Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: act
 pipeline_tag: robotics
 tags:
 - robotics
-- act
 - lerobot
+- act
 ---
 
 # Model Card for act
@@ -31,7 +31,7 @@ Below is the short version on how to train and run inference/eval:
 ### Train from scratch
 
 ```bash
-python -m lerobot.scripts.train \
+lerobot-train \
   --dataset.repo_id=${HF_USER}/<dataset> \
   --policy.type=act \
   --output_dir=outputs/train/<desired_policy_repo_id> \
@@ -46,7 +46,7 @@ _Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
 ### Evaluate the policy/run inference
 
 ```bash
-python -m lerobot.record \
+lerobot-record \
   --robot.type=so100_follower \
   --dataset.repo_id=<hf_user>/eval_<dataset> \
   --policy.path=<hf_user>/<desired_policy_repo_id> \

config.json

@@ -40,6 +40,7 @@
     },
     "device": "cuda",
     "use_amp": false,
+    "gradient_accumulation_steps": 1,
     "push_to_hub": true,
     "repo_id": "fitrijamat/pick-insert-block",
     "private": null,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c8cb46bf970338cb5c3899173316106214f96834a7a60fd03caba08d1a2abbad
-size 206701064
+oid sha256:00c3c9df6ba6ddaa7fa2623da41cc0b27639c401f0be7c2dad2d994f4380288d
+size 206699736

train_config.json

@@ -62,7 +62,8 @@
         },
         "revision": "main",
         "use_imagenet_stats": true,
-        "video_backend": "pyav"
+        "video_backend": "pyav",
+        "streaming": false
     },
     "env": null,
     "policy": {
@@ -107,6 +108,7 @@
         },
         "device": "cuda",
         "use_amp": false,
+        "gradient_accumulation_steps": 1,
         "push_to_hub": true,
         "repo_id": "fitrijamat/pick-insert-block",
         "private": null,
@@ -134,7 +136,7 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "C:\\Users\\User\\Documents\\reuben_ws\\lerobot\\outputs\\train\\act_mini_studio_block_in_cup_new",
+    "output_dir": "C:\\Users\\User\\Documents\\reuben_ws\\lerobot\\outputs\\train\\act_mini_studio_block_in_cup_latest",
     "job_name": "act_pick-insert-block",
     "resume": false,
     "seed": 1000,
@@ -169,7 +171,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "k482szox",
+        "run_id": "edc35ocv",
         "mode": null
     }
 }