Upload policy weights, train config and readme

README.md

@@ -5,8 +5,8 @@ license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- robotics
 - act
+- robotics
 - lerobot
 ---
 

config.json

@@ -53,8 +53,8 @@
     "private": null,
     "tags": null,
     "license": null,
-    "chunk_size": 400,
-    "n_action_steps": 400,
+    "chunk_size": 200,
+    "n_action_steps": 200,
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "replace_final_stride_with_dilation": false,
@@ -71,7 +71,7 @@
     "temporal_ensemble_coeff": null,
     "dropout": 0.1,
     "kl_weight": 100.0,
-    "optimizer_lr": 5e-05,
+    "optimizer_lr": 3e-05,
     "optimizer_weight_decay": 0.0001,
     "optimizer_lr_backbone": 1e-05
 }

model.safetensors

@@ -1,3 +1,3 @@
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-size 207979472
+oid sha256:b4d6a334190d5c2cefad9443f999c6cc68fd29033db6f3fc270c39a8f6283e1d
+size 207160272

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
         "repo_id": "wangwwwww111/dual_arm_task",
-        "root": "/home/zhenbiao/.cache/huggingface/lerobot/wangwwwww111/dual_arm_towel_3camera_dual_arm_flatten_gray_merged",
+        "root": "/home/jiqiniu/.cache/huggingface/lerobot/wangwwwww111/dual_arm_towel_3camera_dual_arm_flatten_gray_400",
         "episodes": null,
         "image_transforms": {
             "enable": true,
@@ -120,8 +120,8 @@
         "private": null,
         "tags": null,
         "license": null,
-        "chunk_size": 400,
-        "n_action_steps": 400,
+        "chunk_size": 200,
+        "n_action_steps": 200,
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
         "replace_final_stride_with_dilation": false,
@@ -138,16 +138,16 @@
         "temporal_ensemble_coeff": null,
         "dropout": 0.1,
         "kl_weight": 100.0,
-        "optimizer_lr": 5e-05,
+        "optimizer_lr": 3e-05,
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/act_dual_arm_towel_3camera_dual_arm_flatten_step300_second",
-    "job_name": "act_dual_arm_towel_3camera_dual_arm_flatten",
+    "output_dir": "outputs/train/act_dual_arm_towel_3camera_dual_arm_flatten_gray_merged_step200_data400",
+    "job_name": "act_dual_arm_towel_3camera_dual_arm_flatten_gray_merged",
     "resume": false,
     "seed": 1000,
     "num_workers": 16,
-    "batch_size": 64,
+    "batch_size": 24,
     "steps": 200000,
     "eval_freq": 20000,
     "log_freq": 200,
@@ -156,7 +156,7 @@
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
-        "lr": 5e-05,
+        "lr": 3e-05,
         "weight_decay": 0.0001,
         "grad_clip_norm": 10.0,
         "betas": [