Upload policy weights, train config and readme

README.md

@@ -5,8 +5,8 @@ license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- lerobot
 - act
+- lerobot
 - robotics
 ---
 

config.json

@@ -1,11 +1,6 @@
 {
     "type": "act",
     "n_obs_steps": 1,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MEAN_STD",
-        "ACTION": "MEAN_STD"
-    },
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -47,9 +42,14 @@
     "license": null,
     "chunk_size": 100,
     "n_action_steps": 100,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "replace_final_stride_with_dilation": 0,
+    "replace_final_stride_with_dilation": false,
     "pre_norm": false,
     "dim_model": 512,
     "n_heads": 8,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9d5e71957fe9f54fdc1de291adac44267b8a64f71450de08433953550d2a4857
-size 206701064
+oid sha256:15026ba33961876fdca8a4fd8c0f446b11bb4a03fed01851aab9bafebac2927f
+size 206699736

train_config.json

@@ -69,11 +69,6 @@
     "policy": {
         "type": "act",
         "n_obs_steps": 1,
-        "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
-            "STATE": "MEAN_STD",
-            "ACTION": "MEAN_STD"
-        },
         "input_features": {
             "observation.state": {
                 "type": "STATE",
@@ -115,9 +110,14 @@
         "license": null,
         "chunk_size": 100,
         "n_action_steps": 100,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "replace_final_stride_with_dilation": 0,
+        "replace_final_stride_with_dilation": false,
         "pre_norm": false,
         "dim_model": 512,
         "n_heads": 8,
@@ -137,7 +137,7 @@
     },
     "output_dir": "outputs/train/act_physicsai_arm_test",
     "job_name": "act_physicsai_arm_test",
-    "resume": true,
+    "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
@@ -170,7 +170,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "etgq1hz9",
+        "run_id": "q47ycyx8",
         "mode": null
     }
 }