act_pusht_bs64_dec7_seed1002_160k

Best tuned ACT on PushT: 164.4 avg_sum_imputed_reward, 66.7% success (n=5000 seeds). LeRobot ACT, batch 64, lr 2e-5, 7 decoder layers, chunk 100, kl_weight 10, 160k steps.

Part of a 6-week robot-learning training block (https://github.com/JaHeRoth/robot-learning). Evaluated on gym-pusht at n_action_steps=16; avg_sum_imputed_reward imputes 0.95/step to horizon 300 after success.