Upload policy weights, train config and readme

README.md

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

config.json

@@ -57,21 +57,13 @@
     "dim_feedforward": 3200,
     "feedforward_activation": "relu",
     "n_encoder_layers": 4,
-    "n_decoder_layers": 4,
+    "n_decoder_layers": 1,
     "use_vae": true,
     "latent_dim": 32,
     "n_vae_encoder_layers": 4,
     "temporal_ensemble_coeff": null,
     "dropout": 0.1,
     "kl_weight": 10.0,
-    "use_flow_matching": false,
-    "num_inference_steps": 10,
-    "time_sampling_beta_alpha": 1.0,
-    "time_sampling_beta_beta": 1.0,
-    "time_sampling_scale": 1.0,
-    "time_sampling_offset": 0.0,
-    "min_period": 1.0,
-    "max_period": 10000.0,
     "optimizer_lr": 1e-05,
     "optimizer_weight_decay": 0.0001,
     "optimizer_lr_backbone": 1e-05

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e399797a5477039faceae0eb781df75c70a4f792524c14cc4750b8f4bbec8204
-size 323995332
+oid sha256:6422769477d1159869825e3e623f5307e335c259a0ddf10ead12c354065977e9
+size 259371252

train_config.json

@@ -4,7 +4,7 @@
         "root": null,
         "episodes": null,
         "image_transforms": {
-            "enable": false,
+            "enable": true,
             "max_num_transforms": 3,
             "random_order": false,
             "tfs": {
@@ -139,21 +139,13 @@
         "dim_feedforward": 3200,
         "feedforward_activation": "relu",
         "n_encoder_layers": 4,
-        "n_decoder_layers": 4,
+        "n_decoder_layers": 1,
         "use_vae": true,
         "latent_dim": 32,
         "n_vae_encoder_layers": 4,
         "temporal_ensemble_coeff": null,
         "dropout": 0.1,
         "kl_weight": 10.0,
-        "use_flow_matching": false,
-        "num_inference_steps": 10,
-        "time_sampling_beta_alpha": 1.0,
-        "time_sampling_beta_beta": 1.0,
-        "time_sampling_scale": 1.0,
-        "time_sampling_offset": 0.0,
-        "min_period": 1.0,
-        "max_period": 10000.0,
         "optimizer_lr": 1e-05,
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
@@ -162,11 +154,12 @@
     "job_name": "act_resnet50",
     "resume": false,
     "seed": 1000,
-    "num_workers": 64,
-    "batch_size": 32,
+    "num_workers": 16,
+    "batch_size": 64,
     "steps": 100000,
     "eval_freq": 20000,
-    "log_freq": 50,
+    "log_freq": 200,
+    "tolerance_s": 0.0001,
     "save_checkpoint": true,
     "save_freq": 20000,
     "use_policy_training_preset": true,
@@ -193,9 +186,14 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "mnafqfrq",
+        "run_id": "qp8hlp0s",
         "mode": null
     },
-    "checkpoint_path": null,
-    "rename_map": {}
+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": null
 }