milab-robot/alm1-0731-milab.60

Model Summaries

Basic summary of model branches in this repository. Append one row per new model branch.

Item	Value
Dataset	milab-robot/alm1-0731-milab.60

Policy: ACT

Branch	Steps	GPUs	Batch size/GPU	Effective batch	Muted Joints	LR	Weight Decay	Seed	Ckpt	Episodes	MAE	RMSE
act-s300k-eb16	300,000	1	16	16	-	1e-5	1e-4	1000	270,000	2	0.0047	0.0153
act-s300k-eb16-m	300,000	1	16	16	l_sh_p, l_sh_r, l_sh_y, l_el_p, l_wr_y, l_wr_p, l_wr_r, head_y, head_p, waisty	1e-5	1e-4	1000	last	2	0.0059	0.0161
act-s300k-eb32	300,000	2	16	32	-	1e-5	1e-4	1000	295,000	2	0.0040	0.0113
act-s300k-eb32-m	300,000	2	16	32	l_sh_p, l_sh_r, l_sh_y, l_el_p, l_wr_y, l_wr_p, l_wr_r, head_y, head_p, waisty	1e-5	1e-4	1000	275,000	2	0.0051	0.0138

Full training and policy configuration lives on each model branch in train_config.json and config.json.