Upload policy weights, train config and readme

README.md

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

config.json

@@ -35,7 +35,7 @@
     "n_action_steps": 100,
     "vision_backbone": "resnet18",
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "replace_final_stride_with_dilation": 0,
+    "replace_final_stride_with_dilation": false,
     "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:d819a98381a7f67136db068564c72b2a4c645ca1cd9fb0f55978235676cbe9e8
+oid sha256:4d213fde0f1369c3cd6f86f0536d9105fd0b96d39ab4cc774106bd33f0e5fb73
 size 206659048

train_config.json

@@ -102,7 +102,7 @@
         "n_action_steps": 100,
         "vision_backbone": "resnet18",
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "replace_final_stride_with_dilation": 0,
+        "replace_final_stride_with_dilation": false,
         "pre_norm": false,
         "dim_model": 512,
         "n_heads": 8,
@@ -122,7 +122,7 @@
     },
     "output_dir": "sim_policy/pushT_bottom_right_act",
     "job_name": "act",
-    "resume": true,
+    "resume": false,
     "seed": 100000,
     "num_workers": 4,
     "batch_size": 64,
@@ -130,7 +130,7 @@
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 100000,
+    "save_freq": 50000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -155,7 +155,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "3tp6xsyf",
+        "run_id": "ah8ypyl8",
         "mode": null
     }
 }