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

@@ -41,7 +41,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": "outputs/train/act_so101/classify_color_balls/checkpoints/last/pretrained_model",
+    "pretrained_path": null,
     "chunk_size": 100,
     "n_action_steps": 100,
     "normalization_mapping": {
@@ -51,7 +51,7 @@
     },
     "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:b54f44ed257576bad9a01ad265b2a9057e97ec23a87aecc8a99623db1b2c5227
+oid sha256:8f3861e95adb233ce5710a4b4ff0dc9aed12a78c1ef0f65faaf4000eeb53254b
 size 206699736

train_config.json

@@ -76,7 +76,7 @@
         },
         "revision": null,
         "use_imagenet_stats": true,
-        "video_backend": "torchcodec",
+        "video_backend": "pyav",
         "streaming": false
     },
     "env": null,
@@ -123,7 +123,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "outputs/train/act_so101/classify_color_balls/checkpoints/last/pretrained_model",
+        "pretrained_path": null,
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -133,7 +133,7 @@
         },
         "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,
@@ -153,16 +153,16 @@
     },
     "output_dir": "outputs/train/act_so101/classify_color_balls",
     "job_name": "act_so101",
-    "resume": true,
+    "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 90000,
+    "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
-    "save_freq": 5000,
+    "save_freq": 10000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -187,7 +187,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "1aj11qxv",
+        "run_id": "r4ladwiw",
         "mode": null
     },
     "peft": null,
@@ -197,5 +197,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": "outputs/train/act_so101/classify_color_balls/checkpoints/last"
+    "checkpoint_path": null
 }