Upload policy weights, train config and readme

README.md

@@ -5,8 +5,8 @@ license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- act
 - robotics
+- act
 - lerobot
 ---
 

config.json

@@ -49,7 +49,7 @@
     "n_action_steps": 50,
     "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 sha256:4186ca244827fb96a50a1a1fb655d6bbef1f4f6b3ec2bb0d7832a8ae06c15d29
+oid sha256:17377ec0e7d32a43b632c764d93f9d93ebe9a2b11ea6b72fb3ebf93890ada825
 size 206537280

train_config.json

@@ -116,7 +116,7 @@
         "n_action_steps": 50,
         "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,
@@ -136,11 +136,11 @@
     },
     "output_dir": "outputs/train/act_sim_arrange_boxes",
     "job_name": "act_sim_arrange_boxes",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 32,
-    "steps": 100000,
+    "steps": 150000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,