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config.json

@@ -5,17 +5,17 @@
   "dropout": 0.1,
   "feedforward_activation": "relu",
   "input_normalization_modes": {
-    "observation.images.first": "mean_std",
-    "observation.images.top": "mean_std",
+    "observation.images.laptop": "mean_std",
+    "observation.images.phone": "mean_std",
     "observation.state": "mean_std"
   },
   "input_shapes": {
-    "observation.images.first": [
+    "observation.images.laptop": [
       3,
       480,
       640
     ],
-    "observation.images.top": [
+    "observation.images.phone": [
       3,
       480,
       640

config.yaml

@@ -2,7 +2,7 @@ resume: false
 device: cuda
 use_amp: false
 seed: 1000
-dataset_repo_id: zijian2022/so100_test_llm2
+dataset_repo_id: zijian2022/llm40
 video_backend: pyav
 training:
   offline_steps: 80000
@@ -173,7 +173,7 @@ env:
   action_dim: 6
   fps: ${fps}
 override_dataset_stats:
-  observation.images.top:
+  observation.images.laptop:
     mean:
     - - - 0.485
     - - - 0.456
@@ -182,7 +182,7 @@ override_dataset_stats:
     - - - 0.229
     - - - 0.224
     - - - 0.225
-  observation.images.first:
+  observation.images.phone:
     mean:
     - - - 0.485
     - - - 0.456
@@ -197,11 +197,11 @@ policy:
   chunk_size: 100
   n_action_steps: 100
   input_shapes:
-    observation.images.top:
+    observation.images.laptop:
     - 3
     - 480
     - 640
-    observation.images.first:
+    observation.images.phone:
     - 3
     - 480
     - 640
@@ -211,8 +211,8 @@ policy:
     action:
     - ${env.action_dim}
   input_normalization_modes:
-    observation.images.top: mean_std
-    observation.images.first: mean_std
+    observation.images.laptop: mean_std
+    observation.images.phone: mean_std
     observation.state: mean_std
   output_normalization_modes:
     action: mean_std

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ec4c105bbcec5d909fdfa47374b199e28e406944e2f0fa2c959d452517bf00ec
-size 206701064
+oid sha256:112d2d541e33c60c1310b549ddde24a591733c3d4b760e245a7b51cde1498f5f
+size 206701072