Upload policy weights, train config and readme

README.md

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

config.json

@@ -33,7 +33,7 @@
     "device": "cuda",
     "use_amp": false,
     "push_to_hub": true,
-    "repo_id": "aaron-ser/my_policy",
+    "repo_id": "aaron-ser/SO101-Model",
     "private": null,
     "tags": null,
     "license": null,

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8b45aea8aacc20b652f36da9295bdbdd02a9e3177a22340e2e1412778b0ebd07
+oid sha256:a79510eca9fb4d2611abfb7b72dcbdf4564ee7fdfc437e2f58a8ef3fb8d2798a
 size 206700792

train_config.json

@@ -100,7 +100,7 @@
         "device": "cuda",
         "use_amp": false,
         "push_to_hub": true,
-        "repo_id": "aaron-ser/my_policy",
+        "repo_id": "aaron-ser/SO101-Model",
         "private": null,
         "tags": null,
         "license": null,
@@ -137,7 +137,7 @@
     "log_freq": 200,
     "save_checkpoint": true,
     "save_freq": 20000,
-    "use_policy_training_preset": true,
+    "use_policy_training_preset": false,
     "optimizer": {
         "type": "adamw",
         "lr": 1e-05,
@@ -149,7 +149,13 @@
         ],
         "eps": 1e-08
     },
-    "scheduler": null,
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 10000,
+        "num_decay_steps": 90000,
+        "peak_lr": 0.0001,
+        "decay_lr": 2.5e-06
+    },
     "eval": {
         "n_episodes": 50,
         "batch_size": 50,
@@ -161,7 +167,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "kfjl7c1b",
+        "run_id": "rmxme8kl",
         "mode": null
     }
 }