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README.md

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+---
+library_name: lerobot
+tags:
+- act
+- model_hub_mixin
+- pytorch_model_hub_mixin
+- robotics
+---
+
+This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
+- Library: https://github.com/huggingface/lerobot
+- Docs: [More Information Needed]

config.json

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+{
+  "chunk_size": 100,
+  "dim_feedforward": 3200,
+  "dim_model": 512,
+  "dropout": 0.1,
+  "feedforward_activation": "relu",
+  "input_normalization_modes": {
+    "observation.images.head": "mean_std",
+    "observation.images.wrist": "mean_std",
+    "observation.state": "mean_std"
+  },
+  "input_shapes": {
+    "observation.images.head": [
+      3,
+      480,
+      640
+    ],
+    "observation.images.wrist": [
+      3,
+      480,
+      640
+    ],
+    "observation.state": [
+      7
+    ]
+  },
+  "kl_weight": 10.0,
+  "latent_dim": 32,
+  "n_action_steps": 100,
+  "n_decoder_layers": 1,
+  "n_encoder_layers": 4,
+  "n_heads": 8,
+  "n_obs_steps": 1,
+  "n_vae_encoder_layers": 4,
+  "output_normalization_modes": {
+    "action": "mean_std"
+  },
+  "output_shapes": {
+    "action": [
+      7
+    ]
+  },
+  "pre_norm": false,
+  "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+  "replace_final_stride_with_dilation": false,
+  "temporal_ensemble_coeff": null,
+  "use_vae": true,
+  "vision_backbone": "resnet18"
+}

config.yaml

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+resume: false
+device: cuda
+use_amp: false
+seed: 1000
+dataset_repo_id: keith2/lego1
+video_backend: pyav
+training:
+  offline_steps: 80000
+  num_workers: 4
+  batch_size: 8
+  eval_freq: -1
+  log_freq: 100
+  save_checkpoint: true
+  save_freq: 10000
+  online_steps: 0
+  online_rollout_n_episodes: 1
+  online_rollout_batch_size: 1
+  online_steps_between_rollouts: 1
+  online_sampling_ratio: 0.5
+  online_env_seed: null
+  online_buffer_capacity: null
+  online_buffer_seed_size: 0
+  do_online_rollout_async: false
+  image_transforms:
+    enable: false
+    max_num_transforms: 3
+    random_order: false
+    brightness:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+    contrast:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+    saturation:
+      weight: 1
+      min_max:
+      - 0.5
+      - 1.5
+    hue:
+      weight: 1
+      min_max:
+      - -0.05
+      - 0.05
+    sharpness:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+  lr: 1.0e-05
+  lr_backbone: 1.0e-05
+  weight_decay: 0.0001
+  grad_clip_norm: 10
+  delta_timestamps:
+    action:
+    - 0.0
+    - 0.05
+    - 0.1
+    - 0.15
+    - 0.2
+    - 0.25
+    - 0.3
+    - 0.35
+    - 0.4
+    - 0.45
+    - 0.5
+    - 0.55
+    - 0.6
+    - 0.65
+    - 0.7
+    - 0.75
+    - 0.8
+    - 0.85
+    - 0.9
+    - 0.95
+    - 1.0
+    - 1.05
+    - 1.1
+    - 1.15
+    - 1.2
+    - 1.25
+    - 1.3
+    - 1.35
+    - 1.4
+    - 1.45
+    - 1.5
+    - 1.55
+    - 1.6
+    - 1.65
+    - 1.7
+    - 1.75
+    - 1.8
+    - 1.85
+    - 1.9
+    - 1.95
+    - 2.0
+    - 2.05
+    - 2.1
+    - 2.15
+    - 2.2
+    - 2.25
+    - 2.3
+    - 2.35
+    - 2.4
+    - 2.45
+    - 2.5
+    - 2.55
+    - 2.6
+    - 2.65
+    - 2.7
+    - 2.75
+    - 2.8
+    - 2.85
+    - 2.9
+    - 2.95
+    - 3.0
+    - 3.05
+    - 3.1
+    - 3.15
+    - 3.2
+    - 3.25
+    - 3.3
+    - 3.35
+    - 3.4
+    - 3.45
+    - 3.5
+    - 3.55
+    - 3.6
+    - 3.65
+    - 3.7
+    - 3.75
+    - 3.8
+    - 3.85
+    - 3.9
+    - 3.95
+    - 4.0
+    - 4.05
+    - 4.1
+    - 4.15
+    - 4.2
+    - 4.25
+    - 4.3
+    - 4.35
+    - 4.4
+    - 4.45
+    - 4.5
+    - 4.55
+    - 4.6
+    - 4.65
+    - 4.7
+    - 4.75
+    - 4.8
+    - 4.85
+    - 4.9
+    - 4.95
+eval:
+  n_episodes: 50
+  batch_size: 50
+  use_async_envs: false
+wandb:
+  enable: true
+  disable_artifact: false
+  project: lerobot
+  notes: ''
+fps: 20
+env:
+  name: real_world
+  task: null
+  state_dim: 7
+  action_dim: 7
+  fps: ${fps}
+override_dataset_stats:
+  observation.images.head:
+    mean:
+    - - - 0.485
+    - - - 0.456
+    - - - 0.406
+    std:
+    - - - 0.229
+    - - - 0.224
+    - - - 0.225
+  observation.images.wrist:
+    mean:
+    - - - 0.485
+    - - - 0.456
+    - - - 0.406
+    std:
+    - - - 0.229
+    - - - 0.224
+    - - - 0.225
+policy:
+  name: act
+  n_obs_steps: 1
+  chunk_size: 100
+  n_action_steps: 100
+  input_shapes:
+    observation.images.head:
+    - 3
+    - 480
+    - 640
+    observation.images.wrist:
+    - 3
+    - 480
+    - 640
+    observation.state:
+    - ${env.state_dim}
+  output_shapes:
+    action:
+    - ${env.action_dim}
+  input_normalization_modes:
+    observation.images.head: mean_std
+    observation.images.wrist: mean_std
+    observation.state: mean_std
+  output_normalization_modes:
+    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_momentum: null
+  dropout: 0.1
+  kl_weight: 10.0

model.safetensors

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e3736513f1acb7515cdf91f3776840128d73ce43e1aa735c340c39e4ce074340
+size 206709284