Upload policy weights, train config and readme

README.md

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

config.json

@@ -49,7 +49,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/act_making_coffee/checkpoints/last/pretrained_model",
     "chunk_size": 100,
     "n_action_steps": 100,
     "normalization_mapping": {
@@ -59,7 +59,7 @@
     },
     "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:a01f32389d75a79749c4d5a05cf416d6dbea12b3701686a37fe2ca2fb24e1ba6
+oid sha256:74c3e9e41a0b3c5c105bcb29ce7f23d9e1a7f388b3c078973f057636c32aae42
 size 206806284

train_config.json

@@ -131,7 +131,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/act_making_coffee/checkpoints/last/pretrained_model",
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -141,7 +141,7 @@
         },
         "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,
@@ -161,11 +161,11 @@
     },
     "output_dir": "outputs/train/act_making_coffee",
     "job_name": "act_making_coffee",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 16,
-    "steps": 50000,
+    "steps": 150000,
     "eval_freq": 5000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -205,5 +205,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "outputs/train/act_making_coffee/checkpoints/last"
 }