Upload policy weights, train config and readme

README.md

@@ -5,8 +5,8 @@ license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- robotics
 - act
+- robotics
 - lerobot
 ---
 
@@ -81,7 +81,7 @@ The policy consumes these observation features and produces these action feature
 | Training steps | 20000 |
 | Batch size | 32 |
 | Optimizer | adamw |
-| Learning rate | 0.0001 |
+| Learning rate | 5e-05 |
 | Seed | 1000 |
 | LeRobot version | 0.5.2 |
 

config.json

@@ -66,7 +66,7 @@
     "temporal_ensemble_coeff": null,
     "dropout": 0.1,
     "kl_weight": 10.0,
-    "optimizer_lr": 0.0001,
+    "optimizer_lr": 5e-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 sha256:701cbc8abce1474e5fb5a155b024bb1e3c55c0cf97c52ffd883535fee7dde3d1
+oid sha256:87bfb9153172caaf6e2ce1a8a93dfce8b481e20ceebce2e02daa456f40bb9afd
 size 206755168

train_config.json

@@ -150,7 +150,7 @@
         "temporal_ensemble_coeff": null,
         "dropout": 0.1,
         "kl_weight": 10.0,
-        "optimizer_lr": 0.0001,
+        "optimizer_lr": 5e-05,
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
@@ -175,7 +175,7 @@
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
-        "lr": 0.0001,
+        "lr": 5e-05,
         "weight_decay": 0.0001,
         "grad_clip_norm": 10.0,
         "betas": [
@@ -199,7 +199,7 @@
         "project": "act_bi_pick_stack",
         "entity": null,
         "notes": null,
-        "run_id": "f6sporyg",
+        "run_id": "dqx6zmoh",
         "mode": null,
         "add_tags": true
     },