Upload policy weights, train config and readme
Browse files- README.md +162 -0
- config.json +69 -0
- model.safetensors +3 -0
- train_config.json +277 -0
README.md
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---
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datasets:
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- shuohsuan/grasp_data_000_009
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- shuohsuan/grasp_data_010_019
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- shuohsuan/grasp_data_020_029
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- shuohsuan/grasp_data_030_039
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- shuohsuan/grasp_data_040_049
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- shuohsuan/grasp_data_050_059
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- shuohsuan/grasp_data_060_069
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- shuohsuan/grasp_data_070_079
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- shuohsuan/grasp_data_080_089
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- shuohsuan/grasp_data_090_099
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- shuohsuan/grasp_data_100_109
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- shuohsuan/grasp_data_110_119
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- shuohsuan/grasp_data_120_129
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- shuohsuan/grasp_data_130_139
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- shuohsuan/grasp_data_140_149
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- shuohsuan/grasp_data_150_159
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- shuohsuan/grasp_data_160_169
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- shuohsuan/grasp_data_170_179
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- shuohsuan/grasp_data_180_189
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- shuohsuan/grasp_data_190_199
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- shuohsuan/grasp_data_200_209
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- shuohsuan/grasp_data_210_219
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- shuohsuan/grasp_data_220_229
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- shuohsuan/grasp_data_230_239
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- shuohsuan/grasp_data_240_249
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- shuohsuan/grasp_data_250_259
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- shuohsuan/grasp_data_260_269
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- shuohsuan/grasp_data_270_279
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- shuohsuan/grasp_data_280_289
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- shuohsuan/grasp_data_290_299
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- shuohsuan/grasp_data_300_309
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- shuohsuan/grasp_data_310_319
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- shuohsuan/grasp_data_320_329
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- shuohsuan/grasp_data_330_339
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- shuohsuan/grasp_data_340_349
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- shuohsuan/grasp_data_350_359
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- shuohsuan/grasp_data_360_369
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- shuohsuan/grasp_data_370_379
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- shuohsuan/grasp_data_380_389
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- shuohsuan/grasp_data_390_399
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- shuohsuan/grasp_data_400_409
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- shuohsuan/grasp_data_410_419
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- shuohsuan/grasp_data_420_429
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- shuohsuan/grasp_data_430_439
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- shuohsuan/grasp_data_440_449
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- shuohsuan/grasp_data_450_459
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- shuohsuan/grasp_data_460_469
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- shuohsuan/grasp_data_470_479
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| 51 |
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- shuohsuan/grasp_data_480_489
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- shuohsuan/grasp_data_490_499
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| 53 |
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- shuohsuan/grasp_data_500_509
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| 54 |
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- shuohsuan/grasp_data_510_519
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| 55 |
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- shuohsuan/grasp_data_520_529
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- shuohsuan/grasp_data_530_539
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- shuohsuan/grasp_data_540_549
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- shuohsuan/grasp_data_550_559
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- shuohsuan/grasp_data_560_569
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- shuohsuan/grasp_data_570_579
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- shuohsuan/grasp_data_580_589
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- shuohsuan/grasp_data_590_599
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- shuohsuan/grasp_data_600_609
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- shuohsuan/grasp_data_610_619
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- shuohsuan/grasp_data_620_629
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- shuohsuan/grasp_data_630_639
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- shuohsuan/grasp_data_640_649
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- shuohsuan/grasp_data_650_659
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- shuohsuan/grasp_data_660_669
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- shuohsuan/grasp_data_670_679
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- shuohsuan/grasp_data_680_689
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- shuohsuan/grasp_data_690_699
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- shuohsuan/grasp_data_700_709
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- shuohsuan/grasp_data_710_719
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- shuohsuan/grasp_data_720_729
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- shuohsuan/grasp_data_730_739
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- shuohsuan/grasp_data_740_749
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- shuohsuan/grasp_data_750_759
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- shuohsuan/grasp_data_760_769
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- shuohsuan/grasp_data_770_779
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- shuohsuan/grasp_data_780_789
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- shuohsuan/grasp_data_790_799
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- shuohsuan/grasp_data_800_809
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- shuohsuan/grasp_data_810_819
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- shuohsuan/grasp_data_820_829
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- shuohsuan/grasp_data_830_839
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- shuohsuan/grasp_data_840_849
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- shuohsuan/grasp_data_850_859
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- shuohsuan/grasp_data_860_869
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- shuohsuan/grasp_data_870_879
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| 91 |
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- shuohsuan/grasp_data_880_889
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- shuohsuan/grasp_data_890_899
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| 93 |
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- shuohsuan/grasp_data_900_909
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| 94 |
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- shuohsuan/grasp_data_910_919
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| 95 |
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- shuohsuan/grasp_data_920_929
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- shuohsuan/grasp_data_930_939
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- shuohsuan/grasp_data_940_949
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- shuohsuan/grasp_data_950_959
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- shuohsuan/grasp_data_960_969
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| 100 |
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- shuohsuan/grasp_data_970_979
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- shuohsuan/grasp_data_980_989
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- shuohsuan/grasp_data_990_999
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| 103 |
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library_name: lerobot
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license: apache-2.0
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| 105 |
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model_name: act
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| 106 |
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pipeline_tag: robotics
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| 107 |
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tags:
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- lerobot
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| 109 |
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- robotics
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| 110 |
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- act
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| 111 |
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---
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| 112 |
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| 113 |
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# Model Card for act
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| 114 |
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| 115 |
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<!-- Provide a quick summary of what the model is/does. -->
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| 116 |
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| 117 |
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| 118 |
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[Action Chunking with Transformers (ACT)](https://huggingface.co/papers/2304.13705) is an imitation-learning method that predicts short action chunks instead of single steps. It learns from teleoperated data and often achieves high success rates.
