Add LeRobot policy weights, processor configs and model card

README.md

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+---
+library_name: lerobot
+tags:
+- robotics
+- lerobot
+- act
+- behavioral-cloning
+pipeline_tag: robotics
+---
+
+# posco_act_square_260822_left_c50
+
+ACT (action-chunking transformer) policy trained with [LeRobot](https://github.com/huggingface/lerobot) 0.4.3
+on the POSCO left-arm pick-and-place dataset.
+
+## Configuration
+
+| | |
+|---|---|
+| architecture | `act` |
+| `chunk_size` / `n_action_steps` | 50 / 50 |
+| observation | `observation.images.agentview` (1 camera, 480x640) + `observation.state` |
+| action / state dim | **8** (left arm `arm_l_joint1..7` + `gripper_l_joint1`) |
+| control rate | 20 Hz -> a chunk of 50 spans 2.5 s |
+| training | 50,000 steps, batch 64, lr 1e-05 |
+| data | `square_260822_left`, 150 episodes / 73,529 frames |
+
+Right-arm dimensions were dropped before training: in these recordings they are
+effectively constant (action std down to 0.0), so under normalization they contribute
+unit-variance sensor noise the policy cannot learn.
+
+## Usage
+
+```python
+from lerobot.policies.act.modeling_act import ACTPolicy
+from lerobot.policies.factory import make_pre_post_processors
+
+repo = "learner1119/posco_act_square_260822_left_c50"
+policy = ACTPolicy.from_pretrained(repo).eval()
+pre, post = make_pre_post_processors(policy.config, pretrained_path=repo)
+
+processed = pre(observation)                       # normalizes + tokenizes
+chunk = policy.predict_action_chunk(processed)     # (B, 50, 8), normalized
+actions = post(chunk[:, 0])                        # -> real action space
+```
+
+> On lerobot >= 0.4 normalization lives in these processor pipelines, **not** inside the
+> policy. Calling `predict_action_chunk` on raw observations silently returns wrong
+> actions -- always go through `pre` / `post`.
+
+## Caveat
+
+Trained on all available episodes with no held-out split, so it has no honest
+offline validation number attached. Treat reported training loss as fit quality,
+not generalization.

config.json

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+{
+    "type": "act",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.agentview": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                8
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                8
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "chunk_size": 50,
+    "n_action_steps": 50,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "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_coeff": null,
+    "dropout": 0.1,
+    "kl_weight": 10.0,
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 0.0001,
+    "optimizer_lr_backbone": 1e-05
+}

model.safetensors

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+size 206511320

policy_postprocessor.json

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+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              8
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

policy_postprocessor_step_0_unnormalizer_processor.safetensors

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+size 3780

policy_preprocessor.json

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+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.images.agentview": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              8
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              8
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
+        }
+      },
+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
+    }
+  ]
+}

policy_preprocessor_step_3_normalizer_processor.safetensors

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+size 3780

train_config.json

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+{
+    "dataset": {
+        "repo_id": "local/square_260822_left",
+        "root": "/home/work/posco_dataset/dataset/square_260822_left",
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+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
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+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
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+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
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+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
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+                    "kwargs": {
+                        "hue": [
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+                            0.05
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+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
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+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
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+                        "translate": [
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+                    }
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+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "pyav",
+        "streaming": false
+    },
+    "env": null,
+    "policy": {
+        "type": "act",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.images.agentview": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    8
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    8
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": false,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "chunk_size": 50,
+        "n_action_steps": 50,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "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,
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+        "dropout": 0.1,
+        "kl_weight": 10.0,
+        "optimizer_lr": 1e-05,
+        "optimizer_weight_decay": 0.0001,
+        "optimizer_lr_backbone": 1e-05
+    },
+    "output_dir": "/home/work/ku_doyoung/ckpt/square/act_square_c50_s1000",
+    "job_name": "act_square_c50_s1000",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 8,
+    "batch_size": 64,
+    "steps": 50000,
+    "eval_freq": -1,
+    "log_freq": 100,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 10000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 1e-05,
+        "weight_decay": 0.0001,
+        "grad_clip_norm": 10.0,
+        "betas": [
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+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": null,
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "mode": null
+    },
+    "peft": null,
+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": null
+}