Upload policy weights, train config and readme

README.md

@@ -77,7 +77,7 @@ The policy consumes these observation features and produces these action feature
 
 | Setting | Value |
 | --- | --- |
-| Training steps | 15000 |
+| Training steps | 5000 |
 | Batch size | 16 |
 | Optimizer | adamw |
 | Learning rate | 1e-05 |

config.json

@@ -33,7 +33,7 @@
     "private": null,
     "tags": null,
     "license": null,
-    "pretrained_path": null,
+    "pretrained_path": "ulasgenc/act_100demo_cubeToCup",
     "pretrained_revision": null,
     "chunk_size": 100,
     "n_action_steps": 100,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e7ee9bd053c526507521bc77094909aec888c041acad28f22567587f04b6b6ce
+oid sha256:c8a0f5946285b00c7a50774052cc7a6fd3f965cf04c67ac12c61c59fa2fac4c4
 size 206699736

train_config.json

@@ -117,7 +117,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "ulasgenc/act_100demo_cubeToCup",
         "pretrained_revision": null,
         "chunk_size": 100,
         "n_action_steps": 100,
@@ -156,7 +156,7 @@
     "batch_size": 16,
     "prefetch_factor": 4,
     "persistent_workers": true,
-    "steps": 15000,
+    "steps": 5000,
     "env_eval_freq": 20000,
     "log_freq": 200,
     "eval_steps": 0,
@@ -191,7 +191,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "bp6jty13",
+        "run_id": "c2p5ugqf",
         "mode": null,
         "add_tags": true
     },