act-metaworld-shelf-modified

# Clone repo and install
git clone https://huggingface.co/aryannzzz/act-metaworld-shelf-modified
pip install torch torchvision

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

{
  "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
  }
}