Upload policy weights, train config and readme

README.md

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

config.json

@@ -1,6 +1,11 @@
 {
     "type": "act",
     "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -42,14 +47,9 @@
     "license": null,
     "chunk_size": 100,
     "n_action_steps": 100,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MEAN_STD",
-        "ACTION": "MEAN_STD"
-    },
     "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 sha256:3d51740ca445fce60f6281673ceabaa63c8d7d9243b332faa055e8cf2fd9e4de
-size 206699736
+oid sha256:7824bf4f75d910759c0f9b6cb00fee746daa4f6520a691fdbaef75ec45fd53e7
+size 206701064

train_config.json

@@ -69,6 +69,11 @@
     "policy": {
         "type": "act",
         "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
         "input_features": {
             "observation.state": {
                 "type": "STATE",
@@ -108,17 +113,11 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": "drive/MyDrive/outputs/train2/checkpoints/last/pretrained_model",
         "chunk_size": 100,
         "n_action_steps": 100,
-        "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
-            "STATE": "MEAN_STD",
-            "ACTION": "MEAN_STD"
-        },
         "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,
@@ -136,17 +135,17 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "drive/MyDrive/outputs/train2",
+    "output_dir": "drive/MyDrive/outputs/train4",
     "job_name": "colab_act",
-    "resume": true,
+    "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 100000,
-    "eval_freq": 1000,
+    "steps": 1000,
+    "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 1000,
+    "save_freq": 20000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -166,12 +165,12 @@
         "use_async_envs": false
     },
     "wandb": {
-        "enable": true,
+        "enable": false,
         "disable_artifact": false,
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "vdf1unvp",
+        "run_id": null,
         "mode": null
     }
 }