ACT-grab-color-ball-cvy6jca70d

act model - 🧪 phosphobot training pipeline

• Dataset: Fooping/grab-color-ball
• Wandb run id: None

Error Traceback

We faced an issue while training your model.

Dataset Fooping/grab-color-ball is version v3.0, but expected v2.1.

Training parameters

{
  "batch_size": null,
  "steps": null,
  "save_freq": 5000,
  "codebase_version": "v3.0",
  "robot_type": "so101_follower",
  "total_episodes": 50,
  "total_frames": 9108,
  "total_tasks": 1,
  "chunks_size": 1000,
  "fps": 30,
  "splits": {
    "train": "0:50"
  },
  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
  "features": {
    "action": {
      "dtype": "float32",
      "shape": [
        6
      ],
      "names": [
        "shoulder_pan.pos",
        "shoulder_lift.pos",
        "elbow_flex.pos",
        "wrist_flex.pos",
        "wrist_roll.pos",
        "gripper.pos"
      ],
      "fps": 30
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        6
      ],
      "names": [
        "shoulder_pan.pos",
        "shoulder_lift.pos",
        "elbow_flex.pos",
        "wrist_flex.pos",
        "wrist_roll.pos",
        "gripper.pos"
      ],
      "fps": 30
    },
    "observation.images.side": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 480,
        "video.width": 640,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.hand": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 480,
        "video.width": 640,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "timestamp": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    },
    "index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    },
    "task_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    }
  },
  "data_files_size_in_mb": 100,
  "video_files_size_in_mb": 500
}

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