Upload policy weights, train config and readme

config.json

@@ -26,14 +26,14 @@
         }
     },
     "device": "cuda",
-    "use_amp": false,
+    "use_amp": true,
     "use_peft": false,
     "push_to_hub": true,
     "repo_id": "xtar/act_baseline",
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "/content/lerobot_runs/act_baseline_resume/checkpoints/last/pretrained_model",
     "chunk_size": 100,
     "n_action_steps": 100,
     "normalization_mapping": {
@@ -43,7 +43,7 @@
     },
     "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:f9ae3b2dd2391aa0e4e2eccb12de9476a5b593ba6cd9efa59d79822f2ab8c020
+oid sha256:c56c57773c6a964ad09f6f0b85812b4f9c6a7d71677ef43302644eeda0b99299
 size 206765304

train_config.json

@@ -108,14 +108,14 @@
             }
         },
         "device": "cuda",
-        "use_amp": false,
+        "use_amp": true,
         "use_peft": false,
         "push_to_hub": true,
         "repo_id": "xtar/act_baseline",
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "/content/lerobot_runs/act_baseline_resume/checkpoints/last/pretrained_model",
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -125,7 +125,7 @@
         },
         "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,
@@ -143,19 +143,19 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/2026-03-27/18-11-27_act",
+    "output_dir": "/content/drive/MyDrive/lerobot_outputs/act_baseline",
     "job_name": "act",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "cudnn_deterministic": false,
     "num_workers": 24,
     "batch_size": 256,
-    "steps": 2000,
+    "steps": 10000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
-    "save_freq": 20000,
+    "save_freq": 1000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -170,8 +170,8 @@
     },
     "scheduler": null,
     "eval": {
-        "n_episodes": 32,
-        "batch_size": 32,
+        "n_episodes": 128,
+        "batch_size": 128,
         "use_async_envs": true
     },
     "wandb": {
@@ -191,5 +191,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "/content/lerobot_runs/act_baseline_resume/checkpoints/last"
 }