Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- act
-- lerobot
 - robotics
+- lerobot
+- act
 ---
 
 # Model Card for act

config.json

@@ -21,6 +21,14 @@
                 640
             ]
         },
+        "observation.images.rside": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
         "observation.images.top": {
             "type": "VISUAL",
             "shape": [
@@ -62,8 +70,8 @@
     "n_vae_encoder_layers": 4,
     "temporal_ensemble_coeff": null,
     "dropout": 0.1,
-    "kl_weight": 10.0,
-    "optimizer_lr": 1e-05,
+    "kl_weight": 100.0,
+    "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 sha256:8dee7f2f8c1c0631290f289e6785d4a7bd579d5afa5c787926e4b87a9dababea
-size 206750392
+oid sha256:518ebb6f21e2f06700c3bac57fa0896cc00395b5d8bf5743271af80ce5272584
+size 206750672

train_config.json

@@ -1,10 +1,10 @@
 {
     "dataset": {
         "repo_id": "wangwwwww111/dual_arm_task",
-        "root": "/home/fiveages/.cache/huggingface/lerobot/wangwwwww111/dual_arm_towel_3camera_lowfps_stage1_grab_release",
+        "root": "/home/zhenbiao/.cache/huggingface/lerobot/wangwwwww111/dual_arm_towel_3camera_dual_arm_flatten",
         "episodes": null,
         "image_transforms": {
-            "enable": false,
+            "enable": true,
             "max_num_transforms": 3,
             "random_order": false,
             "tfs": {
@@ -88,6 +88,14 @@
                     640
                 ]
             },
+            "observation.images.rside": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
             "observation.images.top": {
                 "type": "VISUAL",
                 "shape": [
@@ -129,26 +137,26 @@
         "n_vae_encoder_layers": 4,
         "temporal_ensemble_coeff": null,
         "dropout": 0.1,
-        "kl_weight": 10.0,
-        "optimizer_lr": 1e-05,
+        "kl_weight": 100.0,
+        "optimizer_lr": 5e-05,
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/act_dual_arm_towel_3camera_lowfps_stage1_grab_release",
-    "job_name": "act_dual_arm_towel_3camera_lowfps_stage1_grab_release",
+    "output_dir": "outputs/train/act_dual_arm_towel_3camera_dual_arm_flatten",
+    "job_name": "act_dual_arm_towel_3camera_dual_arm_flatten",
     "resume": false,
     "seed": 1000,
     "num_workers": 16,
-    "batch_size": 32,
+    "batch_size": 64,
     "steps": 200000,
-    "eval_freq": 10000,
-    "log_freq": 2000,
+    "eval_freq": 20000,
+    "log_freq": 200,
     "save_checkpoint": true,
     "save_freq": 10000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
-        "lr": 1e-05,
+        "lr": 5e-05,
         "weight_decay": 0.0001,
         "grad_clip_norm": 10.0,
         "betas": [