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README.md +62 -0
config.json +63 -0
model.safetensors +3 -0
train_config.json +279 -0

README.md ADDED Viewed

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+---
+datasets: local/d260820_v30_da
+library_name: lerobot
+license: apache-2.0
+model_name: act
+pipeline_tag: robotics
+tags:
+- act
+- lerobot
+- robotics
+---
+# 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 ADDED Viewed

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+{
+    "type": "act",
+    "n_obs_steps": 1,
+    "input_features": {
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+            "type": "VISUAL",
+            "shape": [
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+                640
+            ]
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+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                16
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                8
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": true,
+    "repo_id": "learner1119/act_d260820_da",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "chunk_size": 20,
+    "n_action_steps": 20,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "vision_backbone": "resnet18",
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "replace_final_stride_with_dilation": false,
+    "pre_norm": false,
+    "dim_model": 512,
+    "n_heads": 8,
+    "dim_feedforward": 3200,
+    "feedforward_activation": "relu",
+    "n_encoder_layers": 4,
+    "n_decoder_layers": 1,
+    "use_vae": true,
+    "latent_dim": 32,
+    "n_vae_encoder_layers": 4,
+    "temporal_ensemble_coeff": null,
+    "dropout": 0.1,
+    "kl_weight": 10.0,
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 0.0001,
+    "optimizer_lr_backbone": 1e-05
+}

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+}