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

config.json

@@ -41,7 +41,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "/content/drive/MyDrive/lerobot_output_4task_3/checkpoints/040000/pretrained_model",
     "chunk_size": 100,
     "n_action_steps": 100,
     "normalization_mapping": {
@@ -51,7 +51,7 @@
     },
     "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 sha256:636c4a9f870b8e4e178619ae24dc7604f2035eb2a3ab463c318fe532920a1b33
+oid sha256:1df2e9b275d23dec2abca0658051c027e4440c5554339a8a43b5e40932e26f42
 size 206699736

train_config.json

@@ -123,7 +123,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "/content/drive/MyDrive/lerobot_output_4task_3/checkpoints/040000/pretrained_model",
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -133,7 +133,7 @@
         },
         "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,
@@ -153,11 +153,11 @@
     },
     "output_dir": "/content/drive/MyDrive/lerobot_output_4task_3",
     "job_name": "4task_3",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 6,
     "batch_size": 2,
-    "steps": 40000,
+    "steps": 200000,
     "eval_freq": 20000,
     "log_freq": 500,
     "tolerance_s": 0.0001,
@@ -197,5 +197,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "/content/drive/MyDrive/lerobot_output_4task_3/checkpoints/040000"
 }