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

@@ -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 sha256:6a489464e9ac262fd92427ac3ad9f9b1ae58cf0c2208623602e122b716aec703
-size 206494932
+oid sha256:590238ba99b53d7387f329339e73cbec7b99928d71842fba2d7ee2cd7c8eca82
+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,
@@ -124,8 +125,8 @@
         "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 +152,16 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 3e-05
     },
-    "output_dir": "outputs/train/cube_stacking_right_v2_act",
-    "job_name": "cube_stacking_right_v2_act",
+    "output_dir": "outputs/train/cube_stacking_right_v2_act_v2",
+    "job_name": "cube_stacking_right_v2_act_v2",
     "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 16,
-    "steps": 10000,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "steps": 20000,
     "eval_freq": 20000,
     "log_freq": 100,
     "tolerance_s": 0.0001,
@@ -188,7 +191,7 @@
         "project": "cube-stacking-act",
         "entity": null,
         "notes": null,
-        "run_id": "zopkbl4x",
+        "run_id": "ndl7j9dr",
         "mode": null,
         "add_tags": true
     },