Upload policy weights, train config and readme

README.md

@@ -5,8 +5,8 @@ license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- robotics
 - lerobot
+- robotics
 - act
 ---
 

config.json

@@ -41,7 +41,7 @@
     "n_action_steps": 20,
     "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:ba1236577500593619dd584760c5e9994e8f7730a1cc264df0ed65adccedf828
+oid sha256:e03e9f7d843b0f12180444459ccaa6f92d2449fe4ae6913fc878b47b123eb1aa
 size 206455328

train_config.json

@@ -108,7 +108,7 @@
         "n_action_steps": 20,
         "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,
@@ -128,11 +128,11 @@
     },
     "output_dir": "ckpt/kt_sh5_act2",
     "job_name": "act",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 32,
-    "steps": 80000,
+    "steps": 100000,
     "eval_freq": 0,
     "log_freq": 200,
     "save_checkpoint": true,