Upload policy weights, train config and readme

README.md

@@ -1,12 +1,12 @@
 ---
-datasets: aryannzzz/metaworld-pick-place-v3-expert
+datasets: aadarshram/metaworld-reach-v3
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- robotics
 - lerobot
+- robotics
 - act
 ---
 

config.json

@@ -2,7 +2,7 @@
     "type": "act",
     "n_obs_steps": 1,
     "input_features": {
-        "observation.images.image": {
+        "observation.image": {
             "type": "VISUAL",
             "shape": [
                 3,
@@ -15,6 +15,12 @@
             "shape": [
                 4
             ]
+        },
+        "observation.environment_state": {
+            "type": "ENV",
+            "shape": [
+                39
+            ]
         }
     },
     "output_features": {
@@ -27,6 +33,7 @@
     },
     "device": "cuda",
     "use_amp": false,
+    "use_peft": false,
     "push_to_hub": true,
     "repo_id": "act-pick-place-v3",
     "private": null,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6a9f37b61108230206154ece30e0776b8a9f88830964bd6c1717c78ff803e11e
-size 206683328
+oid sha256:c539ee79fb40bf2eb1d1f2ffe8c1c4799f3d9f11ddc3d8fab515be3537107f3b
+size 206767520

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "aryannzzz/metaworld-pick-place-v3-expert",
+        "repo_id": "aadarshram/metaworld-reach-v3",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -122,7 +122,7 @@
         "type": "act",
         "n_obs_steps": 1,
         "input_features": {
-            "observation.images.image": {
+            "observation.image": {
                 "type": "VISUAL",
                 "shape": [
                     3,
@@ -135,6 +135,12 @@
                 "shape": [
                     4
                 ]
+            },
+            "observation.environment_state": {
+                "type": "ENV",
+                "shape": [
+                    39
+                ]
             }
         },
         "output_features": {
@@ -147,6 +153,7 @@
         },
         "device": "cuda",
         "use_amp": false,
+        "use_peft": false,
         "push_to_hub": true,
         "repo_id": "act-pick-place-v3",
         "private": null,
@@ -191,7 +198,7 @@
     "log_freq": 100,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
-    "save_freq": 25000,
+    "save_freq": 2500,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -216,9 +223,10 @@
         "project": "metaworld-act-pickplace",
         "entity": null,
         "notes": null,
-        "run_id": "naqiyors",
+        "run_id": "vv8rn2g8",
         "mode": null
     },
+    "peft": null,
     "use_rabc": false,
     "rabc_progress_path": null,
     "rabc_kappa": 0.01,