Upload policy weights, train config and readme

config.json

@@ -27,14 +27,15 @@
     },
     "device": "cuda",
     "use_amp": false,
+    "use_peft": false,
     "push_to_hub": true,
     "repo_id": "SagriviS/Test",
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
-    "chunk_size": 150,
-    "n_action_steps": 150,
+    "pretrained_path": "outputs/train/Test30/checkpoints/last/pretrained_model",
+    "chunk_size": 100,
+    "n_action_steps": 100,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MEAN_STD",
@@ -42,11 +43,11 @@
     },
     "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": 256,
+    "dim_model": 512,
     "n_heads": 8,
-    "dim_feedforward": 1024,
+    "dim_feedforward": 3200,
     "feedforward_activation": "relu",
     "n_encoder_layers": 4,
     "n_decoder_layers": 1,
@@ -55,7 +56,7 @@
     "n_vae_encoder_layers": 4,
     "temporal_ensemble_coeff": null,
     "dropout": 0.1,
-    "kl_weight": 7.0,
+    "kl_weight": 10.0,
     "optimizer_lr": 1e-05,
     "optimizer_weight_decay": 0.0001,
     "optimizer_lr_backbone": 1e-05

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e112132adb5f6caf27e5518d94c5f95d4d05c5b282bc3c3fce36f51ef09e11c2
-size 75255344
+oid sha256:9bc4c3cc10a9786c2d2461f3feb34526d89e06c2f7c696b677b579cc63ba094f
+size 206765304

train_config.json

@@ -115,9 +115,9 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
-        "chunk_size": 150,
-        "n_action_steps": 150,
+        "pretrained_path": "outputs/train/Test30/checkpoints/last/pretrained_model",
+        "chunk_size": 100,
+        "n_action_steps": 100,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
             "STATE": "MEAN_STD",
@@ -125,11 +125,11 @@
         },
         "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": 256,
+        "dim_model": 512,
         "n_heads": 8,
-        "dim_feedforward": 1024,
+        "dim_feedforward": 3200,
         "feedforward_activation": "relu",
         "n_encoder_layers": 4,
         "n_decoder_layers": 1,
@@ -138,14 +138,14 @@
         "n_vae_encoder_layers": 4,
         "temporal_ensemble_coeff": null,
         "dropout": 0.1,
-        "kl_weight": 7.0,
+        "kl_weight": 10.0,
         "optimizer_lr": 1e-05,
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "lerobot/outputs/train/Test29",
+    "output_dir": "lerobot/outputs/train/Test30",
     "job_name": "act",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 16,
@@ -179,7 +179,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "am1xd8ol",
+        "run_id": "ilaiia4e",
         "mode": null
     },
     "peft": null,
@@ -189,5 +189,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "outputs/train/Test30/checkpoints/last"
 }