Upload policy weights, train config and readme

README.md

@@ -0,0 +1,62 @@
+---
+datasets: EvanMath/sort-lego-red-brick-merged
+library_name: lerobot
+license: apache-2.0
+model_name: act
+pipeline_tag: robotics
+tags:
+- lerobot
+- robotics
+- act
+---
+
+# 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
+lerobot-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
+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

@@ -36,10 +36,11 @@
     "device": "cuda",
     "use_amp": false,
     "push_to_hub": true,
-    "repo_id": "/sort-red-lego-brick",
+    "repo_id": "EvanMath/sort-lego-bricks",
     "private": null,
     "tags": null,
     "license": null,
+    "pretrained_path": null,
     "chunk_size": 100,
     "n_action_steps": 100,
     "normalization_mapping": {

model.safetensors

@@ -1,3 +1,3 @@
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-oid sha256:b3eb3294a62ce25079c56912f0f8c1ed93a31ffbe9f0c695617f8f28a2554ff1
+oid sha256:3b0e8501a3735991b699f8ac88b49594f4a21aede8a9498c2c13d20af3080e05
 size 206699736

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "EvanMath/sort-lego-red-brick",
+        "repo_id": "EvanMath/sort-lego-red-brick-merged",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -118,7 +118,7 @@
         "device": "cuda",
         "use_amp": false,
         "push_to_hub": true,
-        "repo_id": "/sort-red-lego-brick",
+        "repo_id": "EvanMath/sort-lego-bricks",
         "private": null,
         "tags": null,
         "license": null,
@@ -150,8 +150,8 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/sort-lego-bricks",
-    "job_name": "act_so101_test",
+    "output_dir": "outputs/train/act_sort-lego-red-brick",
+    "job_name": "act_sort_lego_red_brick",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
@@ -160,7 +160,7 @@
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 20000,
+    "save_freq": 25000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",