Upload policy weights, train config and readme

config.json

@@ -1,78 +1,79 @@
 {
-  "type": "act",
-  "n_obs_steps": 1,
-  "input_features": {
-    "observation.state": {
-      "type": "STATE",
-      "shape": [
-        6
-      ]
+    "type": "act",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.head": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
     },
-    "observation.images.top": {
-      "type": "VISUAL",
-      "shape": [
-        3,
-        480,
-        640
-      ]
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
     },
-    "observation.images.head": {
-      "type": "VISUAL",
-      "shape": [
-        3,
-        480,
-        640
-      ]
+    "device": "cuda",
+    "use_amp": true,
+    "use_peft": false,
+    "push_to_hub": true,
+    "repo_id": "jasminen/c01",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "outputs/train/act_so101_c01/checkpoints/050000/pretrained_model",
+    "chunk_size": 100,
+    "n_action_steps": 100,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
     },
-    "observation.images.front": {
-      "type": "VISUAL",
-      "shape": [
-        3,
-        480,
-        640
-      ]
-    }
-  },
-  "output_features": {
-    "action": {
-      "type": "ACTION",
-      "shape": [
-        6
-      ]
-    }
-  },
-  "device": "cuda",
-  "use_amp": true,
-  "push_to_hub": true,
-  "repo_id": "jasminen/c01",
-  "private": null,
-  "tags": null,
-  "license": null,
-  "pretrained_path": null,
-  "chunk_size": 100,
-  "n_action_steps": 100,
-  "normalization_mapping": {
-    "VISUAL": "MEAN_STD",
-    "STATE": "MEAN_STD",
-    "ACTION": "MEAN_STD"
-  },
-  "vision_backbone": "resnet18",
-  "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-  "replace_final_stride_with_dilation": false,
-  "pre_norm": false,
-  "dim_model": 512,
-  "n_heads": 8,
-  "dim_feedforward": 3200,
-  "feedforward_activation": "relu",
-  "n_encoder_layers": 4,
-  "n_decoder_layers": 1,
-  "use_vae": true,
-  "latent_dim": 32,
-  "n_vae_encoder_layers": 4,
-  "temporal_ensemble_coeff": null,
-  "dropout": 0.1,
-  "kl_weight": 10.0,
-  "optimizer_lr": 1e-05,
-  "optimizer_weight_decay": 0.0001,
-  "optimizer_lr_backbone": 1e-05
+    "vision_backbone": "resnet18",
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "replace_final_stride_with_dilation": 0,
+    "pre_norm": false,
+    "dim_model": 512,
+    "n_heads": 8,
+    "dim_feedforward": 3200,
+    "feedforward_activation": "relu",
+    "n_encoder_layers": 4,
+    "n_decoder_layers": 1,
+    "use_vae": true,
+    "latent_dim": 32,
+    "n_vae_encoder_layers": 4,
+    "temporal_ensemble_coeff": null,
+    "dropout": 0.1,
+    "kl_weight": 10.0,
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 0.0001,
+    "optimizer_lr_backbone": 1e-05
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1c503889dd284c89c3ff872555b577a02fcd1a3b7e156856577e589e23d2fed7
+oid sha256:04cfed26fc68bb72a74a25dd7af0e5557ea03051511e016632dd0438395fa721
 size 206699736

train_config.json

@@ -131,7 +131,7 @@
         "private": null,
         "tags": null,
         "license": null,
-        "pretrained_path": null,
+        "pretrained_path": "outputs/train/act_so101_c01/checkpoints/050000/pretrained_model",
         "chunk_size": 100,
         "n_action_steps": 100,
         "normalization_mapping": {
@@ -141,7 +141,7 @@
         },
         "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,
@@ -161,11 +161,11 @@
     },
     "output_dir": "outputs/train/act_so101_c01",
     "job_name": "act_so101_c01",
-    "resume": false,
+    "resume": true,
     "seed": 1000,
     "num_workers": 2,
     "batch_size": 2,
-    "steps": 50000,
+    "steps": 100000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.04,
@@ -205,5 +205,5 @@
     "rabc_epsilon": 1e-06,
     "rabc_head_mode": "sparse",
     "rename_map": {},
-    "checkpoint_path": null
+    "checkpoint_path": "outputs/train/act_so101_c01/checkpoints/050000"
 }