iantc104 commited on
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3759931
1 Parent(s): d058c8c

Push model using huggingface_hub.

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Files changed (3) hide show
  1. README.md +12 -0
  2. config.json +61 -0
  3. model.safetensors +3 -0
README.md ADDED
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+ ---
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+ library_name: lerobot
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+ tags:
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+ - act
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+ - model_hub_mixin
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+ - pytorch_model_hub_mixin
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+ - robotics
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+ ---
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+
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+ This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
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+ - Library: https://github.com/huggingface/lerobot
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+ - Docs: [More Information Needed]
config.json ADDED
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+ {
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+ "chunk_size": 50,
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+ "dim_feedforward": 3200,
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+ "dim_model": 512,
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+ "dropout": 0.1,
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+ "feedforward_activation": "relu",
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+ "input_normalization_modes": {
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+ "observation.images.overhead_cam": "mean_std",
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+ "observation.images.worms_eye_cam": "mean_std",
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+ "observation.images.zed_cam_left": "mean_std",
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+ "observation.images.zed_cam_right": "mean_std",
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+ "observation.state": "mean_std"
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+ },
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+ "input_shapes": {
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+ "observation.images.overhead_cam": [
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+ 3,
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+ 480,
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+ 640
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+ ],
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+ "observation.images.worms_eye_cam": [
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+ 3,
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+ 480,
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+ 640
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+ ],
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+ "observation.images.zed_cam_left": [
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+ 3,
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+ 480,
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+ 640
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+ ],
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+ "observation.images.zed_cam_right": [
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+ 3,
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+ 480,
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+ 640
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+ ],
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+ "observation.state": [
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+ 21
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+ ]
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+ },
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+ "kl_weight": 10.0,
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+ "latent_dim": 32,
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+ "n_action_steps": 50,
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+ "n_decoder_layers": 1,
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+ "n_encoder_layers": 4,
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+ "n_heads": 8,
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+ "n_obs_steps": 1,
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+ "n_vae_encoder_layers": 4,
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+ "output_normalization_modes": {
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+ "action": "mean_std"
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+ },
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+ "output_shapes": {
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+ "action": [
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+ 21
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+ ]
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+ },
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+ "pre_norm": false,
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+ "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
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+ "replace_final_stride_with_dilation": false,
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+ "temporal_ensemble_coeff": null,
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+ "use_vae": true,
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+ "vision_backbone": "resnet18"
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+ }
model.safetensors ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:5e61418327aed7404d22a76c646a2e6b6a0dbc3c6adab9195cd5ff4651d5c8f5
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+ size 206620180