-        },
         "observation.image.camera_ef": {
             "type": "VISUAL",
             "shape": [
@@ -47,7 +39,7 @@
             ]
         }
     },
-    "device": "cuda",
+    "device": "mps",
     "use_amp": false,
     "push_to_hub": true,
     "repo_id": "rishabhrj11/gym-xarm-pick",
@@ -77,8 +69,8 @@
     "n_vae_encoder_layers": 4,
     "temporal_ensemble_coeff": null,
     "dropout": 0.1,
-    "kl_weight": 10.0,
-    "optimizer_lr": 6e-05,
+    "kl_weight": 30.0,
+    "optimizer_lr": 5e-05,
     "optimizer_weight_decay": 0.0001,
     "optimizer_lr_backbone": 1e-05
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e98472a50ac834dda202ceb32e8b543a34f4e23940e30b3f8d3048e1a4279a3c
+oid sha256:143442c7391abeae5daf1a0eef3c00d0c4c80784bc65fdade7d2e8ef5eadbdaf
 size 206695616

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
         "repo_id": "rishabhrj11/gym-xarm-grab-5",
-        "root": null,
+        "root": "/Users/rishabh/development/robotics/gym-xarm-grab-5",
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -104,14 +104,6 @@
                     224
                 ]
             },
-            "observation.image.camera1": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    224,
-                    224
-                ]
-            },
             "observation.image.camera_ef": {
                 "type": "VISUAL",
                 "shape": [
@@ -129,7 +121,7 @@
                 ]
             }
         },
-        "device": "cuda",
+        "device": "mps",
         "use_amp": false,
         "push_to_hub": true,
         "repo_id": "rishabhrj11/gym-xarm-pick",
@@ -159,26 +151,26 @@
         "n_vae_encoder_layers": 4,
         "temporal_ensemble_coeff": null,
         "dropout": 0.1,
-        "kl_weight": 10.0,
-        "optimizer_lr": 6e-05,
+        "kl_weight": 30.0,
+        "optimizer_lr": 5e-05,
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "../outputs/train9",
+    "output_dir": "../outputs/train10",
     "job_name": "act",
     "resume": false,
     "seed": 1000,
-    "num_workers": 0,
-    "batch_size": 256,
-    "steps": 10000,
-    "eval_freq": 30000,
-    "log_freq": 100,
+    "num_workers": 4,
+    "batch_size": 64,
+    "steps": 3000,
+    "eval_freq": 10000,
+    "log_freq": 10,
     "save_checkpoint": true,
-    "save_freq": 1000,
+    "save_freq": 500,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
-        "lr": 6e-05,
+        "lr": 5e-05,
         "weight_decay": 0.0001,
         "grad_clip_norm": 10.0,
         "betas": [
@@ -194,16 +186,17 @@
         "use_async_envs": false
     },
     "wandb": {
-        "enable": true,
+        "enable": false,
         "disable_artifact": false,
-        "project": "lerobot-xarm",
+        "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "ubzgpx5d",
+        "run_id": null,
         "mode": null
     },
     "checkpoint_path": null,
     "rename_map": {
-        "observation.images.camera0": "None"
+        "observation.images.camera0": "None",
+        "observation.images.camera1": "None"
     }
 }