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": "/workspace/outputs/act-pusht-run3/checkpoints/last/pretrained_model",
+    "pretrained_path": "/workspace/outputs/act-pusht-run5-resume2/checkpoints/last/pretrained_model",
     "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:cbb728006efef8d2e28f74dfde4c66173b1619069817babec9625b0dc7fa59f7
+oid sha256:fd7cedbef959b7b79b292100bc65505638f9182a8839a783dcf42d1d480ebf8b
 size 206666936

train_config.json

@@ -115,7 +115,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "/workspace/outputs/act-pusht-run3/checkpoints/last/pretrained_model",
+        "pretrained_path": "/workspace/outputs/act-pusht-run5-resume2/checkpoints/last/pretrained_model",
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -143,14 +143,14 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "/workspace/outputs/act-pusht-run4",
+    "output_dir": "/workspace/outputs/act-pusht-run5-resume3",
     "job_name": "act_pusht_job",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 400000,
-    "eval_freq": 10000,
+    "steps": 140000,
+    "eval_freq": 50000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
@@ -179,7 +179,7 @@
         "project": "pusht-t4",
         "entity": null,
         "notes": null,
-        "run_id": "ckiaz6no",
+        "run_id": "urkkum7u",
         "mode": null
     },
     "peft": null,