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README.md

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+---
+library_name: act
+tags:
+- robotics
+- act
+- imitation-learning
+- gearbox-assembly
+license: mit
+---
+
+# ACT Model for Gearbox Assembly
+
+This model was trained using the ACT (Action Chunking with Transformers) policy for the Gearbox Assembly task.
+
+## Model Configuration
+
+The model was trained with the following hyperparameters:
+
+- **Task Name**: `sim_gearbox_assembly_demos_filtered`
+- **Policy Class**: `ACT`
+- **KL Weight**: 10
+- **Chunk Size**: 100
+- **Hidden Dim**: 512
+- **Batch Size**: 32
+- **Feedforward Dimension**: 3200
+- **Number of Epochs**: 10000
+- **Learning Rate**: 1e-5
+- **Seed**: 0
+- **Save Interval**: 1000
+- **Early Stopping Patience**: 3000
+
+## Training Command
+
+```bash
+nohup python3 /root/gearboxAssembly/source/Galaxea_Lab_External/Galaxea_Lab_External/VLA/ACT/act/imitate_episodes.py \
+    --task_name sim_gearbox_assembly_demos_filtered \
+    --ckpt_dir /root/gearboxAssembly/data/model \
+    --policy_class ACT     --kl_weight 10 \
+    --chunk_size 100 \
+    --hidden_dim 512 \
+    --batch_size 32 \
+    --dim_feedforward 3200 \
+    --num_epochs 10000 \
+    --lr 1e-5     --seed 0 \
+    --save_interval 1000 \
+    --early_stopping_patience 3000 > training.log 2>&1 &
+```
+
+## Checkpoints
+
+The training process saved checkpoints every 1000 epochs.
+
+## Dataset
+
+Trained on `sim_gearbox_assembly_demos_filtered` dataset path: `/root/gearboxAssembly/data/model`.

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