Upload model card and train config

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
+- robotics
 - lerobot
 - act
-- robotics
 ---
 
 # Model Card for act
@@ -63,8 +63,8 @@ The policy consumes these observation features and produces these action feature
 ## Training Dataset
 
 - **Repository:** [Artefacts/shape-sorting-so101](https://huggingface.co/datasets/Artefacts/shape-sorting-so101)
-- **Episodes:** 51
-- **Frames:** 16018
+- **Episodes:** 150
+- **Frames:** 47626
 - **Frame rate:** 50 FPS
 - **Task(s):** "Sort the shapes into the box."
 

train_config.json

@@ -176,6 +176,7 @@
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
     "save_freq": 20000,
+    "checkpoint_format": "safetensors",
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -189,6 +190,42 @@
         "eps": 1e-08
     },
     "scheduler": null,
+    "parallelism": {
+        "dp_replicate": 1,
+        "dp_shard": 1,
+        "context_parallel": {
+            "ring_degree": 1,
+            "ulysses_degree": 1
+        },
+        "cfg_parallel": 1
+    },
+    "accelerator": {
+        "mixed_precision": "no",
+        "gradient_accumulation": {
+            "steps": 1
+        },
+        "fsdp": {
+            "reshard_after_forward": true,
+            "wrap_modules": null,
+            "min_num_params": null,
+            "cpu_offload": false,
+            "ignored_modules": null
+        },
+        "ddp": {
+            "find_unused_parameters": true,
+            "gradient_as_bucket_view": false,
+            "static_graph": false
+        },
+        "compile": {
+            "enabled": false,
+            "backend": "inductor",
+            "mode": null,
+            "regional": true
+        },
+        "activation_checkpointing": {
+            "mode": "none"
+        }
+    },
     "eval": {
         "n_episodes": 50,
         "batch_size": 1,
@@ -197,6 +234,16 @@
         "recording_repo_id": null,
         "recording_private": false
     },
+    "ema": {
+        "enable": false,
+        "decay": null,
+        "update_after_step": 0,
+        "inv_gamma": 1.0,
+        "power": 0.75,
+        "min_decay": 0.0,
+        "max_decay": 0.9999,
+        "use_for_eval": true
+    },
     "wandb": {
         "enable": false,
         "disable_artifact": false,