Upload policy weights, train config and readme

config.json

@@ -26,15 +26,15 @@
         }
     },
     "device": "cuda",
-    "use_amp": true,
+    "use_amp": false,
     "push_to_hub": true,
     "repo_id": "J-joon/act_aloha_sim_transfer_cube_human",
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/original/train/act_aloha_transfer_cube_v1/checkpoints/016000/pretrained_model",
     "chunk_size": 50,
-    "n_action_steps": 50,
+    "n_action_steps": 1,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MEAN_STD",
@@ -42,18 +42,18 @@
     },
     "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,
     "dim_feedforward": 3200,
     "feedforward_activation": "relu",
     "n_encoder_layers": 4,
-    "n_decoder_layers": 1,
+    "n_decoder_layers": 7,
     "use_vae": true,
     "latent_dim": 32,
     "n_vae_encoder_layers": 4,
-    "temporal_ensemble_coeff": null,
+    "temporal_ensemble_coeff": 0.01,
     "dropout": 0.1,
     "kl_weight": 10.0,
     "optimizer_lr": 1e-05,

model.safetensors

@@ -1,3 +1,3 @@
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-oid sha256:0e4126ce5b2475719746926228f04c0d662fdc1f62f64b88640a24bdc4877855
-size 206560504
+oid sha256:61c196fcbcd2eb1ccaa50d6391760c93f592356c95d4a618dd9652ac52235641
+size 335808664

train_config.json

@@ -133,15 +133,15 @@
             }
         },
         "device": "cuda",
-        "use_amp": true,
+        "use_amp": false,
         "push_to_hub": true,
         "repo_id": "J-joon/act_aloha_sim_transfer_cube_human",
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/original/train/act_aloha_transfer_cube_v1/checkpoints/016000/pretrained_model",
         "chunk_size": 50,
-        "n_action_steps": 50,
+        "n_action_steps": 1,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
             "STATE": "MEAN_STD",
@@ -149,35 +149,35 @@
         },
         "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,
         "dim_feedforward": 3200,
         "feedforward_activation": "relu",
         "n_encoder_layers": 4,
-        "n_decoder_layers": 1,
+        "n_decoder_layers": 7,
         "use_vae": true,
         "latent_dim": 32,
         "n_vae_encoder_layers": 4,
-        "temporal_ensemble_coeff": null,
+        "temporal_ensemble_coeff": 0.01,
         "dropout": 0.1,
         "kl_weight": 10.0,
         "optimizer_lr": 1e-05,
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/original/train/act_aloha_transfer_cube",
+    "output_dir": "outputs/original/train/act_aloha_transfer_cube_v1",
     "job_name": "aloha_act",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 8,
-    "batch_size": 16,
+    "batch_size": 8,
     "steps": 100000,
-    "eval_freq": 10000,
+    "eval_freq": 100000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 5000,
+    "save_freq": 2000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -192,8 +192,8 @@
     },
     "scheduler": null,
     "eval": {
-        "n_episodes": 4,
-        "batch_size": 4,
+        "n_episodes": 50,
+        "batch_size": 50,
         "use_async_envs": false
     },
     "wandb": {
@@ -201,8 +201,8 @@
         "disable_artifact": true,
         "project": "original",
         "entity": "espada",
-        "notes": "original: act_aloha_transfer_cube",
-        "run_id": "act_aloha_transfer_cube_original",
+        "notes": "original: act_aloha_transfer_cube v1",
+        "run_id": "act_aloha_transfer_cube_original_v1",
         "mode": "online"
     }
 }