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

@@ -65,7 +65,7 @@
     "temporal_ensemble_coeff": null,
     "dropout": 0.1,
     "kl_weight": 10.0,
-    "optimizer_lr": 3e-05,
+    "optimizer_lr": 5e-05,
     "optimizer_weight_decay": 0.0001,
-    "optimizer_lr_backbone": 3e-05
+    "optimizer_lr_backbone": 5e-05
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:67fab521d9a02681829a77213c41d2578ef9e715f68bdbda596f4344b3dbfe08
+oid sha256:72a6a6210239a19011efaed923b66129a45417af9f2c4276a2cb486ea57cb9a3
 size 206503124

train_config.json

@@ -77,6 +77,7 @@
         "revision": null,
         "use_imagenet_stats": true,
         "video_backend": "torchcodec",
+        "return_uint8": false,
         "streaming": false
     },
     "env": null,
@@ -147,17 +148,19 @@
         "temporal_ensemble_coeff": null,
         "dropout": 0.1,
         "kl_weight": 10.0,
-        "optimizer_lr": 3e-05,
+        "optimizer_lr": 5e-05,
         "optimizer_weight_decay": 0.0001,
-        "optimizer_lr_backbone": 3e-05
+        "optimizer_lr_backbone": 5e-05
     },
-    "output_dir": "outputs/train/cube_stacking_right_v1_act_v2",
-    "job_name": "cube_stacking_right_v1_act_v2",
+    "output_dir": "outputs/train/cube_stacking_right_v1_act_v3",
+    "job_name": "cube_stacking_right_v1_act_v3",
     "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
-    "batch_size": 16,
+    "batch_size": 64,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
     "steps": 20000,
     "eval_freq": 20000,
     "log_freq": 100,
@@ -167,7 +170,7 @@
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
-        "lr": 3e-05,
+        "lr": 5e-05,
         "weight_decay": 0.0001,
         "grad_clip_norm": 10.0,
         "betas": [
@@ -188,7 +191,7 @@
         "project": "cube-stacking-act",
         "entity": null,
         "notes": null,
-        "run_id": "bpur799e",
+        "run_id": "l5v4f7q9",
         "mode": null,
         "add_tags": true
     },