Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: act
 pipeline_tag: robotics
 tags:
 - robotics
-- lerobot
 - act
+- lerobot
 ---
 
 # Model Card for act

config.json

@@ -41,7 +41,7 @@
     "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:dd3bf11572c441919285b727528a5e56dd2b3410309cac4a7359a77294f4a829
+oid sha256:07c2eedafdc3a0a4ec1e2738125a42fca7109f116e18481804513aca89b560aa
 size 206700792

train_config.json

@@ -108,7 +108,7 @@
         "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,
@@ -128,15 +128,15 @@
     },
     "output_dir": "outputs/train/so-ARM100/attempt3",
     "job_name": "so-ARM100",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 1500,
+    "steps": 15000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 20000,
+    "save_freq": 3000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",