Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
+- lerobot
 - robotics
 - act
-- lerobot
 ---
 
 # Model Card for act

config.json

@@ -57,7 +57,7 @@
     "temporal_ensemble_coeff": null,
     "dropout": 0.1,
     "kl_weight": 10.0,
-    "optimizer_lr": 0.0003,
+    "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 sha256:154c99c87047ba0862a90ed55b45f1cf4801b1424499ad725de80c9c7dd65fc6
+oid sha256:bde8296a61599ab9d29d8dac3992b9d14fdbe955e25f792008f7a66ef0d838d1
 size 206699736

train_config.json

@@ -125,17 +125,17 @@
         "temporal_ensemble_coeff": null,
         "dropout": 0.1,
         "kl_weight": 10.0,
-        "optimizer_lr": 0.0003,
+        "optimizer_lr": 1e-05,
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/so101_sort_so101_sort_act_20251107_2056",
-    "job_name": "so101_sort_so101_sort_act_20251107_2056",
+    "output_dir": "outputs/train/so101_sort_so101_sort_act_20251107_2218",
+    "job_name": "so101_sort_so101_sort_act_20251107_2218",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
-    "batch_size": 4,
-    "steps": 5000,
+    "batch_size": 64,
+    "steps": 200000,
     "eval_freq": 200,
     "log_freq": 100,
     "save_checkpoint": true,
@@ -143,7 +143,7 @@
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
-        "lr": 0.0003,
+        "lr": 1e-05,
         "weight_decay": 0.0001,
         "grad_clip_norm": 10.0,
         "betas": [
@@ -164,7 +164,7 @@
         "project": "lerobot-shabby",
         "entity": null,
         "notes": null,
-        "run_id": "3g5yhotv",
+        "run_id": "4nql2gms",
         "mode": null
     },
     "peft": null