Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: maximellerbach/omx_multicubes
+datasets: maximellerbach/omx_multicubes_merged
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
 - lerobot
-- robotics
 - act
+- robotics
 ---
 
 # Model Card for act

config.json

@@ -41,7 +41,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/omx_multicubes/checkpoints/last/pretrained_model",
     "chunk_size": 30,
     "n_action_steps": 30,
     "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 sha256:50cd25ba3bc06a993a4de6d0ef7fb983e5165f2ea09b5693324a2721564b7416
+oid sha256:ef30f27d708f1eab7d344954db6b6c66939b12f1270f504a60970a8ec42e95e1
 size 206413008

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "maximellerbach/omx_multicubes",
+        "repo_id": "maximellerbach/omx_multicubes_merged",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -124,7 +124,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/omx_multicubes/checkpoints/last/pretrained_model",
         "chunk_size": 30,
         "n_action_steps": 30,
         "normalization_mapping": {
@@ -134,7 +134,7 @@
         },
         "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,
@@ -154,14 +154,14 @@
     },
     "output_dir": "outputs/train/omx_multicubes",
     "job_name": "act",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 4,
-    "batch_size": 8,
+    "batch_size": 32,
     "prefetch_factor": 4,
     "persistent_workers": true,
-    "steps": 40000,
+    "steps": 56000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -202,5 +202,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "outputs/train/omx_multicubes/checkpoints/last"
 }