Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: spesrobotics/wire_pick_place_multi_view
+datasets: spesrobotics/wire_pick_place_multi_view_expanded
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
 - act
-- lerobot
 - robotics
+- lerobot
 ---
 
 # Model Card for act

config.json

@@ -10,7 +10,7 @@
         "observation.state": {
             "type": "STATE",
             "shape": [
-                13
+                25
             ]
         },
         "observation.images.gripper": {

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fb9b3f635b28cb0d8e8682dd55c60f806b64c1b3fa85df922f119d1ac1cfb534
-size 452467476
+oid sha256:3d28d9833c44089ee4baca74b6c61e79439871c20795e24cfb0ab87632024aa0
+size 452565876

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "spesrobotics/wire_pick_place_multi_view",
+        "repo_id": "spesrobotics/wire_pick_place_multi_view_expanded",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -77,7 +77,7 @@
             "observation.state": {
                 "type": "STATE",
                 "shape": [
-                    13
+                    25
                 ]
             },
             "observation.images.gripper": {
@@ -140,11 +140,11 @@
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 64,
-    "steps": 100000,
+    "steps": 60000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 50000,
+    "save_freq": 30000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",