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
-- robotics
 ---
 
 # Model Card for act

config.json

@@ -33,7 +33,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/lr_test_v2/checkpoints/last/pretrained_model",
+    "pretrained_path": null,
     "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": 0,
+    "replace_final_stride_with_dilation": false,
     "pre_norm": false,
     "dim_model": 512,
     "n_heads": 8,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:48e5721625dfb5fe3e7687523f6dc0fb5e496b6218a1f8f92f1d69802b52ed4f
+oid sha256:96ff46ed968322906429df365deecd4e0af3f869510998ea3e872fed456633e9
 size 206699736

train_config.json

@@ -115,7 +115,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/lr_test_v2/checkpoints/last/pretrained_model",
+        "pretrained_path": null,
         "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": 0,
+        "replace_final_stride_with_dilation": false,
         "pre_norm": false,
         "dim_model": 512,
         "n_heads": 8,
@@ -143,9 +143,9 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/rl_test_v2",
+    "output_dir": "outputs/train/lr_test_v2",
     "job_name": "act_lr_test_v2",
-    "resume": true,
+    "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
@@ -191,5 +191,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": "outputs/train/lr_test_v2/checkpoints/last"
+    "checkpoint_path": null
 }