Upload policy weights, train config and readme

config.json

@@ -33,7 +33,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/lr_test/checkpoints/last/pretrained_model",
     "chunk_size": 100,
     "n_action_steps": 100,
     "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 sha256:678cf7f82dbe510ae564d87fb5bb5011c2c8798032953e23a6e6356235b79646
+oid sha256:24ea4922d09ef7191a2e25142a69f7712a142c97f3de81ddc7748c80304634c7
 size 206699736

train_config.json

@@ -115,7 +115,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/lr_test/checkpoints/last/pretrained_model",
         "chunk_size": 100,
         "n_action_steps": 100,
         "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,
@@ -145,17 +145,17 @@
     },
     "output_dir": "outputs/train/lr_test",
     "job_name": "act_lr_test",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 3000,
+    "steps": 10000,
     "eval_freq": 20000,
-    "log_freq": 200,
+    "log_freq": 500,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
-    "save_freq": 1500,
+    "save_freq": 2000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -191,5 +191,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "outputs/train/lr_test/checkpoints/last"
 }