Upload policy weights, train config and readme

config.json

@@ -42,8 +42,8 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "chunk_size": 48,
-    "n_action_steps": 30,
+    "chunk_size": 50,
+    "n_action_steps": 50,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MEAN_STD",

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:da05a37b717657af6ef30e72c508b7eeb828b6df46cbcd7865ae89b83c6a0172
-size 206494932
+oid sha256:67fab521d9a02681829a77213c41d2578ef9e715f68bdbda596f4344b3dbfe08
+size 206503124

train_config.json

@@ -124,8 +124,8 @@
         "tags": null,
         "license": null,
         "pretrained_path": null,
-        "chunk_size": 48,
-        "n_action_steps": 30,
+        "chunk_size": 50,
+        "n_action_steps": 50,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
             "STATE": "MEAN_STD",
@@ -151,14 +151,14 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 3e-05
     },
-    "output_dir": "outputs/train/cube_stacking_right_v1_act",
-    "job_name": "cube_stacking_right_v1_act",
+    "output_dir": "outputs/train/cube_stacking_right_v1_act_v2",
+    "job_name": "cube_stacking_right_v1_act_v2",
     "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 16,
-    "steps": 10000,
+    "steps": 20000,
     "eval_freq": 20000,
     "log_freq": 100,
     "tolerance_s": 0.0001,
@@ -183,12 +183,12 @@
         "use_async_envs": true
     },
     "wandb": {
-        "enable": false,
+        "enable": true,
         "disable_artifact": false,
-        "project": "lerobot",
+        "project": "cube-stacking-act",
         "entity": null,
         "notes": null,
-        "run_id": null,
+        "run_id": "bpur799e",
         "mode": null,
         "add_tags": true
     },