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
 - lerobot
 - robotics
-- act
 ---
 
 # Model Card for act

config.json

@@ -49,7 +49,7 @@
     "n_action_steps": 100,
     "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 sha256:1341650fc4b0db4f1955f43f24c5f66d6fb80678e6c6e1174f5b9f780ef85e99
+oid sha256:8dee7f2f8c1c0631290f289e6785d4a7bd579d5afa5c787926e4b87a9dababea
 size 206750392

train_config.json

@@ -1,7 +1,7 @@
 {
     "dataset": {
         "repo_id": "wangwwwww111/dual_arm_task",
-        "root": "/home/fiveages/.cache/huggingface/lerobot/wangwwwww111/dual_arm_towel_3camera_lowfps_stage1",
+        "root": "/home/fiveages/.cache/huggingface/lerobot/wangwwwww111/dual_arm_towel_3camera_lowfps_stage1_grab_release",
         "episodes": null,
         "image_transforms": {
             "enable": false,
@@ -116,7 +116,7 @@
         "n_action_steps": 100,
         "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,
@@ -134,17 +134,17 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/act_dual_arm_towel_3camera_test",
-    "job_name": "act_dual_arm_towel_3camera_test",
-    "resume": true,
+    "output_dir": "outputs/train/act_dual_arm_towel_3camera_lowfps_stage1_grab_release",
+    "job_name": "act_dual_arm_towel_3camera_lowfps_stage1_grab_release",
+    "resume": false,
     "seed": 1000,
     "num_workers": 16,
-    "batch_size": 8,
-    "steps": 10000,
-    "eval_freq": 20000,
+    "batch_size": 32,
+    "steps": 200000,
+    "eval_freq": 10000,
     "log_freq": 2000,
     "save_checkpoint": true,
-    "save_freq": 1000,
+    "save_freq": 10000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",