Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- act
 - robotics
 - lerobot
+- act
 ---
 
 # Model Card for act

config.json

@@ -32,7 +32,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs\\train\\act_so101_3\\checkpoints\\last\\pretrained_model",
     "chunk_size": 100,
     "n_action_steps": 100,
     "normalization_mapping": {
@@ -42,7 +42,7 @@
     },
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "replace_final_stride_with_dilation": false,
+    "replace_final_stride_with_dilation": 0,
     "pre_norm": false,
     "dim_model": 512,
     "n_heads": 8,

train_config.json

@@ -114,7 +114,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs\\train\\act_so101_3\\checkpoints\\last\\pretrained_model",
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -124,7 +124,7 @@
         },
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "replace_final_stride_with_dilation": false,
+        "replace_final_stride_with_dilation": 0,
         "pre_norm": false,
         "dim_model": 512,
         "n_heads": 8,
@@ -144,11 +144,11 @@
     },
     "output_dir": "outputs\\train\\act_so101_3",
     "job_name": "act_so101_3",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 10000,
+    "steps": 5400,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -180,6 +180,6 @@
         "run_id": "3t8kor49",
         "mode": null
     },
-    "checkpoint_path": null,
+    "checkpoint_path": "outputs\\train\\act_so101_3\\checkpoints\\last",
     "rename_map": {}
 }