Upload model from act_left_pick_fix

.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+example_data/camera_0.png filter=lfs diff=lfs merge=lfs -text

biso101_left_pick_stats_joint_abs.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6de15c2ce424e8da7f503ff4dadf11b7482fac233da1d70e61f639ce6e1366a
+size 1859

config.json

@@ -0,0 +1,54 @@
+{
+  "action_dim": 12,
+  "architectures": [
+    "ACTPolicy"
+  ],
+  "args": {
+    "action_dim": 12,
+    "backbone": "resnet18",
+    "camera_names": [
+      "primary"
+    ],
+    "chunk_size": 100,
+    "dec_layers": 7,
+    "dilation": false,
+    "dim_feedforward": 3200,
+    "dropout": 0.1,
+    "enc_layers": 4,
+    "hidden_dim": 512,
+    "history_len": 1,
+    "kl_weight": 10,
+    "lr_backbone": 1e-05,
+    "masks": false,
+    "nheads": 8,
+    "num_queries": 100,
+    "position_embedding": "sine",
+    "pre_norm": false,
+    "prediction_len": 100,
+    "state_dim": 12
+  },
+  "backbone": "resnet18",
+  "camera_names": [
+    "primary"
+  ],
+  "chunk_size": 100,
+  "dec_layers": 7,
+  "dilation": false,
+  "dim_feedforward": 3200,
+  "dropout": 0.1,
+  "enc_layers": 4,
+  "hidden_dim": 512,
+  "history_len": 1,
+  "kl_weight": 10,
+  "lr_backbone": 1e-05,
+  "masks": false,
+  "nheads": 8,
+  "num_queries": 100,
+  "position_embedding": "sine",
+  "pre_norm": false,
+  "prediction_len": 100,
+  "state_dim": 12,
+  "torch_dtype": "float32",
+  "transformers_version": "4.45.2",
+  "type": "policy.act"
+}

example_data/action_raw.csv

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example_data/info.txt

@@ -0,0 +1,25 @@
+=== Training Example Data Info ===
+
+This example is saved from the raw training dataset (before data_processor).
+Data is saved in unnormalized form to match testing phase format.
+
+Sample keys:
+  image: shape=torch.Size([1, 3, 480, 640]), dtype=torch.uint8
+  state: shape=torch.Size([12]), dtype=torch.float32
+  action: shape=torch.Size([100, 12]), dtype=torch.float32
+  is_pad: shape=torch.Size([100]), dtype=torch.bool
+  raw_lang: str
+  reasoning: dict
+  timestamp: int
+  episode_id: int
+  dataset_id: str
+
+Files saved:
+  - camera_{i}.png: raw images from dataset (unnormalized, original resolution)
+  - state_raw.csv: raw state values (unnormalized)
+  - action_raw.csv: raw action values (unnormalized)
+  - raw_lang.txt: language instruction (if available)
+  - reasoning.json: reasoning data (if available)
+  - info.txt: this file
+
+Note: These raw values can be directly compared with testing phase examples.

example_data/raw_lang.txt

@@ -0,0 +1 @@
+default

example_data/state_raw.csv

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normalize.json

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+      "ctrl_space": "joint",
+      "ctrl_type": "abs"
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+}

policy_metadata.json

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+}

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