Not very good performance

[Ke-Wang1017]

Hi I followed the instructions and trained the act policy for relatively long time (around 6 hours and 50k steps) and the success rate does not seem to be great. I have checked the tuning tips and plan to train for longer. However just want to know what can make the performance better? One issue i discover is that the scripted demo are mostly unsuccessful (just 30% success) and that is one potential problem, but are there other factors? I post the wandb plot below