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| 119 |
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This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
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See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
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| 123 |
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| 124 |
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---
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| 125 |
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## How to Get Started with the Model
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| 127 |
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| 128 |
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For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
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| 129 |
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Below is the short version on how to train and run inference/eval:
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| 130 |
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| 131 |
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### Train from scratch
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| 132 |
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| 133 |
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```bash
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python -m lerobot.scripts.train \
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--dataset.repo_id=${HF_USER}/<dataset> \
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--policy.type=act \
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--output_dir=outputs/train/<desired_policy_repo_id> \
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| 138 |
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--job_name=lerobot_training \
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--policy.device=cuda \
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--policy.repo_id=${HF_USER}/<desired_policy_repo_id>
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--wandb.enable=true
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| 142 |
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```
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| 143 |
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| 144 |
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*Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`.*
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| 145 |
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| 146 |
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### Evaluate the policy/run inference
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| 147 |
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|
| 148 |
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```bash
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| 149 |
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python -m lerobot.record \
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| 150 |
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--robot.type=so100_follower \
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| 151 |
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--dataset.repo_id=<hf_user>/eval_<dataset> \
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| 152 |
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--policy.path=<hf_user>/<desired_policy_repo_id> \
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| 153 |
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--episodes=10
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| 154 |
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```
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| 155 |
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| 156 |
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Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
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| 157 |
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| 158 |
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---
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| 159 |
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| 160 |
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## Model Details
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| 161 |
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| 162 |
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* **License:** apache-2.0
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config.json
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{
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| 2 |
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"type": "act",
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| 3 |
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"n_obs_steps": 1,
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| 4 |
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"normalization_mapping": {
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| 5 |
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"VISUAL": "MEAN_STD",
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| 6 |
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"STATE": "MEAN_STD",
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| 7 |
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"ACTION": "MEAN_STD"
|
| 8 |
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},
|
| 9 |
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"input_features": {
|
| 10 |
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"observation.state": {
|
| 11 |
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"type": "STATE",
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| 12 |
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"shape": [
|
| 13 |
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6
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| 14 |
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]
|
| 15 |
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},
|
| 16 |
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"observation.images.top": {
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| 17 |
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"type": "VISUAL",
|
| 18 |
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"shape": [
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| 19 |
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3,
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480,
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640
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]
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| 23 |
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},
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| 24 |
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"observation.images.wrist": {
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| 25 |
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"type": "VISUAL",
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| 26 |
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"shape": [
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3,
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480,
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640
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]
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}
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| 32 |
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},
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| 33 |
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"output_features": {
|
| 34 |
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"action": {
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| 35 |
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"type": "ACTION",
|
| 36 |
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"shape": [
|
| 37 |
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6
|
| 38 |
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]
|
| 39 |
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}
|
| 40 |
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},
|
| 41 |
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"device": "cuda",
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| 42 |
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"use_amp": false,
|
| 43 |
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"push_to_hub": true,
|
| 44 |
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"repo_id": "shuohsuan/act_multi_grasp_rand",
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| 45 |
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"private": null,
|
| 46 |
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"tags": null,
|
| 47 |
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"license": null,
|
| 48 |
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"chunk_size": 100,
|
| 49 |
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"n_action_steps": 100,
|
| 50 |
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"vision_backbone": "resnet18",
|
| 51 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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| 52 |
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"replace_final_stride_with_dilation": false,
|
| 53 |
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"pre_norm": false,
|
| 54 |
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"dim_model": 512,
|
| 55 |
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"n_heads": 8,
|
| 56 |
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"dim_feedforward": 3200,
|
| 57 |
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"feedforward_activation": "relu",
|
| 58 |
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"n_encoder_layers": 4,
|
| 59 |
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"n_decoder_layers": 1,
|
| 60 |
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"use_vae": true,
|
| 61 |
+
"latent_dim": 32,
|
| 62 |
+
"n_vae_encoder_layers": 4,
|
| 63 |
+
"temporal_ensemble_coeff": null,
|
| 64 |
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"dropout": 0.1,
|
| 65 |
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"kl_weight": 10.0,
|
| 66 |
+
"optimizer_lr": 1e-05,
|
| 67 |
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"optimizer_weight_decay": 0.0001,
|
| 68 |
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"optimizer_lr_backbone": 1e-05
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| 69 |
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}
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model.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:7fa97ba678fe606641633882db95d104b68fcdd59d73caa0a1b07f887b98621d
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size 206701064
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train_config.json
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| 268 |
+
"wandb": {
|
| 269 |
+
"enable": false,
|
| 270 |
+
"disable_artifact": false,
|
| 271 |
+
"project": "lerobot",
|
| 272 |
+
"entity": null,
|
| 273 |
+
"notes": null,
|
| 274 |
+
"run_id": null,
|
| 275 |
+
"mode": null
|
| 276 |
+
}
|
| 277 |
+
}
|