Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- act
 - lerobot
 - robotics
+- act
 ---
 
 # Model Card for act

config.json

@@ -41,7 +41,7 @@
     "n_action_steps": 100,
     "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 sha256:7a878220c73ab8853fd95ea737f73c1452588d10bfe5a61de5a63ccbcdfaa05c
+oid sha256:0088fe1ecb5751dc4ecb3ea57baea7f91198dd9e4d24766ea7cb643a18dc87e8
 size 206700792

train_config.json

@@ -108,7 +108,7 @@
         "n_action_steps": 100,
         "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,
@@ -128,11 +128,11 @@
     },
     "output_dir": "outputs/train/act_grab-block-1",
     "job_name": "act_grab-block-1_v2",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 4,
-    "steps": 50000,
+    "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,