Upload policy weights, train config and readme

README.md

@@ -6,8 +6,8 @@ model_name: act
 pipeline_tag: robotics
 tags:
 - robotics
-- act
 - lerobot
+- act
 ---
 
 # Model Card for act

config.json

@@ -40,7 +40,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train/pick_fish5/checkpoints/last/pretrained_model",
     "chunk_size": 100,
     "n_action_steps": 100,
     "normalization_mapping": {
@@ -50,7 +50,7 @@
     },
     "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 sha256:753141abdd24a4a1bf916bb9b2dedb87e6a249cef02c1253e2ad95eef7e419af
+oid sha256:4424f605477ac14cf7be62001b7f495b8d4ae99499d2938fac37dec4f35e1490
 size 206699736

train_config.json

@@ -122,7 +122,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/pick_fish5/checkpoints/last/pretrained_model",
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -132,7 +132,7 @@
         },
         "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,
@@ -152,11 +152,11 @@
     },
     "output_dir": "outputs/train/pick_fish5",
     "job_name": "pick_fish",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 32,
-    "steps": 160000,
+    "steps": 320000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -188,6 +188,6 @@
         "run_id": "yr31rupq",
         "mode": null
     },
-    "checkpoint_path": null,
+    "checkpoint_path": "outputs/train/pick_fish5/checkpoints/last",
     "rename_map": {}
 }