Upload policy weights, train config and readme

README.md

@@ -0,0 +1,62 @@
+---
+datasets: LeRobot-worldwide-hackathon/143-AkibaKebabParty
+library_name: lerobot
+license: apache-2.0
+model_name: act
+pipeline_tag: robotics
+tags:
+- act
+- robotics
+- lerobot
+---
+
+# Model Card for act
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+[Action Chunking with Transformers (ACT)](https://huggingface.co/papers/2304.13705) is an imitation-learning method that predicts short action chunks instead of single steps. It learns from teleoperated data and often achieves high success rates.
+
+
+This policy has been trained and pushed to the Hub using [LeRobot](https://github.com/huggingface/lerobot).
+See the full documentation at [LeRobot Docs](https://huggingface.co/docs/lerobot/index).
+
+---
+
+## How to Get Started with the Model
+
+For a complete walkthrough, see the [training guide](https://huggingface.co/docs/lerobot/il_robots#train-a-policy).
+Below is the short version on how to train and run inference/eval:
+
+### Train from scratch
+
+```bash
+python -m lerobot.scripts.train \
+  --dataset.repo_id=${HF_USER}/<dataset> \
+  --policy.type=act \
+  --output_dir=outputs/train/<desired_policy_repo_id> \
+  --job_name=lerobot_training \
+  --policy.device=cuda \
+  --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
+  --wandb.enable=true
+```
+
+*Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`.*
+
+### Evaluate the policy/run inference
+
+```bash
+python -m lerobot.record \
+  --robot.type=so100_follower \
+  --dataset.repo_id=<hf_user>/eval_<dataset> \
+  --policy.path=<hf_user>/<desired_policy_repo_id> \
+  --episodes=10
+```
+
+Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a local or hub checkpoint.
+
+---
+
+## Model Details
+
+* **License:** apache-2.0

config.json

@@ -32,6 +32,11 @@
     },
     "device": "cuda",
     "use_amp": false,
+    "push_to_hub": true,
+    "repo_id": "yukisa2010/il_sim_test0",
+    "private": null,
+    "tags": null,
+    "license": null,
     "chunk_size": 100,
     "n_action_steps": 100,
     "vision_backbone": "resnet18",

model.safetensors

@@ -1,3 +1,3 @@
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+oid sha256:7ea381fbc934611a46769b4d7f7dde6dfea3c6b5a605e77c81c6804b2ebcb1da
 size 206700792

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "yukisa2010/record-test-24",
+        "repo_id": "LeRobot-worldwide-hackathon/143-AkibaKebabParty",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -99,6 +99,11 @@
         },
         "device": "cuda",
         "use_amp": false,
+        "push_to_hub": true,
+        "repo_id": "yukisa2010/il_sim_test0",
+        "private": null,
+        "tags": null,
+        "license": null,
         "chunk_size": 100,
         "n_action_steps": 100,
         "vision_backbone": "resnet18",
@@ -127,7 +132,7 @@
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 2,
+    "steps": 20000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -151,12 +156,12 @@
         "use_async_envs": false
     },
     "wandb": {
-        "enable": false,
+        "enable": true,
         "disable_artifact": false,
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": null,
+        "run_id": "pz05pdq0",
         "mode": null
     }
 }