Upload policy weights, train config and readme

README.md

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

config.json

@@ -41,7 +41,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/cube_in_box/checkpoints/last/pretrained_model",
     "chunk_size": 100,
     "n_action_steps": 100,
     "normalization_mapping": {
@@ -51,7 +51,7 @@
     },
     "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,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:35b96d326305f688ff957a4f93c265d0be398b3183ceaaa82be63ab6d11475a5
+oid sha256:c50b4169d3d32067409717e1a540e0f062efc3f43518f7584ab6d709d0566e63
 size 206699736

train_config.json

@@ -123,7 +123,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/cube_in_box/checkpoints/last/pretrained_model",
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -133,7 +133,7 @@
         },
         "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,
@@ -153,12 +153,12 @@
     },
     "output_dir": "outputs/train/cube_in_box",
     "job_name": "act_so101_test",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 8,
     "batch_size": 1,
-    "steps": 20000,
+    "steps": 40000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -199,5 +199,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "outputs/train/cube_in_box/checkpoints/last"
 }