Upload policy weights, train config and readme

README.md

@@ -2,15 +2,15 @@
 datasets: quincyu/trace_robotwin
 library_name: lerobot
 license: apache-2.0
-model_name: act_266m
+model_name: tg_act_266m
 pipeline_tag: robotics
 tags:
-- act_266m
-- lerobot
+- tg_act_266m
 - robotics
+- lerobot
 ---
 
-# Model Card for act_266m
+# Model Card for tg_act_266m
 
 <!-- Provide a quick summary of what the model is/does. -->
 

config.json

@@ -1,5 +1,5 @@
 {
-    "type": "act_266m",
+    "type": "tg_act_266m",
     "n_obs_steps": 1,
     "input_features": {
         "observation.state": {
@@ -64,6 +64,7 @@
     "pretrained_path": null,
     "chunk_size": 100,
     "n_action_steps": 100,
+    "ee_pixel_image_resolution": 256,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
         "STATE": "MEAN_STD",
@@ -87,5 +88,7 @@
     "kl_weight": 10.0,
     "optimizer_lr": 1e-05,
     "optimizer_weight_decay": 0.0001,
-    "optimizer_lr_backbone": 1e-05
+    "optimizer_lr_backbone": 1e-05,
+    "compile_model": false,
+    "compile_mode": "max-autotune"
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8ce6b8114c2a91e4e77b65f902b2fad50e630d93fe561e7f38e4e342ddf25a5f
-size 1063324544
+oid sha256:55436b7f64d5a7bd442085344e0e8aa6096120fedd37b830601a3186a39dee56
+size 1064876344

train_config.json

@@ -81,7 +81,7 @@
     },
     "env": null,
     "policy": {
-        "type": "act_266m",
+        "type": "tg_act_266m",
         "n_obs_steps": 1,
         "input_features": {
             "observation.state": {
@@ -146,6 +146,7 @@
         "pretrained_path": null,
         "chunk_size": 100,
         "n_action_steps": 100,
+        "ee_pixel_image_resolution": 256,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
             "STATE": "MEAN_STD",
@@ -169,13 +170,15 @@
         "kl_weight": 10.0,
         "optimizer_lr": 1e-05,
         "optimizer_weight_decay": 0.0001,
-        "optimizer_lr_backbone": 1e-05
+        "optimizer_lr_backbone": 1e-05,
+        "compile_model": false,
+        "compile_mode": "max-autotune"
     },
-    "output_dir": "outputs/train/2026-02-13/19-02-30_act_266m",
-    "job_name": "act_266m",
+    "output_dir": "outputs/train/2026-02-12/19-23-15_tg_act_266m",
+    "job_name": "tg_act_266m",
     "resume": false,
     "seed": 0,
-    "num_workers": 8,
+    "num_workers": 4,
     "batch_size": 128,
     "steps": 100000,
     "eval_freq": 20000,
@@ -207,7 +210,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "chfmkz6s",
+        "run_id": "r5hwbuha",
         "mode": null
     },
     "peft": null,