Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- act
 - lerobot
 - robotics
+- act
 ---
 
 # Model Card for act

config.json

@@ -33,7 +33,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "/content/lerobot/chunk50_runs/pusht_act_chunk50_quick_40000/checkpoints/last/pretrained_model",
     "chunk_size": 50,
     "n_action_steps": 50,
     "normalization_mapping": {
@@ -43,7 +43,7 @@
     },
     "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:c63a941f8c9e8858fa4f417722501a8a195320530ba8f991fd558d3f97fd207e
+oid sha256:64dc949d5b864007dae176c76bdbe573977e2cd96d12e67db8a051d866fcea50
 size 206462136

train_config.json

@@ -115,7 +115,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "/content/lerobot/chunk50_runs/pusht_act_chunk50_quick_40000/checkpoints/last/pretrained_model",
         "chunk_size": 50,
         "n_action_steps": 50,
         "normalization_mapping": {
@@ -125,7 +125,7 @@
         },
         "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,
@@ -145,11 +145,11 @@
     },
     "output_dir": "chunk50_runs/pusht_act_chunk50_quick_40000",
     "job_name": "pusht_act_chunk50_quick_40000",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 40000,
+    "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -189,5 +189,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "/content/lerobot/chunk50_runs/pusht_act_chunk50_quick_40000/checkpoints/last"
 }