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
 - robotics
 - lerobot
-- act
 ---
 
 # Model Card for act

config.json

@@ -32,7 +32,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/tennis_final_output/checkpoints/last/pretrained_model",
     "chunk_size": 100,
     "n_action_steps": 100,
     "normalization_mapping": {
@@ -42,7 +42,7 @@
     },
     "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 sha256:7fc136699d9a7e090b559e05c2905bc70bcf4c9878ce88e78d625866b974c5b5
+oid sha256:963b15d261095bd53c57d2073dddff92fc932a07f27d017e7960c7b9f8ebb0ea
 size 206724324

train_config.json

@@ -114,7 +114,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/tennis_final_output/checkpoints/last/pretrained_model",
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -124,7 +124,7 @@
         },
         "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,
@@ -144,11 +144,11 @@
     },
     "output_dir": "outputs/train/tennis_final_output",
     "job_name": "tennis_final",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 35000,
+    "steps": 60000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -180,6 +180,6 @@
         "run_id": "xxts8fgw",
         "mode": null
     },
-    "checkpoint_path": null,
+    "checkpoint_path": "outputs/train/tennis_final_output/checkpoints/last",
     "rename_map": {}
 }