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config.json

@@ -1,6 +1,8 @@
 {
     "type": "act",
     "n_obs_steps": 1,
+    "device": "cuda",
+    "use_amp": false,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MEAN_STD",

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "lerobot/aloha_sim_transfer_cube_human",
+        "repo_id": "lerobot/aloha_sim_insertion_human",
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -65,7 +65,7 @@
     },
     "env": {
         "type": "aloha",
-        "task": "AlohaTransferCube-v0",
+        "task": "AlohaInsertion-v0",
         "fps": 50,
         "features": {
             "action": {
@@ -102,6 +102,8 @@
     "policy": {
         "type": "act",
         "n_obs_steps": 1,
+        "device": "cuda",
+        "use_amp": false,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
             "STATE": "MEAN_STD",
@@ -153,11 +155,9 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/2025-01-25/14-25-32_aloha_act",
+    "output_dir": "outputs/train/2025-01-25/17-37-25_aloha_act",
     "job_name": "aloha_act",
     "resume": false,
-    "device": "cuda",
-    "use_amp": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,