Upload policy weights, train config and readme

config.json

@@ -64,7 +64,7 @@
     },
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "pretrained_fact_path": "/home/dayuan/nas/models/fact_flatten_mixed_pwms_50chunk_2dec/checkpoints/400000/pretrained_model",
+    "pretrained_fact_path": "/home/dayuan/nas/models/fact_flatten_exp_mixed/checkpoints/500000/pretrained_model",
     "dim_model": 512,
     "feedforward_activation": "relu",
     "class_nums": [
@@ -83,6 +83,7 @@
     "pred_topk": 1,
     "wrench_dim": 12,
     "phase_num": 11,
+    "main_task_num": 2,
     "dropout": 0.1,
     "optimizer_lr": 0.0001,
     "optimizer_weight_decay": 1e-06,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:088b3b3a4fb02de748d2e11144b2604a321f25ed5fa628fb87365a830a4ab8f9
-size 52188168
+oid sha256:859a03bc088bcb0c0e8155acff3b6a74bec61c54a6a9298efd6f2171e46aeee0
+size 53240952

train_config.json

@@ -146,7 +146,7 @@
         },
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "pretrained_fact_path": "/home/dayuan/nas/models/fact_flatten_mixed_pwms_50chunk_2dec/checkpoints/400000/pretrained_model",
+        "pretrained_fact_path": "/home/dayuan/nas/models/fact_flatten_exp_mixed/checkpoints/500000/pretrained_model",
         "dim_model": 512,
         "feedforward_activation": "relu",
         "class_nums": [
@@ -165,6 +165,7 @@
         "pred_topk": 1,
         "wrench_dim": 12,
         "phase_num": 11,
+        "main_task_num": 2,
         "dropout": 0.1,
         "optimizer_lr": 0.0001,
         "optimizer_weight_decay": 1e-06,
@@ -177,7 +178,7 @@
         "scheduler_name": "cosine",
         "scheduler_warmup_steps": 500
     },
-    "output_dir": "/home/dayuan/nas/models/fact_phase_expand4_lr",
+    "output_dir": "/home/dayuan/nas/models/fact_phase_main",
     "job_name": "fact_phase",
     "resume": false,
     "seed": 1000,
@@ -216,7 +217,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "9inz77wv",
+        "run_id": "jl3u57gf",
         "mode": null
     },
     "checkpoint_path": null,