Upload policy weights, train config and readme

README.md

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

config.json

@@ -27,12 +27,13 @@
     },
     "device": "cuda",
     "use_amp": false,
+    "use_peft": false,
     "push_to_hub": true,
     "repo_id": "SagriviS/Test",
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/Test30/checkpoints/last/pretrained_model",
+    "pretrained_path": "outputs/train/Test31/checkpoints/last/pretrained_model",
     "chunk_size": 100,
     "n_action_steps": 100,
     "normalization_mapping": {
@@ -55,7 +56,7 @@
     "n_vae_encoder_layers": 4,
     "temporal_ensemble_coeff": null,
     "dropout": 0.1,
-    "kl_weight": 10.0,
+    "kl_weight": 5.0,
     "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 sha256:9bc4c3cc10a9786c2d2461f3feb34526d89e06c2f7c696b677b579cc63ba094f
+oid sha256:63a60cd6e9c2d1022d53b4cc5bd812ae947f6b1b9c6d66f316bd05a883b3fb9d
 size 206765304

train_config.json

@@ -115,7 +115,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/Test30/checkpoints/last/pretrained_model",
+        "pretrained_path": "outputs/train/Test31/checkpoints/last/pretrained_model",
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -138,12 +138,12 @@
         "n_vae_encoder_layers": 4,
         "temporal_ensemble_coeff": null,
         "dropout": 0.1,
-        "kl_weight": 10.0,
+        "kl_weight": 5.0,
         "optimizer_lr": 1e-05,
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "lerobot/outputs/train/Test30",
+    "output_dir": "lerobot/outputs/train/Test31",
     "job_name": "act",
     "resume": true,
     "seed": 1000,
@@ -179,7 +179,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "ilaiia4e",
+        "run_id": "ze80svgl",
         "mode": null
     },
     "peft": null,
@@ -189,5 +189,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": "outputs/train/Test30/checkpoints/last"
+    "checkpoint_path": "outputs/train/Test31/checkpoints/last"
 }