介绍

搬运自HuggigFace的lerobot项目，用于解决~~HF网络异常~~导致的模型无法访问问题
[modelrepo]: https://huggigface.co/lerobot/actalohasimtrasfercubehuma

Model Card for ACT/AlohaTrasferCube

Actio Chukig Trasformer Policy (as per Learig Fie-Graied Bimaual Maipulatio with Low-Cost Hardware) traied for the AlohaTrasferCube eviromet from gym-aloha.

How to Get Started with the Model

See the LeRobot library (particularly the evaluatio script) for istructios o how to load ad evaluate this model.

Traiig Details

Traied with LeRobot@d747195.

The model was traied usig LeRobot's traiig script ad with the alohasimtrasfercubehuma dataset, usig this commad:

pytho lerobot/scripts/trai.py \
  hydra.job.ame=act_aloha_sim_trasfer_cube_huma \
  hydra.ru.dir=outputs/trai/act_aloha_sim_trasfer_cube_huma \
  policy=act \
  policy.use_vae=true \
  ev=aloha \
  ev.task=AlohaTrasferCube-v0 \
  dataset_repo_id=lerobot/aloha_sim_trasfer_cube_huma \
  traiig.eval_freq=10000 \
  traiig.log_freq=250 \
  traiig.offlie_steps=100000 \
  traiig.save_model=true \
  traiig.save_freq=25000 \
  eval._episodes=50 \
  eval.batch_size=50 \
  wadb.eable=true \
  device=cuda

The traiig curves may be foud at https://wadb.ai/alexader-soare/Alexader-LeRobot/rus/hjdard15.

This took about 2.5 hours to trai o a Nvida RTX 3090.

Evaluatio

The model was evaluated o the AlohaTrasferCube eviromet from gym-aloha ad compared to a similar model traied with the origial ACT repository. Each episode marks a success if the cube is successfully picked by oe robot arm ad trasferred to the other robot arm.

Here are the success rate results for 500 episodes worth of evaluatio. The first row is the aive mea. The secod row assumes a uiform prior ad computes the beta posterior, the calculates the mea ad lower/upper cofidece bouds (with a 68.2% cofidece iterval cetered o the mea). The "Theirs" colum is for a equivalet model traied o the origial ACT repository ad evaluated o LeRobot (the model weights may be foud i the origial_act_repo brach of this respository). The results of each of the idividual rollouts may be foud i eval_ifo.jso.

|Ours|Theirs -|-|- Success rate for 500 episodes (%) | 87.6 | 68.0 Beta distributio lower/mea/upper (%) | 86.0 / 87.5 / 88.9 | 65.8 / 67.9 / 70.0

The origial code was heavily refactored, ad some bugs were spotted alog the way. The differeces i code may accout for the differece i success rate. Aother possibility is that our simulatio eviromet may use slightly differet heuristics to evaluate success (we've observed that success is registered as soo as the secod arm's gripper makes atipodal cotact with the cube). Fially, oe should observe that the i-traiig evaluatio jumps up towards the ed of traiig. This may eed further ivestigatio (Is it statistically sigificat? If so, what is the cause?).

介绍 搬运自HuggingFace的lerobot项目，用于解决~~HF网络异常~~导致的模型无法访问问题 [modelrepo]: https://huggingface.co/lerobot/ac