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config.json

@@ -5,12 +5,18 @@
   "dropout": 0.1,
   "feedforward_activation": "relu",
   "input_normalization_modes": {
-    "observation.images.phone": "mean_std",
+    "observation.images.android": "mean_std",
+    "observation.images.handcam": "mean_std",
     "observation.images.webcam": "mean_std",
     "observation.state": "mean_std"
   },
   "input_shapes": {
-    "observation.images.phone": [
+    "observation.images.android": [
+      3,
+      480,
+      640
+    ],
+    "observation.images.handcam": [
       3,
       480,
       640

config.yaml

@@ -2,14 +2,12 @@ resume: false
 device: cuda
 use_amp: false
 seed: 1000
-dataset_repo_id:
-- underctrl/mutli-stacked-block_mutli-color_pick-up_80
-- underctrl/single-stacked-block_mutli-color_pick-up_80
+dataset_repo_id: underctrl/handcamera_single-block_blue-color_pick-up_80
 video_backend: pyav
 training:
   offline_steps: 80000
   num_workers: 4
-  batch_size: 8
+  batch_size: 16
   eval_freq: -1
   log_freq: 100
   save_checkpoint: true
@@ -184,7 +182,16 @@ override_dataset_stats:
     - - - 0.229
     - - - 0.224
     - - - 0.225
-  observation.images.phone:
+  observation.images.android:
+    mean:
+    - - - 0.485
+    - - - 0.456
+    - - - 0.406
+    std:
+    - - - 0.229
+    - - - 0.224
+    - - - 0.225
+  observation.images.handcam:
     mean:
     - - - 0.485
     - - - 0.456
@@ -203,7 +210,11 @@ policy:
     - 3
     - 480
     - 640
-    observation.images.phone:
+    observation.images.android:
+    - 3
+    - 480
+    - 640
+    observation.images.handcam:
     - 3
     - 480
     - 640
@@ -214,7 +225,8 @@ policy:
     - ${env.action_dim}
   input_normalization_modes:
     observation.images.webcam: mean_std
-    observation.images.phone: mean_std
+    observation.images.android: mean_std
+    observation.images.handcam: mean_std
     observation.state: mean_std
   output_normalization_modes:
     action: mean_std

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f40c4c53d07569198f41dd3e500fe222e41e113213c5f59eaae10c2d5021b1d9
-size 206701072
+oid sha256:bcfe67d2c827beab3296442201784509193ed6fea4d82b638ca6c9375f86a536
+size 206701352