Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: peterneijie/test2
+datasets: peterneijie/bimanual-so100-handover-cube
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
+- robotics
 - lerobot
 - act
-- robotics
 ---
 
 # Model Card for act
@@ -31,7 +31,7 @@ Below is the short version on how to train and run inference/eval:
 ### Train from scratch
 
 ```bash
-python -m lerobot.scripts.train \
+lerobot-train \
   --dataset.repo_id=${HF_USER}/<dataset> \
   --policy.type=act \
   --output_dir=outputs/train/<desired_policy_repo_id> \
@@ -46,7 +46,7 @@ _Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
 ### Evaluate the policy/run inference
 
 ```bash
-python -m lerobot.record \
+lerobot-record \
   --robot.type=so100_follower \
   --dataset.repo_id=<hf_user>/eval_<dataset> \
   --policy.path=<hf_user>/<desired_policy_repo_id> \

config.json

@@ -10,10 +10,18 @@
         "observation.state": {
             "type": "STATE",
             "shape": [
-                6
+                12
             ]
         },
-        "observation.images.front": {
+        "observation.images.UP": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.right": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -26,7 +34,7 @@
         "action": {
             "type": "ACTION",
             "shape": [
-                6
+                12
             ]
         }
     },

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ecb6ef0ae5171b39206a08a02aab4dc1b49540c2237983455827ba1767069415
-size 206700792
+oid sha256:3da58c1f5d01b50358d020c6d60b42dbca69adeb1f2ec38548c939d7f1e483c6
+size 206750392

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "peterneijie/test2",
+        "repo_id": "peterneijie/bimanual-so100-handover-cube",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -77,10 +77,18 @@
             "observation.state": {
                 "type": "STATE",
                 "shape": [
-                    6
+                    12
                 ]
             },
-            "observation.images.front": {
+            "observation.images.UP": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.right": {
                 "type": "VISUAL",
                 "shape": [
                     3,
@@ -93,7 +101,7 @@
             "action": {
                 "type": "ACTION",
                 "shape": [
-                    6
+                    12
                 ]
             }
         },
@@ -126,8 +134,8 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/act_test2",
-    "job_name": "test2",
+    "output_dir": "outputs/train/act_bimanual-so100-handover-cube",
+    "job_name": "act_bimanual-so100-handover-cube",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,