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
-- lerobot
 - robotics
+- lerobot
+- act
 ---
 
 # Model Card for act

config.json

@@ -45,8 +45,8 @@
     "private": null,
     "tags": null,
     "license": null,
-    "chunk_size": 100,
-    "n_action_steps": 50,
+    "chunk_size": 60,
+    "n_action_steps": 30,
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "replace_final_stride_with_dilation": false,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:03c060b7528f087337025a29f2ba73b612d8e2c15484d5b02df2ed535920b89c
-size 206701064
+oid sha256:48cdec892cd44b09fad0819071770c52aea6c45c7e1dad54489e97f6c7653e88
+size 206537224

train_config.json

@@ -113,8 +113,8 @@
         "private": null,
         "tags": null,
         "license": null,
-        "chunk_size": 100,
-        "n_action_steps": 50,
+        "chunk_size": 60,
+        "n_action_steps": 30,
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
         "replace_final_stride_with_dilation": false,
@@ -140,8 +140,8 @@
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
-    "batch_size": 8,
-    "steps": 150000,
+    "batch_size": 64,
+    "steps": 120000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -170,7 +170,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "q47s9jze",
+        "run_id": "511gfj16",
         "mode": null
     }
 }