Upload policy weights, train config and readme

README.md

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

config.json

@@ -40,7 +40,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "outputs/train30/act_so101_test/checkpoints/200000/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 sha256:1405f66e882b484b5930ef2f4057d705ac296d0f38ed0688e2ea9215996a71cb
+oid sha256:8b0cf18d5de46243d3a9edea2e408f4d753413b9f9f99a5d1660296e3d31562c
 size 206699736

train_config.json

@@ -122,7 +122,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train30/act_so101_test/checkpoints/200000/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,
@@ -150,13 +150,13 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train1/act_so101_test",
-    "job_name": "act_so101_test",
+    "output_dir": "outputs/train/act_so101_finetune2",
+    "job_name": "act_so101_finetune",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 300000,
+    "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
@@ -185,7 +185,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "m8zylqyb",
+        "run_id": "zeg8y6et",
         "mode": null
     },
     "checkpoint_path": null,