Upload policy weights, train config and readme

README.md

@@ -79,7 +79,7 @@ The policy consumes these observation features and produces these action feature
 
 | Setting | Value |
 | --- | --- |
-| Training steps | 100000 |
+| Training steps | 300000 |
 | Batch size | 16 |
 | Optimizer | adamw |
 | Learning rate | 1e-05 |

config.json

@@ -49,7 +49,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/3cam_act_so101/checkpoints/last/pretrained_model",
     "pretrained_revision": null,
     "chunk_size": 100,
     "n_action_steps": 100,
@@ -60,7 +60,7 @@
     },
     "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 sha256:916773b3bb3f9dbdf3ad20bb43278af29cff62d6d946ffff463fcd7084263e70
+oid sha256:bfc6bb2fba763d7e05a6b4142a8dcb7bdc232d0761703cb9a871f52251fbd995
 size 206699736

train_config.json

@@ -132,7 +132,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/3cam_act_so101/checkpoints/last/pretrained_model",
         "pretrained_revision": null,
         "chunk_size": 100,
         "n_action_steps": 100,
@@ -143,7 +143,7 @@
         },
         "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,
@@ -164,14 +164,14 @@
     "reward_model": null,
     "output_dir": "outputs/train/3cam_act_so101",
     "job_name": "3cam_act_so101",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 16,
     "prefetch_factor": 4,
     "persistent_workers": true,
-    "steps": 100000,
+    "steps": 300000,
     "eval_freq": 20000,
     "log_freq": 100,
     "tolerance_s": 0.0001,
@@ -211,5 +211,5 @@
     "peft": null,
     "sample_weighting": null,
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "outputs/train/3cam_act_so101/checkpoints/last"
 }