Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: act
 pipeline_tag: robotics
 tags:
 - robotics
-- act
 - lerobot
+- act
 ---
 
 # Model Card for act

config.json

@@ -49,7 +49,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/cube_picknplace_baseline_act/checkpoints/last/pretrained_model",
+    "pretrained_path": null,
     "chunk_size": 50,
     "n_action_steps": 50,
     "normalization_mapping": {
@@ -59,7 +59,7 @@
     },
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "replace_final_stride_with_dilation": 0,
+    "replace_final_stride_with_dilation": false,
     "pre_norm": false,
     "dim_model": 512,
     "n_heads": 8,
@@ -73,7 +73,11 @@
     "temporal_ensemble_coeff": null,
     "dropout": 0.1,
     "kl_weight": 10.0,
-    "optimizer_lr": 1e-05,
+    "optimizer_lr": 3e-05,
     "optimizer_weight_decay": 0.0001,
-    "optimizer_lr_backbone": 1e-05
+    "optimizer_lr_backbone": 3e-05,
+    "image_resize_to": [
+        480,
+        640
+    ]
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:83f6d8a13c99f1db9d4d9cdc9e4848b670faf638923fbf3c74ead864b76f4441
+oid sha256:68b60650f9eff17d6487c2f17e379b58a844278739b6f2386c5b8d5bcb55e4dd
 size 206560504

train_config.json

@@ -132,7 +132,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/cube_picknplace_baseline_act/checkpoints/last/pretrained_model",
+        "pretrained_path": null,
         "chunk_size": 50,
         "n_action_steps": 50,
         "normalization_mapping": {
@@ -142,7 +142,7 @@
         },
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "replace_final_stride_with_dilation": 0,
+        "replace_final_stride_with_dilation": false,
         "pre_norm": false,
         "dim_model": 512,
         "n_heads": 8,
@@ -156,17 +156,21 @@
         "temporal_ensemble_coeff": null,
         "dropout": 0.1,
         "kl_weight": 10.0,
-        "optimizer_lr": 1e-05,
+        "optimizer_lr": 3e-05,
         "optimizer_weight_decay": 0.0001,
-        "optimizer_lr_backbone": 1e-05
+        "optimizer_lr_backbone": 3e-05,
+        "image_resize_to": [
+            480,
+            640
+        ]
     },
-    "output_dir": "outputs/train/cube_picknplace_baseline_act",
-    "job_name": "cube_picknplace_baseline_act",
-    "resume": true,
+    "output_dir": "outputs/train/cube_picknplace_pretrain_act",
+    "job_name": "cube_picknplace_pretrain_act",
+    "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
-    "batch_size": 8,
+    "batch_size": 32,
     "prefetch_factor": 4,
     "persistent_workers": true,
     "steps": 20000,
@@ -182,7 +186,7 @@
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
-        "lr": 1e-05,
+        "lr": 3e-05,
         "weight_decay": 0.0001,
         "grad_clip_norm": 10.0,
         "betas": [
@@ -203,7 +207,7 @@
         "project": "cube-picknplace",
         "entity": null,
         "notes": null,
-        "run_id": "tqplitay",
+        "run_id": "7dv57ts7",
         "mode": null,
         "add_tags": true
     },
@@ -214,5 +218,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": "outputs/train/cube_picknplace_baseline_act/checkpoints/last"
+    "checkpoint_path": null
 }