Upload policy weights, train config and readme

README.md

@@ -1,13 +1,13 @@
 ---
-datasets: Beable/SOARM100-ep67joy
+datasets: Beable/SOARM100-169ep-joy
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
 - robotics
-- act
 - lerobot
+- act
 ---
 
 # Model Card for act

config.json

@@ -47,15 +47,15 @@
     "n_heads": 8,
     "dim_feedforward": 3200,
     "feedforward_activation": "relu",
-    "n_encoder_layers": 6,
-    "n_decoder_layers": 2,
+    "n_encoder_layers": 4,
+    "n_decoder_layers": 1,
     "use_vae": true,
     "latent_dim": 32,
     "n_vae_encoder_layers": 4,
     "temporal_ensemble_coeff": null,
     "dropout": 0.15,
-    "kl_weight": 1.0,
-    "optimizer_lr": 1.5e-05,
-    "optimizer_weight_decay": 0.0002,
-    "optimizer_lr_backbone": 3e-06
+    "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 sha256:6e577e76ffbdd508b4706ec2367b1acf986b572fa42f09f8b86ca3ea78944990
-size 315819360
+oid sha256:36e15fe7848872c3a6bd95a9031c0b41581bcd37da299fd915708716889e265e
+size 259609880

train_config.json

@@ -1,12 +1,12 @@
 {
     "dataset": {
-        "repo_id": "Beable/SOARM100-ep67joy",
+        "repo_id": "Beable/SOARM100-169ep-joy",
         "root": null,
         "episodes": null,
         "image_transforms": {
-            "enable": true,
-            "max_num_transforms": 4,
-            "random_order": true,
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
             "tfs": {
                 "brightness": {
                     "weight": 1.0,
@@ -116,34 +116,34 @@
         "n_heads": 8,
         "dim_feedforward": 3200,
         "feedforward_activation": "relu",
-        "n_encoder_layers": 6,
-        "n_decoder_layers": 2,
+        "n_encoder_layers": 4,
+        "n_decoder_layers": 1,
         "use_vae": true,
         "latent_dim": 32,
         "n_vae_encoder_layers": 4,
         "temporal_ensemble_coeff": null,
         "dropout": 0.15,
-        "kl_weight": 1.0,
-        "optimizer_lr": 1.5e-05,
-        "optimizer_weight_decay": 0.0002,
-        "optimizer_lr_backbone": 3e-06
+        "kl_weight": 10.0,
+        "optimizer_lr": 1e-05,
+        "optimizer_weight_decay": 0.0001,
+        "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/2025-08-26/03-22-08_act",
+    "output_dir": "outputs/train/2025-08-26/18-42-00_act",
     "job_name": "act",
     "resume": false,
     "seed": 1000,
     "num_workers": 4,
     "batch_size": 16,
-    "steps": 50000,
-    "eval_freq": 2000,
-    "log_freq": 100,
+    "steps": 100000,
+    "eval_freq": 20000,
+    "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 50000,
+    "save_freq": 100000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
-        "lr": 1.5e-05,
-        "weight_decay": 0.0002,
+        "lr": 1e-05,
+        "weight_decay": 0.0001,
         "grad_clip_norm": 10.0,
         "betas": [
             0.9,