Upload policy weights, train config and readme

README.md

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

config.json

@@ -40,7 +40,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "drive/MyDrive/outputs/train2/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 sha256:27eab57551bf3e11dd64caa1d2c75b544887328a9da31d54a2fd36e4921d2ad6
+oid sha256:3d51740ca445fce60f6281673ceabaa63c8d7d9243b332faa055e8cf2fd9e4de
 size 206699736

train_config.json

@@ -108,7 +108,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "drive/MyDrive/outputs/train2/checkpoints/last/pretrained_model",
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -118,7 +118,7 @@
         },
         "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,
@@ -138,15 +138,15 @@
     },
     "output_dir": "drive/MyDrive/outputs/train2",
     "job_name": "colab_act",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 1000,
-    "eval_freq": 20000,
+    "steps": 100000,
+    "eval_freq": 1000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 20000,
+    "save_freq": 1000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",