Upload policy weights, train config and readme

README.md

@@ -5,8 +5,8 @@ license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- robotics
 - lerobot
+- robotics
 - act
 ---
 

config.json

@@ -41,15 +41,15 @@
             ]
         }
     },
-    "device": "cpu",
+    "device": "cuda",
     "use_amp": false,
     "use_peft": false,
     "push_to_hub": true,
-    "repo_id": "Davidei/move_red_block_act",
+    "repo_id": "Davidei/move_red_block_act_Steps100000",
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/move_red_block_act/checkpoints/last/pretrained_model",
+    "pretrained_path": "Davidei/move_red_block_act_Steps100000",
     "chunk_size": 100,
     "n_action_steps": 100,
     "normalization_mapping": {

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:791e77161f02f8a813727e7f6880da6ade75b0a9f8ef6730e9f696aebd9075ca
+oid sha256:43c2962f278847b55c012aa5f09700f793afd61a0247e88f1a018e421245bdcc
 size 206699736

train_config.json

@@ -127,11 +127,11 @@
         "use_amp": false,
         "use_peft": false,
         "push_to_hub": true,
-        "repo_id": "Davidei/move_red_block_act",
+        "repo_id": "Davidei/move_red_block_act_Steps100000",
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/move_red_block_act/checkpoints/last/pretrained_model",
+        "pretrained_path": "Davidei/move_red_block_act_Steps100000",
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -159,9 +159,9 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/move_red_block_act",
+    "output_dir": "outputs/train/move_red_block_act_Steps100000",
     "job_name": "hf_act_training_job",
-    "resume": true,
+    "resume": false,
     "seed": 1000,
     "num_workers": 2,
     "batch_size": 32,
@@ -170,7 +170,7 @@
     "log_freq": 10,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
-    "save_freq": 2000,
+    "save_freq": 5000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -205,5 +205,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": "outputs/train/move_red_block_act/checkpoints/last"
+    "checkpoint_path": null
 }