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config.json

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+{
+    "type": "act",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
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+            "shape": [
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+    "exclude_image_keys": "",
+    "normalize_per_robot_type": false,
+    "checkpoint_keys_mapping": "",
+    "checkpoint_path": null,
+    "chunk_size": 100,
+    "n_action_steps": 100,
+    "vision_backbone": "resnet18",
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "replace_final_stride_with_dilation": false,
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+    "dim_model": 512,
+    "n_heads": 8,
+    "dim_feedforward": 3200,
+    "feedforward_activation": "relu",
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+    "n_decoder_layers": 1,
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+    "dropout": 0.1,
+    "kl_weight": 10.0,
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 0.0001,
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+}

model.safetensors

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+size 206701040

train_config.json

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+{
+    "dataset": {
+        "repo_id": "danaaubakirova/svla_so100_task1_v3",
+        "episodes": null,
+        "image_transforms": {
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+            "random_order": false,
+            "transform_version": 0,
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+            "tfs": {
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+                    "type": "ResizeWithPad",
+                    "kwargs": {
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+        "use_imagenet_stats": true,
+        "video_backend": "pyav",
+        "sampling_weights": null,
+        "max_action_dim": null,
+        "max_state_dim": null,
+        "max_num_images": null,
+        "max_image_dim": null,
+        "train_on_all_features": false,
+        "features_version": 0,
+        "discard_first_n_frames": 0,
+        "min_fps": 1,
+        "max_fps": 100,
+        "discard_first_idle_frames": false,
+        "motion_threshold": 0.05,
+        "motion_window_size": 10,
+        "motion_buffer": 3
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+    "env": null,
+    "policy": {
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+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
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+                "shape": [
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+        "optimizer_weight_decay": 0.0001,
+        "optimizer_lr_backbone": 1e-05
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+    "output_dir": "/lustre/fswork/projects/rech/dyf/ugz83ue/logs/lerobot/lerobot_so100_v3_task_1_act_bs64_steps200000_main",
+    "job_name": "act",
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+    "device": "cuda",
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+    "seed": 1000,
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+        "betas": [
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+    "eval": {
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+        "project": "lerobot",
+        "entity": null,
+        "notes": null
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+    "gradient_accumulation_steps": 1,
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+}