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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.cam_high": "mean_std",
+    "observation.images.cam_left_wrist": "mean_std",
+    "observation.images.cam_right_wrist": "mean_std",
+    "observation.state": "mean_std"
+  },
+  "input_shapes": {
+    "observation.images.cam_high": [
+      3,
+      480,
+      640
+    ],
+    "observation.images.cam_left_wrist": [
+      3,
+      480,
+      640
+    ],
+    "observation.images.cam_right_wrist": [
+      3,
+      480,
+      640
+    ],
+    "observation.state": [
+      14
+    ]
+  },
+  "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": [
+      14
+    ]
+  },
+  "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: HumanoidTeam/demo-maltesers
+video_backend: pyav
+training:
+  offline_steps: 60000
+  num_workers: 8
+  batch_size: 8
+  eval_freq: -1
+  log_freq: 200
+  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
+    - 0.02
+    - 0.04
+    - 0.06
+    - 0.08
+    - 0.1
+    - 0.12
+    - 0.14
+    - 0.16
+    - 0.18
+    - 0.2
+    - 0.22
+    - 0.24
+    - 0.26
+    - 0.28
+    - 0.3
+    - 0.32
+    - 0.34
+    - 0.36
+    - 0.38
+    - 0.4
+    - 0.42
+    - 0.44
+    - 0.46
+    - 0.48
+    - 0.5
+    - 0.52
+    - 0.54
+    - 0.56
+    - 0.58
+    - 0.6
+    - 0.62
+    - 0.64
+    - 0.66
+    - 0.68
+    - 0.7
+    - 0.72
+    - 0.74
+    - 0.76
+    - 0.78
+    - 0.8
+    - 0.82
+    - 0.84
+    - 0.86
+    - 0.88
+    - 0.9
+    - 0.92
+    - 0.94
+    - 0.96
+    - 0.98
+    - 1.0
+    - 1.02
+    - 1.04
+    - 1.06
+    - 1.08
+    - 1.1
+    - 1.12
+    - 1.14
+    - 1.16
+    - 1.18
+    - 1.2
+    - 1.22
+    - 1.24
+    - 1.26
+    - 1.28
+    - 1.3
+    - 1.32
+    - 1.34
+    - 1.36
+    - 1.38
+    - 1.4
+    - 1.42
+    - 1.44
+    - 1.46
+    - 1.48
+    - 1.5
+    - 1.52
+    - 1.54
+    - 1.56
+    - 1.58
+    - 1.6
+    - 1.62
+    - 1.64
+    - 1.66
+    - 1.68
+    - 1.7
+    - 1.72
+    - 1.74
+    - 1.76
+    - 1.78
+    - 1.8
+    - 1.82
+    - 1.84
+    - 1.86
+    - 1.88
+    - 1.9
+    - 1.92
+    - 1.94
+    - 1.96
+    - 1.98
+eval:
+  n_episodes: 50
+  batch_size: 50
+  use_async_envs: false
+wandb:
+  enable: true
+  disable_artifact: false
+  project: lerobot_real_aloha
+  notes: ws-lerobot-hackathon
+fps: 50
+env:
+  name: real_world
+  task: null
+  state_dim: 14
+  action_dim: 14
+  fps: ${fps}
+override_dataset_stats:
+  observation.images.cam_right_wrist:
+    mean:
+    - - - 0.485
+    - - - 0.456
+    - - - 0.406
+    std:
+    - - - 0.229
+    - - - 0.224
+    - - - 0.225
+  observation.images.cam_left_wrist:
+    mean:
+    - - - 0.485
+    - - - 0.456
+    - - - 0.406
+    std:
+    - - - 0.229
+    - - - 0.224
+    - - - 0.225
+  observation.images.cam_high:
+    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.cam_right_wrist:
+    - 3
+    - 480
+    - 640
+    observation.images.cam_left_wrist:
+    - 3
+    - 480
+    - 640
+    observation.images.cam_high:
+    - 3
+    - 480
+    - 640
+    observation.state:
+    - ${env.state_dim}
+  output_shapes:
+    action:
+    - ${env.action_dim}
+  input_normalization_modes:
+    observation.images.cam_right_wrist: mean_std
+    observation.images.cam_left_wrist: mean_std
+    observation.images.cam_high: 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 sha256:53d574d8dda65ffe1debe418bf14a84d08b683b15419708ebb593228450e4f32
+size 206767160