Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: act
 pipeline_tag: robotics
 tags:
 - robotics
-- lerobot
 - act
+- lerobot
 ---
 
 # Model Card for act

config.json

@@ -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 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:518ebb6f21e2f06700c3bac57fa0896cc00395b5d8bf5743271af80ce5272584
+oid sha256:5d9cb2aed096f0b75b324e2f117ffd0450ba715797993606d5f518dfe9a5fc96
 size 206750672

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",
+        "root": "/home/zhenbiao/.cache/huggingface/lerobot/wangwwwww111/dual_arm_towel_3camera_dual_arm_flatten_data360",
         "episodes": null,
         "image_transforms": {
             "enable": true,
@@ -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",
-    "job_name": "act_dual_arm_towel_3camera_dual_arm_flatten",
+    "output_dir": "outputs/train/act_dual_arm_towel_3camera_dual_arm_flatten_data360",
+    "job_name": "act_dual_arm_towel_3camera_dual_arm_flatten_data360",
     "resume": false,
     "seed": 1000,
     "num_workers": 16,
-    "batch_size": 64,
+    "batch_size": 96,
     "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": [