Upload policy weights, train config and readme

README.md

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

config.json

@@ -79,7 +79,7 @@
     "temporal_ensemble_coeff": 0.01,
     "dropout": 0.1,
     "kl_weight": 10.0,
-    "optimizer_lr": 9.241626270529608e-05,
-    "optimizer_weight_decay": 0.0001452874013122167,
-    "optimizer_lr_backbone": 5.996796881157274e-06
+    "optimizer_lr": 8.780120686877123e-05,
+    "optimizer_weight_decay": 0.0001941232253919843,
+    "optimizer_lr_backbone": 1.368074658553536e-05
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0fe167a4e56253559876e0517bdec2b3f0c2439aed184b8d43cf7fe482273620
+oid sha256:4cb9ed84bc4ff5e5ac41af78fd00afb307d318a562d3f20b53fbd012a1ac81e7
 size 206767416

train_config.json

@@ -146,15 +146,15 @@
         "temporal_ensemble_coeff": 0.01,
         "dropout": 0.1,
         "kl_weight": 10.0,
-        "optimizer_lr": 9.241626270529608e-05,
-        "optimizer_weight_decay": 0.0001452874013122167,
-        "optimizer_lr_backbone": 5.996796881157274e-06
+        "optimizer_lr": 8.780120686877123e-05,
+        "optimizer_weight_decay": 0.0001941232253919843,
+        "optimizer_lr_backbone": 1.368074658553536e-05
     },
-    "output_dir": "outputs/train/2025-09-28/14-35-11_act_sweep_batchsize_learningrate",
+    "output_dir": "outputs/train/2025-09-28/15-37-42_act_sweep_batchsize_learningrate",
     "job_name": "act_sweep_batchsize_learningrate",
     "resume": false,
     "seed": 1000,
-    "num_workers": 9,
+    "num_workers": 14,
     "batch_size": 88,
     "steps": 1000,
     "eval_freq": 20000,
@@ -164,8 +164,8 @@
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
-        "lr": 9.241626270529608e-05,
-        "weight_decay": 0.0001452874013122167,
+        "lr": 8.780120686877123e-05,
+        "weight_decay": 0.0001941232253919843,
         "grad_clip_norm": 10.0,
         "betas": [
             0.9,
@@ -185,7 +185,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "yd8yzzme",
+        "run_id": "uijk9dzn",
         "mode": null
     }
 }