| --- |
| license: apache-2.0 |
| tags: |
| - robotics |
| - reinforcement-learning |
| - metaworld |
| - imitation-learning |
| - action-chunking |
| library_name: pytorch |
| --- |
| |
| # ACT-MODIFIED - MetaWorld MT-1 Shelf-Place |
|
|
| ## Model Description |
|
|
| This is a trained **MODIFIED Action Chunking with Transformers (ACT)** model for the MetaWorld MT-1 shelf-place-v3 task. |
|
|
| ## Architecture |
|
|
| **Modified ACT** uses images in both **encoder and decoder** (visual conditioning). |
|
|
| - **Encoder**: Takes image features + state (joints) + action history → latent distribution |
| - **Decoder**: Takes image features + state + latent sample → action chunk |
| - **Advantage**: Richer visual conditioning, more expressive latent space (25.43M parameters) |
| - **Hypothesis**: Should perform better with more training data |
|
|
| ## Training Details |
|
|
| - **Task**: MetaWorld MT-1 shelf-place-v3 |
| - Single-task manipulation (place puck on shelf) |
| - Varying object positions (randomized) |
| - **Observations**: |
| - State: 39-dimensional (joint positions, velocities, gripper info) |
| - Images: 480×480 RGB (downsampled to 64×64 for processing) |
| - **Action Space**: 4D continuous [Δx, Δy, Δz, gripper] |
| - **Training**: |
| - Demonstrations: 10 expert episodes (100% success) |
| - Training samples: 4,500 |
| - Epochs: 50 |
| - Batch size: 8 |
| - Learning rate: 1e-4 |
| - Chunk size: 100 steps |
|
|
| ## Performance |
|
|
| - **Success Rate**: 0% (limited training data) |
| - **Status**: Converged, ready for evaluation with more data |
|
|
| ## Usage |
|
|
| ### Installation |
|
|
| ```bash |
| # Clone repo and install |
| git clone https://huggingface.co/aryannzzz/act-metaworld-shelf-modified |
| pip install torch torchvision |
| ``` |
|
|
| ### Loading the Model |
|
|
| ```python |
| import torch |
| from pathlib import Path |
| |
| # Load checkpoint |
| device = 'cuda' if torch.cuda.is_available() else 'cpu' |
| checkpoint = torch.load('model_modified.pt', map_location=device) |
| |
| # Model config is in checkpoint['config'] |
| model_config = checkpoint['config'] |
| print("Model configuration:", model_config) |
| |
| # The checkpoint contains: |
| # - model_state_dict: Model weights |
| # - config: Model architecture config |
| # - training_config: Training hyperparameters |
| ``` |
|
|
| ## Model Architecture Details |
|
|
| ### Configuration |
|
|
| ```json |
| { |
| "dataset": { |
| "batch_size": 8, |
| "num_workers": 2, |
| "val_split": 0.2 |
| }, |
| "model": { |
| "joint_dim": 39, |
| "action_dim": 4, |
| "hidden_dim": 256, |
| "latent_dim": 32, |
| "n_encoder_layers": 4, |
| "n_decoder_layers": 4, |
| "n_heads": 8, |
| "feedforward_dim": 1024, |
| "dropout": 0.1 |
| }, |
| "chunking": { |
| "chunk_size": 50, |
| "temporal_ensemble_weight": 0.01 |
| }, |
| "training": { |
| "epochs": 50, |
| "learning_rate": 0.0001, |
| "weight_decay": 0.0001, |
| "kl_weight": 10.0, |
| "grad_clip": 1.0 |
| }, |
| "env": { |
| "task": "shelf-place-v3", |
| "image_size": [ |
| 480, |
| 480 |
| ], |
| "action_space": 4, |
| "state_space": 39 |
| }, |
| "logging": { |
| "use_wandb": false, |
| "log_every": 10, |
| "save_every": 10 |
| } |
| } |
| ``` |
|
|
| ## Citation |
|
|
| If you use this model, please cite: |
|
|
| ```bibtex |
| @article{zhao2023learning, |
| title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware}, |
| author={Zhao, Tony Z and Kumar, Vikash and Levine, Sergey and Finn, Chelsea}, |
| journal={arXiv preprint arXiv:2304.13705}, |
| year={2023} |
| } |
| ``` |
|
|
| ## License |
|
|
| Apache License 2.0 |
|
|
| --- |
|
|
| **Uploaded**: 2025-12-11 22:12:29 |
| **Variant**: modified |
| **Repository**: https://huggingface.co/aryannzzz/act-metaworld-shelf-modified |
|
|
