Upload policy weights, train config and readme

README.md

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

config.json

@@ -42,8 +42,8 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "chunk_size": 100,
-    "n_action_steps": 100,
+    "chunk_size": 30,
+    "n_action_steps": 30,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MEAN_STD",

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cf5829e562289b5a332642167b0d2c383031c0f89a788b00063efedc0778179e
-size 206699736
+oid sha256:572790e0f79d22f27747c475bb4faa9d09858086c9ab05ca67a4bde07c8ca3fa
+size 206413008

train_config.json

@@ -124,8 +124,8 @@
         "tags": null,
         "license": null,
         "pretrained_path": null,
-        "chunk_size": 100,
-        "n_action_steps": 100,
+        "chunk_size": 30,
+        "n_action_steps": 30,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
             "STATE": "MEAN_STD",
@@ -158,7 +158,7 @@
     "cudnn_deterministic": false,
     "num_workers": 4,
     "batch_size": 8,
-    "steps": 12000,
+    "steps": 16000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -188,7 +188,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "6vibv2uj",
+        "run_id": "waeka4eh",
         "mode": null,
         "add_tags": true
     },