Upload policy weights, train config and readme

README.md

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

config.json

@@ -79,7 +79,7 @@
     "temporal_ensemble_coeff": 0.01,
     "dropout": 0.1,
     "kl_weight": 10.0,
-    "optimizer_lr": 8.780120686877123e-05,
-    "optimizer_weight_decay": 0.0001941232253919843,
-    "optimizer_lr_backbone": 1.368074658553536e-05
+    "optimizer_lr": 9.395749453632438e-05,
+    "optimizer_weight_decay": 0.00016759517236805322,
+    "optimizer_lr_backbone": 5.516460876525447e-06
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4cb9ed84bc4ff5e5ac41af78fd00afb307d318a562d3f20b53fbd012a1ac81e7
+oid sha256:5682f8473de4934aea5b3e28026c9ceae46d8d4a727515f6e2bca2c915702f38
 size 206767416

train_config.json

@@ -146,15 +146,15 @@
         "temporal_ensemble_coeff": 0.01,
         "dropout": 0.1,
         "kl_weight": 10.0,
-        "optimizer_lr": 8.780120686877123e-05,
-        "optimizer_weight_decay": 0.0001941232253919843,
-        "optimizer_lr_backbone": 1.368074658553536e-05
+        "optimizer_lr": 9.395749453632438e-05,
+        "optimizer_weight_decay": 0.00016759517236805322,
+        "optimizer_lr_backbone": 5.516460876525447e-06
     },
-    "output_dir": "outputs/train/2025-09-28/15-37-42_act_sweep_batchsize_learningrate",
+    "output_dir": "outputs/train/2025-09-28/16-22-20_act_sweep_batchsize_learningrate",
     "job_name": "act_sweep_batchsize_learningrate",
     "resume": false,
     "seed": 1000,
-    "num_workers": 14,
+    "num_workers": 11,
     "batch_size": 88,
     "steps": 1000,
     "eval_freq": 20000,
@@ -164,8 +164,8 @@
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
-        "lr": 8.780120686877123e-05,
-        "weight_decay": 0.0001941232253919843,
+        "lr": 9.395749453632438e-05,
+        "weight_decay": 0.00016759517236805322,
         "grad_clip_norm": 10.0,
         "betas": [
             0.9,
@@ -185,7 +185,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "uijk9dzn",
+        "run_id": "2vrsbcum",
         "mode": null
     }
 }