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

config.json

@@ -33,7 +33,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "anikitakis/smolvla_task_a_model",
     "chunk_size": 100,
     "n_action_steps": 100,
     "normalization_mapping": {
@@ -43,7 +43,7 @@
     },
     "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:bf0b1e5b8e697a9afa5e4ef4339a3575bed41bf889efa277b588ed8dee1e52fa
+oid sha256:1451309bcb5a2688121de522f59db66a8e7147bbbd1bec621f3ebae101f760b4
 size 206699736

train_config.json

@@ -115,7 +115,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "anikitakis/smolvla_task_a_model",
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -125,7 +125,7 @@
         },
         "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,
@@ -143,16 +143,16 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/act_task_a",
-    "job_name": "act_task_a",
+    "output_dir": "outputs/train/act_task_a_resume_v2",
+    "job_name": "act_task_a_resume_v2",
     "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
-    "batch_size": 32,
-    "steps": 2000,
+    "batch_size": 24,
+    "steps": 10000,
     "eval_freq": 20000,
-    "log_freq": 500,
+    "log_freq": 100,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
     "save_freq": 1000,