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

@@ -49,7 +49,7 @@
     "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:bad2b41ee308898e8df4e69c38aaad3640ea351b4b82c74134c5ee4859052e17
+oid sha256:cbdfdd472e12da7acd44c6087f1c4f9eb9a77ef163e572c5bdec089c597775ce
 size 206701064

train_config.json

@@ -116,7 +116,7 @@
         "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,
@@ -136,11 +136,11 @@
     },
     "output_dir": "outputs/train/act_so101_GRC2",
     "job_name": "act_so101_GRC1",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
-    "batch_size": 16,
-    "steps": 20000,
+    "batch_size": 8,
+    "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,