Upload policy weights, train config and readme

README.md

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

config.json

@@ -27,7 +27,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "/workspace/so101_gba_dm_act_smooth_p4f2/checkpoints/030000/pretrained_model",
     "chunk_size": 30,
     "n_action_steps": 30,
     "length_prefix_past": 4,
@@ -40,7 +40,7 @@
     },
     "vision_backbone": "resnet34",
     "pretrained_backbone_weights": "ResNet34_Weights.IMAGENET1K_V1",
-    "replace_final_stride_with_dilation": false,
+    "replace_final_stride_with_dilation": 0,
     "pre_norm": true,
     "dim_model": 512,
     "n_heads": 8,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:87313be7c4c1e34f5dd422fb3aba4ecaf3c911cb4a90aaf6f6c2d7719ebd60b7
+oid sha256:2c7b97e43e31e5b4cd924cfce3d2d414969257af400a2a600e85d0c1964d74e9
 size 241960176

train_config.json

@@ -109,7 +109,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "/workspace/so101_gba_dm_act_smooth_p4f2/checkpoints/030000/pretrained_model",
         "chunk_size": 30,
         "n_action_steps": 30,
         "length_prefix_past": 4,
@@ -122,7 +122,7 @@
         },
         "vision_backbone": "resnet34",
         "pretrained_backbone_weights": "ResNet34_Weights.IMAGENET1K_V1",
-        "replace_final_stride_with_dilation": false,
+        "replace_final_stride_with_dilation": 0,
         "pre_norm": true,
         "dim_model": 512,
         "n_heads": 8,
@@ -141,17 +141,17 @@
     },
     "output_dir": "/workspace/so101_gba_dm_act_smooth_p4f2",
     "job_name": "act_smooth",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 8,
     "batch_size": 32,
-    "steps": 30000,
+    "steps": 30003,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
-    "save_freq": 10000,
+    "save_freq": 1,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -186,5 +186,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "/workspace/so101_gba_dm_act_smooth_p4f2/checkpoints/030000"
 }