Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
+- lerobot
 - robotics
 - act
-- lerobot
 ---
 
 # Model Card for act

config.json

@@ -56,7 +56,7 @@
     "n_vae_encoder_layers": 4,
     "temporal_ensemble_coeff": null,
     "dropout": 0.1,
-    "kl_weight": 5.0,
+    "kl_weight": 2.0,
     "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 sha256:91be9352a113b0e8bc4fa00223a5f537efc91f7676965f6bfcfc40c08e50298d
+oid sha256:097b9b781b52db8736e5dfb9f07c3eccb72ab5e4032216384983ec10ea53d6bb
 size 206970104

train_config.json

@@ -138,18 +138,18 @@
         "n_vae_encoder_layers": 4,
         "temporal_ensemble_coeff": null,
         "dropout": 0.1,
-        "kl_weight": 5.0,
+        "kl_weight": 2.0,
         "optimizer_lr": 1e-05,
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "lerobot/outputs/train/TestEcriture",
+    "output_dir": "lerobot/outputs/train/Test1",
     "job_name": "act",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 16,
-    "steps": 200,
+    "steps": 100000,
     "eval_freq": 0,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -179,7 +179,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "w1s4lfal",
+        "run_id": "uhzpf1x2",
         "mode": null
     },
     "peft": null,