ACT policy, 45k steps on piper-hexagonal-bolt-insertion-100-demos-v1

config.json

@@ -53,7 +53,7 @@
     },
     "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 @@
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-oid sha256:0b619e2bc7e74eb205db322440f6683e28540a2842e70adc906a988e808a874e
+oid sha256:b8caa046f7da3e85dc7354bfd4d5ac3705f169bf5fed1e84270be0c7d87c5678
 size 206707964

policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d78ee367c41583c1a76fcb420d4bf7d1b9cc6f1b4ac82e23717bed8910f5f4c6
-size 7672
+oid sha256:3da949b9f3be407bc929f95664faae923a03f43bab2bfdeb9e0e34231cc5fc63
+size 7608

train_config.json

@@ -152,7 +152,7 @@
         },
         "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,
@@ -173,15 +173,15 @@
     "reward_model": null,
     "output_dir": "outputs/train/act_piper_bolt_insertion_2gpu",
     "job_name": "act_piper_bolt_insertion_2gpu",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "cudnn_deterministic": false,
-    "num_workers": 5,
+    "num_workers": 3,
     "batch_size": 16,
     "prefetch_factor": 4,
     "persistent_workers": true,
     "dataloader_multiprocessing_context": "spawn",
-    "steps": 25000,
+    "steps": 80000,
     "env_eval_freq": 20000,
     "log_freq": 200,
     "eval_steps": 0,
@@ -204,7 +204,7 @@
     },
     "scheduler": null,
     "parallelism": {
-        "dp_replicate": 2,
+        "dp_replicate": 3,
         "dp_shard": 1,
         "context_parallel": {
             "ring_degree": 1,
@@ -288,5 +288,5 @@
     "save_checkpoint_to_hub": false,
     "sample_weighting": null,
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "outputs/train/act_piper_bolt_insertion_2gpu/checkpoints/last"
 }