Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: act
 pipeline_tag: robotics
 tags:
 - robotics
-- act
 - lerobot
+- act
 ---
 
 # Model Card for act

config.json

@@ -70,7 +70,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/act_train_rubbish/checkpoints/last/pretrained_model",
     "chunk_size": 100,
     "n_action_steps": 10,
     "normalization_mapping": {
@@ -80,7 +80,7 @@
     },
     "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 sha256:75bf524ccd47f5b9f0b8823ad7da4b861951f3579a95d6d71c792f470931d601
+oid sha256:9ec7057b17954d7f30bdd022eca65281630584436b0eef9fb9ea89392567ec0b
 size 206707932

train_config.json

@@ -152,7 +152,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/act_train_rubbish/checkpoints/last/pretrained_model",
         "chunk_size": 100,
         "n_action_steps": 10,
         "normalization_mapping": {
@@ -162,7 +162,7 @@
         },
         "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,
@@ -182,15 +182,15 @@
     },
     "output_dir": "outputs/train/act_train_rubbish",
     "job_name": "act",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 64,
-    "steps": 40000,
+    "steps": 120000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 5000,
+    "save_freq": 10000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -218,6 +218,6 @@
         "run_id": "jcuuz89y",
         "mode": null
     },
-    "checkpoint_path": null,
+    "checkpoint_path": "outputs/train/act_train_rubbish/checkpoints/last",
     "rename_map": {}
 }