Upload policy weights, train config and readme

README.md

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

config.json

@@ -57,7 +57,7 @@
     "n_action_steps": 100,
     "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 sha256:651585cf5342f58a73deda71866d058f5ad6ae41401db05ff219555192322e33
+oid sha256:188f5bc8a287f5245ebb5891702e21d19e43b5ad9cfbd583e5dd8b1435fadd23
 size 206750664

train_config.json

@@ -124,7 +124,7 @@
         "n_action_steps": 100,
         "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,
@@ -144,11 +144,11 @@
     },
     "output_dir": "outputs/train/bimanual-so100-handover-cube",
     "job_name": "act_so101_test",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 96,
-    "steps": 5000,
+    "steps": 10000,
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,