Upload policy weights, train config and readme

README.md

@@ -1,5 +1,5 @@
 ---
-datasets: Rqwebdev/sock-sorter
+datasets: Rqwebdev/sock-sorter-v2
 library_name: lerobot
 license: apache-2.0
 model_name: act

config.json

@@ -35,12 +35,13 @@
     },
     "device": "cuda",
     "use_amp": false,
+    "use_peft": false,
     "push_to_hub": true,
     "repo_id": "Rqwebdev/my_policy",
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/sock-sorter-v2/checkpoints/last/pretrained_model",
     "chunk_size": 100,
     "n_action_steps": 100,
     "normalization_mapping": {
@@ -50,7 +51,7 @@
     },
     "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:d2f54d25891f589b31eb150ef73e7447c80307040d7a35d70eb6d1242a9c3e41
+oid sha256:ba5b74434846bf0e9d46129bf1ddc5663ebdc161e07d9247f5c70930288e92a3
 size 206699736

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "Rqwebdev/sock-sorter",
+        "repo_id": "Rqwebdev/sock-sorter-v2",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -117,12 +117,13 @@
         },
         "device": "cuda",
         "use_amp": false,
+        "use_peft": false,
         "push_to_hub": true,
         "repo_id": "Rqwebdev/my_policy",
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/sock-sorter-v2/checkpoints/last/pretrained_model",
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -132,7 +133,7 @@
         },
         "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,
@@ -150,15 +151,17 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/sock-sorter",
-    "job_name": "sock-sorter",
-    "resume": false,
+    "output_dir": "outputs/train/sock-sorter-v2",
+    "job_name": "sock-sorter-v2",
+    "resume": true,
     "seed": 1000,
+    "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 8,
     "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 200,
+    "tolerance_s": 0.0001,
     "save_checkpoint": true,
     "save_freq": 20000,
     "use_policy_training_preset": true,
@@ -188,6 +191,12 @@
         "run_id": null,
         "mode": null
     },
-    "checkpoint_path": null,
-    "rename_map": {}
+    "peft": null,
+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": "outputs/train/sock-sorter-v2/checkpoints/last"
 }