Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: act
 pipeline_tag: robotics
 tags:
 - act
-- robotics
 - lerobot
+- robotics
 ---
 
 # 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 sha256:0be30985c480849f440be36b4ddf2cf0e69b8894f20b1f57fd02d1f4efe82d67
+oid sha256:efcc580230068555b3699f6b41a43c138d62729f1497d70f09248bbc15e630f8
 size 206700800

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/leon_act_grab_brush_diff_bin_orient2_main",
     "job_name": "leon_act_grab_brush_diff_bin_orient2_main",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 16,
-    "steps": 100000,
+    "steps": 200000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 20000,
+    "save_freq": 40000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -156,7 +156,7 @@
         "use_async_envs": false
     },
     "wandb": {
-        "enable": true,
+        "enable": false,
         "disable_artifact": false,
         "project": "lerobot",
         "entity": null,