Upload policy weights, train config and readme

README.md

@@ -5,9 +5,9 @@ license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- act
 - lerobot
 - robotics
+- act
 ---
 
 # Model Card for act

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fd65c380b5fe2508532f413597ac6fd810f233cebba7a05db5624c7c2b5532a9
+oid sha256:f9ae3b2dd2391aa0e4e2eccb12de9476a5b593ba6cd9efa59d79822f2ab8c020
 size 206765304

train_config.json

@@ -143,14 +143,14 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "outputs/train/2026-03-27/17-32-29_act",
+    "output_dir": "outputs/train/2026-03-27/18-11-27_act",
     "job_name": "act",
     "resume": false,
     "seed": 1000,
     "cudnn_deterministic": false,
-    "num_workers": 4,
-    "batch_size": 8,
-    "steps": 50,
+    "num_workers": 24,
+    "batch_size": 256,
+    "steps": 2000,
     "eval_freq": 20000,
     "log_freq": 200,
     "tolerance_s": 0.0001,
@@ -170,9 +170,9 @@
     },
     "scheduler": null,
     "eval": {
-        "n_episodes": 1,
-        "batch_size": 1,
-        "use_async_envs": false
+        "n_episodes": 32,
+        "batch_size": 32,
+        "use_async_envs": true
     },
     "wandb": {
         "enable": false,