Upload policy weights, train config and readme

README.md

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

config.json

@@ -27,14 +27,15 @@
     },
     "device": "cuda",
     "use_amp": false,
+    "use_peft": false,
     "push_to_hub": true,
     "repo_id": "SagriviS/Test",
     "private": null,
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "chunk_size": 100,
-    "n_action_steps": 100,
+    "chunk_size": 50,
+    "n_action_steps": 50,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MEAN_STD",
@@ -44,9 +45,9 @@
     "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
     "replace_final_stride_with_dilation": false,
     "pre_norm": false,
-    "dim_model": 512,
+    "dim_model": 216,
     "n_heads": 8,
-    "dim_feedforward": 2048,
+    "dim_feedforward": 1024,
     "feedforward_activation": "relu",
     "n_encoder_layers": 4,
     "n_decoder_layers": 1,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2bffcbcb17b47edb104f04a6dc9da4568e4601aace99732d0af978b6153238d5
-size 164256472
+oid sha256:894f1f89a660fcaeffc90356b784f3433f5164d07f6362c542946b819d612656
+size 68942544

train_config.json

@@ -116,8 +116,8 @@
         "tags": null,
         "license": null,
         "pretrained_path": null,
-        "chunk_size": 100,
-        "n_action_steps": 100,
+        "chunk_size": 50,
+        "n_action_steps": 50,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
             "STATE": "MEAN_STD",
@@ -127,9 +127,9 @@
         "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
         "replace_final_stride_with_dilation": false,
         "pre_norm": false,
-        "dim_model": 512,
+        "dim_model": 216,
         "n_heads": 8,
-        "dim_feedforward": 2048,
+        "dim_feedforward": 1024,
         "feedforward_activation": "relu",
         "n_encoder_layers": 4,
         "n_decoder_layers": 1,
@@ -143,7 +143,7 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "lerobot/outputs/train/Test24",
+    "output_dir": "lerobot/outputs/train/Test25",
     "job_name": "act",
     "resume": false,
     "seed": 1000,
@@ -179,7 +179,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "htd5cva2",
+        "run_id": "kkp2ujxv",
         "mode": null
     },
     "peft": null,