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README.md

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+---
+tags:
+- bc
+- model_hub_mixin
+- pytorch_model_hub_mixin
+- robotics
+---
+
+This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
+- Library: [More Information Needed]
+- Docs: [More Information Needed]

config.json

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+{
+  "input_normalization_modes": {},
+  "input_shapes": {
+    "observation_images_agentview": [
+      3,
+      96,
+      96
+    ],
+    "observation_images_robot0_eye_in_hand": [
+      3,
+      96,
+      96
+    ],
+    "observation_state": [
+      9
+    ]
+  },
+  "output_normalization_modes": {},
+  "output_shapes": {
+    "action": [
+      7
+    ]
+  }
+}

config.yaml

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+resume: false
+device: cuda
+use_amp: false
+seed: 1000
+dataset_repo_id: kywch/mimicgen_stack_d1_so
+video_backend: pyav
+training:
+  offline_steps: 160000
+  num_workers: 4
+  batch_size: 16
+  eval_freq: 10000
+  log_freq: 200
+  save_checkpoint: true
+  save_freq: 20000
+  online_steps: 0
+  online_rollout_n_episodes: 1
+  online_rollout_batch_size: 1
+  online_steps_between_rollouts: null
+  online_sampling_ratio: 0.5
+  online_env_seed: null
+  online_buffer_capacity: null
+  online_buffer_seed_size: 0
+  do_online_rollout_async: false
+  image_transforms:
+    enable: false
+    max_num_transforms: 3
+    random_order: false
+    brightness:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+    contrast:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+    saturation:
+      weight: 1
+      min_max:
+      - 0.5
+      - 1.5
+    hue:
+      weight: 1
+      min_max:
+      - -0.05
+      - 0.05
+    sharpness:
+      weight: 1
+      min_max:
+      - 0.8
+      - 1.2
+  lr: 0.0001
+  weight_decay: 0.0
+  decay_factor: 0.1
+  epoch_schedule: []
+  scheduler_type: multistep
+  grad_clip_norm: 200
+  delta_timestamps:
+    observation.images.agentview:
+    - -0.45
+    - -0.4
+    - -0.35
+    - -0.3
+    - -0.25
+    - -0.2
+    - -0.15
+    - -0.1
+    - -0.05
+    - 0.0
+    observation.images.robot0_eye_in_hand:
+    - -0.45
+    - -0.4
+    - -0.35
+    - -0.3
+    - -0.25
+    - -0.2
+    - -0.15
+    - -0.1
+    - -0.05
+    - 0.0
+    observation.state:
+    - -0.45
+    - -0.4
+    - -0.35
+    - -0.3
+    - -0.25
+    - -0.2
+    - -0.15
+    - -0.1
+    - -0.05
+    - 0.0
+    action_delta:
+    - -0.45
+    - -0.4
+    - -0.35
+    - -0.3
+    - -0.25
+    - -0.2
+    - -0.15
+    - -0.1
+    - -0.05
+    - 0.0
+eval:
+  n_episodes: 20
+  batch_size: 20
+  use_async_envs: true
+  use_training_episodes: false
+wandb:
+  enable: true
+  disable_artifact: true
+  project: lerobot
+  notes: ''
+fps: 20
+env:
+  name: mimicgen
+  task: Stack_D1
+  state_dim: 9
+  action_dim: 7
+  episode_length: 250
+  meta: stack_d1_env.json
+  image_keys:
+  - agentview
+  - robot0_eye_in_hand
+  state_keys:
+  - robot0_eef_pos
+  - robot0_eef_quat
+  - robot0_gripper_qpos
+  use_delta_action: true
+policy:
+  name: bcrnn
+  n_obs_steps: 10
+  input_shapes:
+    observation.images.agentview:
+    - 3
+    - 96
+    - 96
+    observation.images.robot0_eye_in_hand:
+    - 3
+    - 96
+    - 96
+    observation.state:
+    - ${env.state_dim}
+  output_shapes:
+    action:
+    - ${env.action_dim}

pytorch_model.bin

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4721d23e12273cf1f153500df17e98f72d940479f9cf3664e0b76d89832279d5
+size 140390814