Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: trace_act
 pipeline_tag: robotics
 tags:
-- robotics
 - trace_act
 - lerobot
+- robotics
 ---
 
 # Model Card for trace_act

config.json

@@ -64,7 +64,7 @@
     "pretrained_path": null,
     "vjepa_model_id": "facebook/vjepa2-vitg-fpc64-256",
     "trace_horizon": 20,
-    "trace_predictor_ckpt": "checkpoints/trace_predictor_final.pth",
+    "trace_predictor_ckpt": null,
     "video_key": "observation.video",
     "language_key": "observation.language",
     "chunk_size": 20,
@@ -95,6 +95,6 @@
     "optimizer_lr": 1e-05,
     "optimizer_weight_decay": 0.0001,
     "optimizer_lr_backbone": 1e-05,
-    "compile_model": false,
-    "compile_mode": "reduce-overhead"
+    "compile_model": true,
+    "compile_backend": "cudagraphs"
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5d44b9d6ea1c5763964bd4511223f56c0e3f1e8c12dbe45cddc2b99a25a860f9
+oid sha256:630ec6237123427ac8f9ed8132bd4e4dea20a87b08c68eee7af4cc798e88f935
 size 5248235688

train_config.json

@@ -146,7 +146,7 @@
         "pretrained_path": null,
         "vjepa_model_id": "facebook/vjepa2-vitg-fpc64-256",
         "trace_horizon": 20,
-        "trace_predictor_ckpt": "checkpoints/trace_predictor_final.pth",
+        "trace_predictor_ckpt": null,
         "video_key": "observation.video",
         "language_key": "observation.language",
         "chunk_size": 20,
@@ -177,16 +177,16 @@
         "optimizer_lr": 1e-05,
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05,
-        "compile_model": false,
-        "compile_mode": "reduce-overhead"
+        "compile_model": true,
+        "compile_backend": "cudagraphs"
     },
-    "output_dir": "outputs/train/2026-02-17/20-33-57_trace_act",
+    "output_dir": "outputs/train/2026-02-17/21-00-59_trace_act",
     "job_name": "trace_act",
     "resume": false,
     "seed": 0,
     "num_workers": 0,
     "batch_size": 2,
-    "steps": 2,
+    "steps": 3,
     "eval_freq": 20000,
     "log_freq": 1,
     "tolerance_s": 0.0001,